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Three dimensional force feedback main operator assisting minimally invasive surgery robot

A surgical robot and minimally invasive surgery technology, applied in the field of main manipulator, can solve the problem of not using the main manipulator of microsurgery, and achieve the effect of light weight, good rigidity and small inertia

Inactive Publication Date: 2010-07-07
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there is no master operator used in microsurgery in China.

Method used

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  • Three dimensional force feedback main operator assisting minimally invasive surgery robot
  • Three dimensional force feedback main operator assisting minimally invasive surgery robot
  • Three dimensional force feedback main operator assisting minimally invasive surgery robot

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Experimental program
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Embodiment Construction

[0021] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Such as figure 1 As shown, the three-dimensional force feedback main manipulator of the assisted minimally invasive surgical robot includes a base mechanism A, a four-bar linkage mechanism B, and a wrist mechanism C. The upper and lower near frame rods 16 rotate around the axes R2 and R3 respectively, so that the end of the four-bar linkage mechanism B, that is, the center of the wrist mechanism C, translates in the plane formed by the near frame rod 16 and the far frame rod 17, together with the four-link The rotational movement of the rod mechanism B around the axis R1 together realizes the movement of the center of the wrist mechanism C in three directions X, Y, Z in space. The wrist mechanism has three rotational degrees of freedom and the rotational axes R4, R5, R6 intersect at one point, together with the finger opening and clos...

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Abstract

The invention discloses a three dimensional force feedback main operator used for assisting a minimally invasive surgery robot. A base mechanism comprises a base and an upright post, wherein, a fan-shaped bottom plate is arranged on the top surface of the upright post; a four-bar mechanism comprises an arc support arranged on an arc bottom plate and a parallelogram mechanism formed by an upper near rod, a lower near rod, an upper distant rod and a lower distant rod; a wrist mechanism comprises a wrist body, a fifth projecting shaft is arranged at the upper part of the wrist body, one end of aknuckle is sheathed on the fifth projecting shaft, the other end of the knuckle is sheathed on a sixth projecting shaft arranged on a handle base by a bearing; two handle shafts are connected to the handle base by the bearing, the two handle shafts are engaged together by a gear, and a handle is stuck on each handle shaft. In the device of the invention, rotating centres of three rotational freedom of the wrist mechanism intersect at one point, and the working point is arranged at the intersection; the design eliminates pose compensation when the pose is adjusted and can realize six-shaft linkage.

Description

technical field [0001] The invention relates to a master manipulator in the field of master-slave operation minimally invasive surgery, which can assist surgeons to complete minimally invasive surgery operations, in particular to a three-dimensional force feedback master manipulator for assisting minimally invasive surgery robots. Background technique [0002] Minimally invasive surgery represented by laparoscopy is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of long and thin surgical tools inserted into the body through tiny incisions on the surface of the human body to perform surgery. operational. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scar, and quick recovery time, which greatly reduces the pain suffered by patients; therefore, minimally invasive surgery is widely used in clinical ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/00A61B19/00B25J7/00A61B34/30
Inventor 王树新周文亮李建民
Owner TIANJIN UNIV
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