Robot body structure for supporting minimally-invasive surgery instrument
A technology of robot body and surgical instruments, applied in the fields of surgery, application, medical science, etc., can solve problems such as the change of remote motion center, achieve the effect of small occupied space, good reliability and stability, and avoid interference
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[0025] The structure of a robot body for supporting minimally invasive surgical instruments of the present invention will be described in detail below with reference to the drawings and specific embodiments.
[0026] Such as figure 1 Shown is the overall schematic diagram of the robot body structure for supporting minimally invasive surgical instruments. The overall structure includes a parallel four-bar mechanism 2, a telescopic body 3, a four-bar supporting rod unit 1 and a minimally invasive surgical instrument 4. Through the reasonable layout of the four-bar mechanism, the intersection P of the rotation center of the four-bar support rod unit 1 and the rotation center of the minimally invasive surgical instrument 4 is the remote motion center, leaving installation space for the installation of the surgical instrument 4, avoiding remote The center of motion changes, and the mechanism can provide three degrees of freedom: Rotational degrees of freedom around the X axis R 1 , Rot...
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