Fully-passive six-degree-of-freedom main manipulator

A main operator and degree of freedom technology, applied in the field of medical devices, can solve the problems of large volume, small working space, and limited application range of the main operator, and achieve a compact overall structure, small space occupation, and simple and reliable zeroing method Effect

Active Publication Date: 2014-09-10
SUZHOU KANGDUO ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the main operators of the PHANTOM and Omega series, the mechanism occupies a large volume and a small working space, and cannot achieve gravity balance by itself, which greatly limits the scope of application of the main operator

Method used

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  • Fully-passive six-degree-of-freedom main manipulator
  • Fully-passive six-degree-of-freedom main manipulator

Examples

Experimental program
Comparison scheme
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Embodiment

[0019] Embodiment: The following is a description of the implementation of the present invention by specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this description. The "first" mentioned in this embodiment , "second", "third", "fourth" and other descriptions are to distinguish each joint from the connecting rod; "one end" and "the other end" of the connecting rod refer to the two ends of the connecting rod, that is, the head and the connecting rod. The difference between the tail, these words indicating the orientation are only for the convenience of description and clarity, and are not used to limit the scope of the present invention. The change or adjustment of the relative relationship is also regarded as the present invention without substantial change in the technical content. scope of implementation.

[0020] See Figure 1 to Figure 2 As shown, the full passi...

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Abstract

The invention discloses a fully-passive six-degree-of-freedom main manipulator which comprises a supporting frame. A first joint is fixed on the supporting frame, a first connecting rod is connected with the first joint and rotates around the same, a second joint is fixed at one end of the first joint, a third joint is arranged on the second joint and rotates around the same, a second connecting rod is connected with the third joint and rotates around the same, a second connecting rod balance weight is fixed on the second connecting rod, a fourth joint is fixed at one end of the second connecting rod, a third connecting rod is connected with the fourth joint and rotates around the same, a third connecting rod balance weight is fixed on the third connecting rod, a fifth joint is fixed on the third connecting rod, one end of a fourth connecting rod is connected with the fifth joint, the fourth connecting rod rotates around the fifth joint, a sixth joint is fixed on the fourth connecting rod, a clamping cover plate is connected with the sixth joint and rotates around the same, and a clamping cover plate balance weight is fixed at a free end of the clamping cover plate.

Description

Technical field: [0001] The invention relates to the technical field of medical instruments, and more specifically relates to a six-degree-of-freedom master manipulator. Background technique: [0002] There are often some delicate operations in surgical operations. The objects of these operations are small and complex in shape, and some operations often take a long time to end. Doctors are prone to fatigue, which can easily cause trembling of hands and inaccurate movements, while machines Operators can completely avoid these safety hazards and accurately complete some complex operations that require a long time, so they have attracted everyone's attention. At present, the more successful master manipulator systems mainly include the PHANTOM series master manipulators of the American Sensable Company and the Omega series master manipulators of the Swiss ForceDimension Company. For the main operators of the PHANTOM and Omega series, the mechanism occupies a large volume and a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00B25J9/08
Inventor 孙玉宁闫志远杜志江
Owner SUZHOU KANGDUO ROBOT
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