A passive mechanical arm for posture adjustment of a digestive endoscope delivery robot

Abstract

The invention belongs to the field of medical equipment and particularly relates to a position and posture adjusting passive manipulator for a digestive endoscopy conveying robot. The position and posture adjusting passive manipulator comprises a first arm lever, a second arm lever, a connecting piece, five rotary joints connected in sequence, and a digestive endoscopy conveying end, wherein the third joint comprises a rotary joint; the fourth joint is provided with a connecting wheel disc; gas springs and a sprocket driving mechanism are arranged on the second arm lever; one end of each gas spring is hinged to the connecting wheel disc of the fourth joint; the connecting wheel disc is connected with the rotary joint of the third joint through the sprocket driving mechanism; the second arm lever realizes gravity balance in the vertical direction through the gas springs and the sprocket driving mechanism; and a contracting brake, an output shaft and a bearing are arranged in each of the rotary joints. According to the position and posture adjusting passive manipulator, the contracting brakes are powered on or off to realize locking control of the output shafts of all the joints; and adjustment at 5 degrees of freedom of the rotary joints is achieved to meet the demand on posture adjustment of the digestive endoscopy conveying robot.

Description

technical field

[0001] The invention belongs to the field of medical equipment, in particular to a passive mechanical arm for posture adjustment of a digestive endoscope delivery robot. Background technique

[0002] With the development of science and technology, the medical field is undergoing rapid changes, and robot-assisted minimally invasive surgery has gradually entered clinical applications. For example, the DaVinci system of Intuitive Surgical in the United States has achieved great success worldwide. However, in the field of digestive endoscopic diagnosis and treatment, the idea of ​​robot-assisted surgery has not yet been developed. Although the relative posture of the digestive endoscope and the patient remains unchanged during the process of digestive endoscopic examination and treatment, due to differences in the human body, different The initial postures of the patients at the beginning of the digestive endoscopy are not the same, which requires a device that c...

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