A wire loading device for wrist end effector

Abstract

The invention discloses a wire feeding device for a wrist type end effector. The device comprises a base, a supporting frame, a distributor and a fastening device; the supporting frame, the distributor and the fastening device are respectively fixedly connected with the base, wherein the supporting frame consists of a supporting base and a fixing cover; the distributor comprises a base, a roller seat, a roller, a thimble seat and a thimble; the fastening device comprises three tension sensors, sensor seats, a returning wheel, a returning wheel seat and fastening screws; the three tension sensors are arranged in the sensor seats and are correspondingly equipped with returning devices and the fastening screws; the tension sensors are used for acquiring the tension force of a memory alloy wire. With the adoption of the device, the problem of different tension force of a plurality of groups of memory alloy wires and large assembling error due to complete manual feeding in the prior art can be solved.

Description

technical field [0001] The invention relates to the technical field of minimally invasive surgical devices, in particular to a wire loading device for wrist end effectors. Background technique [0002] At present, in the field of minimally invasive surgery, single-port abdominal minimally invasive surgery has attracted the attention of both clinicians and patients due to its minimally invasive injury, less bleeding, and fast postoperative recovery. It has become the fastest growing minimally invasive surgery in the world. However, the single-hole abdominal minimally invasive surgical forceps driven by shape memory alloy wire has small size, good working space and flexibility. [0003] The existing technology generally uses manual wire loading operation, but because the length and internal tension of the shape memory alloy wire are often affected by factors such as temperature, the difficulty of control is increased, and the control accuracy is not suitable to be guaranteed. ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a wire loading device for wrist-type end effectors, which solves the problems of different tensions and large clamping errors among multiple groups of shape memory alloy wires caused by completely manual wire loading at present.

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