A fully passive six-degree-of-freedom master manipulator

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

Active Publication Date: 2016-08-24
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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  • A fully passive six-degree-of-freedom master manipulator
  • A fully passive six-degree-of-freedom master 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 includes a support frame, on which the first joint is fixed; the first connecting rod is connected with the first joint and rotates around the first joint; the second joint is fixed At one end of the first link; the third joint is set on the second joint and rotates around the second joint; the second link is connected with the third joint and rotates around the third joint; the second link counterweight fixed on the second connecting rod; the fourth joint is fixed at one end of the second connecting rod; the third connecting rod is connected with the fourth joint and rotates around the fourth joint; the counterweight of the third connecting rod is fixed on the On the third connecting rod; the fifth joint is fixed on the third connecting rod; one end of the fourth connecting rod is connected with the fifth joint, and the fourth connecting rod rotates around the fifth joint; the sixth joint is fixed on the fourth connecting rod on the rod; the clamping cover is connected with the sixth joint and rotates around the sixth joint; the counterweight of the clamping cover is fixed at the free end of the clamping cover.

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 Patents(China)
IPC IPC(8): A61B34/30B25J9/08
Inventor 孙玉宁闫志远杜志江
Owner SUZHOU KANGDUO ROBOT
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