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Multi-degree-of-freedom minimally invasive surgery arm mechanism

A technology of minimally invasive surgery and a degree of freedom, applied in the direction of surgical robots, etc., can solve the problems of system reliability, safety, and operability that cannot meet the requirements of surgery, and achieve strong intuitive movement, stable state, and high positioning accuracy Effect

Inactive Publication Date: 2016-01-27
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, many medical and surgical robots directly use industrial robots, and the reliability, safety, and operability of their systems cannot meet the requirements of surgery.

Method used

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  • Multi-degree-of-freedom minimally invasive surgery arm mechanism
  • Multi-degree-of-freedom minimally invasive surgery arm mechanism
  • Multi-degree-of-freedom minimally invasive surgery arm mechanism

Examples

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Embodiment Construction

[0021] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0022] combine Figure 1~6 , the present invention is mainly made up of mobile support mechanism 1, arm revolving joint 2, wrist revolving joint 3, slide rail mechanism 4.

[0023] Mobile support mechanism 1 is made up of shaft end retaining plate 1-1, driving wheel 1-2, base plate 1-3, brake universal wheel 1-4, bearing bottom cover 1-5, wheel axle 1-6, bearing end cover 1- 7. Large gear 1-8, gear fixing sleeve 1-9, pinion gear 1-10, sleeve 1-11, motor bracket 1-12, column 1-13, screw 1-14, top cover 1-15, Bearing cover 1-16, deep groove ball bearing 1-17, lead screw 1-18, motor 1-19, gear fixing sleeve 1-20, large gear 1-21, bearing seat 1-22, tapered roller bearing 1-23, motor 1-24, sleeve 1-25, motor bracket 1-26, pinion 1-27; 3. Motor 2-4, timing belt 2-5, deep groove ball bearing 2-6, sleeve 2-7, shaft 2-8, bearing cover 2-9, tapered roller bearing 2-10, ...

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Abstract

The invention provides a multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure. A braking universal wheel and a driving wheel are arranged on a bottom plate in a mobile support mechanism. By driving of two motors and meshing transmission of gears, rotating of a base and rotating of a lead screw are achieved respectively, and by thread transmission at the upper end of the lead screw, a sliding block of an arm rotating joint achieves sliding motion along the lead screw and a sliding groove track of a stand column. Small arm rotating is achieved through the motors by belt transmission. The motors achieve the rotating freedom degree of a wrist around a main shaft by belt transmission. One motor achieves swinging of a sliding track mechanism along an arc rack by inner meshing of the gears and the rack, the other motor is connected with the sliding lead screw through a coupler, and the sliding lead screw rotates to drive a finger connecting plate to move front and back. The multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure has the advantages of being stable in state, accurate in locating, good in dexterity, large in working range and the like, and the mobile support mechanism has the overall rotating freedom degree similar to the human waist and the lifting freedom degree of a lead screw part.

Description

technical field [0001] The invention relates to an operation mechanism, specifically a mechanism for clamping surgical instruments. Background technique [0002] Minimally invasive surgery refers to the doctor’s guidance of various visual images to send surgical instruments into the patient’s body through a small incision along the pre-planned surgical path for observation or treatment, thereby minimizing trauma and relieving pain. Wait. The application of minimally invasive surgical robots solves the shortcomings of high labor intensity, low surgical precision, and poor safety in the traditional surgical process, and improves the quality of surgery. The range of surgery can be simulated, and remote surgery can be performed using network technology. However, at present, many medical and surgical robots directly use industrial robots, and the reliability, safety, and operability of their systems cannot meet the requirements of surgery. Therefore, it is very necessary to st...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
Inventor 于凌涛张宝玉杨景王文杰王正雨李宏伟李洪洋庄忠平孙立强王丽霞
Owner HARBIN ENG UNIV
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