Minimally invasive robot mechanical arm having large movement space and high structural rigidity

Abstract

The invention discloses a minimally invasive robot mechanical arm having a large movement space and a high structural rigidity, which comprises a telescopic seat provided with a surgical tool, wherein one end of a connecting rod IV is connected with the telescopic seat, a connecting rod V and a connecting rod VI are arranged at both sides below the connecting rod IV, one end of the connecting rod V and one end of the connecting rod VI are connected with the telescopic seat, the other end of the connecting rod IV is connected with the top end of a connecting rod I, the other end of the connecting rod V and the other end of the connecting rod VI are connected to outer walls at both sides of the top part of the connecting rod I, the bottom end of the connecting rod I is connected with the front end of a joint II seat, the bottom end of a connecting rod II and the bottom end of a connecting rod III are installed on outer walls at both sides of the back end of the joint II seat by rotating shafts, and the top end of the connecting rod II and the top end of the connecting rod III are respectively connected to the connecting rod V and the connecting rod VI; and the rotating shafts are connected with a second rotation driving device, and a connecting frame is connected with a first rotation driving device. By using the structure, the movement space of the mechanism is greatly enlarged, and the rigidity of the mechanism is increased, thereby lowering the requirements for the initial pose of the robot.

Description

technical field [0001] The invention relates to a minimally invasive robotic arm, in particular to a minimally invasive robotic arm with large movement space and high structural rigidity. 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 operations. However, while minimally invasive surgery has brought many benefits to the patient, it has brought a series of difficulties to the d...

AI Technical Summary

Problems solved by technology

Our country is still in its infancy in robot-assisted surgery. The existing robot system can only play an auxiliary positioning role in the operation process, and cannot be applied to clinical operations.

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