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A Parallel Mechanism with Four Degrees of Freedom Telecentric Motion for Minimally Invasive Surgery

A technology of minimally invasive surgery and degrees of freedom, applied in the field of medical robots, can solve problems such as superimposition, reduction of surgical accuracy, and influence of end effector stability, and achieve high rigidity, small and simple structure, and the effect of ensuring surgical safety

Active Publication Date: 2022-03-15
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the errors of each joint in series in this configuration will superimpose, reducing the accuracy of the operation; and as the degree of freedom of the surgical robot increases, the stability of the end effector will also be affected

Method used

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  • A Parallel Mechanism with Four Degrees of Freedom Telecentric Motion for Minimally Invasive Surgery
  • A Parallel Mechanism with Four Degrees of Freedom Telecentric Motion for Minimally Invasive Surgery
  • A Parallel Mechanism with Four Degrees of Freedom Telecentric Motion for Minimally Invasive Surgery

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] like Figure 8 Shown is the overall view of Embodiment 1, including two kinematic branch chains, the first kinematic branch chain and the second kinematic branch chain, and the two kinematic branch chains are connected with the fixed base 2 and the screw rod 5 to form the parallel mechanism of this embodiment , the first kinematic branch chain includes the first kinematic pair, the first shaft 1, the second kinematic pair, the first connecting rod 3, the third kinematic pair, the second connecting rod 4 and the first screw pair, wherein the first shaft The rod 1 is connected with the fixed base 2 through the first kinematic pair, the first connecting rod 3 is connected with the first shaft rod 1 through the second kinematic pair, the second connecting rod 4 is connected with the first connecting rod 3 through the third kinematic pair, The second connecting rod 4 is connected with the screw rod 5 through the first screw pair; the second kinematic branch chain includes th...

Embodiment 2

[0029] In this embodiment, only the form of the two kinematic branch chains is different from Embodiment 1, and the other parts are the same as Embodiment 1. In this embodiment, the form of the two kinematic branches is URRH form, such as figure 2 As shown, the C pair in Embodiment 1 is replaced by the U pair, wherein the U pair is a Hooke hinge. The U pair is the drive pair, and the U pair can rotate along two mutually perpendicular axes relative to the fixed base, which are the axis 1 and the axis 2. The U auxiliary axis 1 of the two motion branch chains intersects at a point in space, and the U pair is the first One R pair, the R minor axis is parallel to the U minor axis 2; the first R pair is followed by the second R pair, and the two R minor axes are parallel; the second R pair is followed by the H pair, and the H minor axis is parallel to the R The secondary axis is vertical.

Embodiment 3

[0031] In this embodiment, only the form of the two kinematic branch chains is different from Embodiment 1, and the other parts are the same as Embodiment 1. In the present embodiment, the two kinematic branches are in the form of CPRH, such as image 3 As shown, the C pair is the driving pair, and the P pair is behind the C pair. The moving axis of the P pair intersects with the C auxiliary axis. The minor axis is perpendicular to the R minor axis.

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Abstract

The invention discloses a three-turn-one-shift four-degree-of-freedom telecentric motion parallel mechanism for minimally invasive surgery, comprising: a base, two motion branch chains, wherein: the driving auxiliary axes of the two motion branch chains intersect at a point in space , and the structure of the kinematic branch chain is not unique, and has many combinations. The end H pairs of the two motion branch chains are connected in the form of double helix coaxial differential, so that the surgical tools can move flexibly in four degrees of freedom in space, reduce robot errors, enhance stability and reliability, and improve the accuracy of minimally invasive surgery .

Description

technical field [0001] The invention relates to the field of medical robots, in particular to a four-degree-of-freedom telecentric motion parallel mechanism for minimally invasive surgery. Background technique [0002] Minimally invasive surgery is an important development trend in the field of medical surgery today. Minimally invasive surgery mainly uses various modern medical instruments such as laparoscopes and thoracoscopes, as well as slender rod-shaped surgical tools to penetrate into the body through tiny incisions on the surface of the human body. It has the advantages of less trauma, less pain, faster recovery, shorter hospital stay, and less bleeding, and is conducive to the stability of the internal environment and functional recovery of the body. However, minimally invasive surgery is limited by the size of the wound, making it difficult for doctors to operate and prone to fatigue. Moreover, doctors need long-term training to perform surgical operations. [000...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/00A61B34/30
CPCA61B17/00234A61B34/30A61B34/70A61B2034/302
Inventor 陈根良康晔政杜聪聪张壮王皓
Owner SHANGHAI JIAOTONG UNIV
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