Surgical operation robot multiple degree of freedom finger

Abstract

The invention provides a surgical operation robot multiple degree of freedom (MDOF) finger. The finger is composed of a fingertip clamping mechanism, a joint driving mechanism and a rotating joint; the fingertip clamping mechanism is composed of two fingertips, two transmission ropes, a connection shaft and a long casing pipe, and the fingertips are provided with pulley grooves; the joint drivingmechanism comprises a support bracket, the front end of the support bracket is connected with the fingertip clamping mechanism, the back end of the support bracket is provided with a stepped shaft, the support bracket is provided with two drive motors, the shaft of each drive motor is mounted with a driving wheel, and the transmission ropes of the fingertip clamping mechanism are winded on the driving wheels to drive the pulley grooves on the fingertips; and the rotating joint comprises a motor jacket and a rotating motor mounted in the motor jacket, the stepped shaft of the support bracket in the joint driving mechanism is arranged in the motor jacket via the bearing arranged on the stepped shaft and is connected with the shaft of the rotating motor to transmit torque. The invention has the characteristics of capability of pitching, autorotation, and clamping DOF, good flexibility, small surgical orifice and remarkable alleviation on pain of patients.

Description

(1) Technical field [0001] The invention relates to a medical device for surgical operation, in particular to a surgical robot finger. (2) Background technology [0002] Surgical robots have greatly surpassed surgeons in terms of accuracy, reliability and precision, and can overcome surgeons' unfavorable factors such as hand tremors and fatigue, and complete operations better. The finger part is one of the important parts of the surgical robot, which can well complete various surgical actions in the operating space. At present, the fingers of many surgical robots have disadvantages such as small clamping force and less degree of freedom at the end. Therefore, it has a great influence on the operation of the operation. Although the manual operating hand for minimally invasive surgery introduced in patent 200810064718.1 has the characteristics of convenient operation and flexibility, it adopts manual operation, so the degree of automation of operation is not high, so it is n...

AI Technical Summary

Problems solved by technology

At present, the fingers of many surgical robots have disadvantages such as small clamping force and less degree of freedom at the end.

Therefore, it has a great influence on the operation of the operation

Although the manual operating hand for minimally invasive surgery introduced in patent 200810064718.1 has the characteristics of convenient operation and flexibility, it adopts manual operation, so the degree of automation of operation is not high, so it is necessary to use more freedom for surgical robots with a higher degree of automation. The study of fingers is very necessary

Images