Multi-freedom micro-mechanical arm for minimally invasive operation
A micro-manipulator, minimally invasive surgery technology, applied in manipulators, surgical instruments, operations, etc., can solve problems such as inability to meet laryngeal surgery, and achieve the effects of reliable transmission, enhanced bearing capacity, and increased functions
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[0045] The multi-degree-of-freedom micro-manipulator for minimally invasive surgery of the present invention will be described in detail below with reference to the embodiments.
[0046] As shown in Figure 1, Figure 2, and Figure 3, the multi-degree-of-freedom micromanipulator for minimally invasive surgery of the present invention includes a base A, an upper traction mechanism B of the end tool transmission part, and a lower traction mechanism C of the end tool transmission part , The autorotation mechanism D of the transmission part of the end tool, the actuator E of the end tool, and the transmission box body 1. In the base A, three sets of servo motors 10 are respectively connected with three lower clutch discs 7 through three couplings 9. The lower clutch discs 7 are respectively fixed on the motor frame 3 through three rolling bearings 8; the transmission box body 1 is arranged on the upper surface of the motor frame 3; the upper traction mechanism B, the lower traction mech...
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