Hydraulic locking power mechanism of mechanical arm joint for surgery

Abstract

The invention discloses a hydraulic locking power mechanism of a mechanical arm joint for a surgery, which comprises a draughting mechanism and a lifting pressure mechanism and also comprises a locking force generator, wherein the draughting mechanism is arranged on the ground and fixedly connected with a piston top rod of the lifting pressure mechanism through a steel wire; a treading plate of the draughting mechanism is connected with the steel wire; the lifting pressure mechanism comprises a cylinder body; a supporting plate of the cylinder body is fixedly connected with a lifting strut; acentral shaft of the lifting pressure mechanism and the axes of the lifting strut are both in a vertical direction; the locking force generator and the lifting pressure mechanism have symmetrical structures, are coaxial, and are locked by loop nuts on the periphery of the locking force generator. The hydraulic locking power mechanism of a mechanical arm joint for a surgery provides a joint locking hydraulic power source, guarantees that each joint can be rigidly fixed under the condition without motor driving according to the joint angle after being resolved by kinematics, thereby, mechanicalarms can be used as a puncture positioning and supporting device for a surgery.

Description

technical field [0001] The invention relates to a hydraulic locking mechanism, in particular to a surgical manipulator arm joint locking power mechanism, which belongs to the technical field of medical instruments. Background technique [0002] Recently, the minimally invasive surgical manipulator technology that combines computer, medical surgery technology and medical robot has become one of the international cutting-edge research hotspots that many scholars and scientific research institutions pay attention to. The development of this new multidisciplinary field is considered to be a symbolic progress in surgical treatment, and the research and development of domestic medical equipment is increasing. At present, for passive (no motor drive) mechanical arm for puncture positioning, there are few clinical applications. One of the important reasons is that a suitable joint locking structure and locking driving device for surgical robotic arm have not been found yet. Especi...

AI Technical Summary

Problems solved by technology

At present, for passive (no motor drive) puncture positioning mechanical arms, there are very few clinical applications. One of the important reasons is that a suitable joint locking structure and locking drive device for surgical manipulators have not yet been found.

Especially for the joint locking of small, lightweight and high-stiffness robotic arms, no joint locking mechanism based on hydraulic drive has been found.

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