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Secondary manipulator of surgery operation robot

A surgical and robotic technology, applied in surgical robots, operations, manipulators, etc., can solve the problem that the robot system cannot realize complex surgical operations, and achieve the effect of optimizing the operating space, reducing the volume, and reducing the torque.

Active Publication Date: 2007-09-12
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in these achievements, the robotic system cannot realize complex surgical operations, such as suturing and knotting

Method used

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  • Secondary manipulator of surgery operation robot
  • Secondary manipulator of surgery operation robot
  • Secondary manipulator of surgery operation robot

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0071] The surgical robot of the present invention will be further described in detail from the operator side with reference to the accompanying drawings and specific embodiments.

[0072] In Figures 1 and 2, the double four-bar linkage mechanism is realized by wire transmission. The double four-bar linkage mechanism includes a first joint 71 connecting the boom and the second forearm, a second joint 72 connecting the second forearm and the transition frame, a third joint 73 connecting the fourth motor 64 and the transition frame, The fourth joint 74 that connects the transition frame and the first forearm, and the fifth joint 75 that connects the first forearm and the support of the inclined table.

[0073] In Figures 3, 4, and 5, the finger arc movement joint mechanism of the attitude adjustment part is an active joint, and the joint movement is provided by the first motor 6 of the voltage-type step-by-step drive arc guide rail, through the gear teeth realized by the instit...

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Abstract

The servo actuated robot manipulator for surgical operation has fingers in the most front end as well as finger circularly moving joint mechanism, arc guide rotating joint mechanism, inclined guide straight motion joint mechanism, the first small arm rotating joint mechanism, the second small arm rotating joint mechanism, large arm rotating joint mechanism, vertical position regulating mechanism and sync toothed belt wheel mechanism. The present invention is used mainly in micro wound surgical operation, eye operation, orthopaedics operation, etc., especially in blood vessel stitching and other microscopic surgical operations.

Description

technical field [0001] The invention relates to a medical device, in particular to a component of the medical device used in microsurgery. Background technique [0002] In the early 1990s, the research and development of medical and surgical robots made great progress, and a number of research results were reported one after another. Compared with humans, medical and surgical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, and are not afraid of radiation and infection. Medical-surgical robots can not only assist doctors in the precise positioning of surgical sites, solve the hand tremor, fatigue, and muscle and nerve feedback of surgeons, but also achieve minimal surgical damage, improve the accuracy and quality of disease diagnosis and surgical treatment, and increase surgical safety. Coefficient, shorten treatment time, reduce medical cost. [0003] At present, medical surgical robots gen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J18/00B25J13/00A61B19/00A61B34/30
Inventor 王树新李群智丁杰男贠今天刘治平
Owner TIANJIN UNIV