Series-parallel minimally invasive surgery mechanical arm with five degrees of freedom

Abstract

The invention provides a series-parallel minimally invasive surgery mechanical arm with five degrees of freedom. The series-parallel minimally invasive surgery mechanical arm with five degrees of freedom comprises a main fixed platform, a main movable platform, a reversing fixed platform and a working movable platform; the main fixed platform and the main movable platform are connected by use of three first motion branch chains with the same structure to form a first closed-loop parallel structure with three degrees of freedom; the reversing fixed platform and the working movable platform are connected by use of three second motion branch chains with the same structure to form a second closed-loop parallel structure with three degrees of freedom; the two closed-loop parallel structures with three degrees of freedom are connected in series to form the series-parallel minimally invasive surgery mechanical arm with five degrees of freedom. According to the series-parallel minimally invasive surgery mechanical arm with five degrees of freedom, the movement of the working movable platform in the three-dimensional space is realized by changing the included angles between three driving arms and the main fixed platform by use of three first driving motors; the reversal motion of the working movable platform is realized by changing the extension quantity of three linear driving rods by use of three second driving motors; five degrees of freedom can be provided for a surgical instrument; the mechanical arm is suitable for assisting a doctor to finish high-precision and high-difficulty minimally invasive surgeries.

Description

technical field [0001] The invention relates to a robot, in particular to a mixed-connected five-degree-of-freedom minimally invasive surgical manipulator capable of imitating the movement of a doctor's arm and assisting the doctor in completing highly difficult minimally invasive surgical operations. Background technique [0002] With the development and popularization of minimally invasive surgery, surgical robots used to assist doctors in surgery began to appear in the 1990s. These surgical robots are used in some high-precision and difficult minimally invasive surgeries that doctors cannot perform with bare hands. . [0003] In terms of the structure of surgical robots, the current mainstream robotic arms are mostly based on series mechanisms. Although the tandem mechanism has many advantages such as simple configuration and reliable control, it has many defects in special occasions for minimally invasive surgery. First of all, the robotic arm needs to provide multiple...

AI Technical Summary

Problems solved by technology

Although the series mechanism has many advantages such as simple configuration and reliable control, it has many defects in the special occasion of minimally invasive surgery.

First of all, the robotic arm needs to provide multiple degrees of freedom for surgical instruments and requires sufficient flexibility in the narrow abdominal space, while the serial robotic arm must be designed to have multiple kinematic joints to meet the multi-degree of freedom requirements, and must also Considering the constraints of minimally invasive incisions, it is necessary to plan the motion joints reasonably; secondly, during the operation, the instruments generally need to move in space with 6 degrees of freedom. Poor isotropy, this movement defect of the mechanism has caused a decline in the execution accuracy of the end manipulator of the manipulator; third, the load capacity of the series mechanism is poor, and problems such as vibration will occur when carrying power instruments, which limits the access of complex and diverse surgical instruments. human body, thereby hindering the further development of robotic automated surgery

The series manipulator can only overcome the above shortcomings by improving the performance of the motor and optimizing the structure, which increases the cost of manufacturing and assembly

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