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Steel wire rope transmission universal mechanism used for surgical driller

A universal mechanism and surgical operation technology, which is applied in ear treatment and other directions, can solve problems such as complex transmission structure, poor precision, and large overall size, and achieve the effects of flexible operation, reduced cumulative error, and smooth movement

Inactive Publication Date: 2016-03-09
TIANJIN POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The transmission structure of the rod transmission is complicated, the precision is poor, and the overall size is large

Method used

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  • Steel wire rope transmission universal mechanism used for surgical driller
  • Steel wire rope transmission universal mechanism used for surgical driller
  • Steel wire rope transmission universal mechanism used for surgical driller

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Experimental program
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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with specific embodiments.

[0025] The invention relates to a wire rope transmission universal mechanism for a surgical drill, which is used to solve the multi-degree-of-freedom problem of the end actuator of a surgical drill robot in a narrow space.

[0026] like figure 1 Shown is a schematic diagram of the overall structure of the universal mechanism of the present invention applied to a surgical drill. The universal mechanism includes a deflection mechanism 2, a pitch mechanism 3 and a wire rope transmission system 4, the front end of which is connected to the surgical drill 1, and the rear end is connected to the quick-change interface Mechanisms 5 are connected and can realize rotations R1, R2, R3 in three degrees of freedom.

[0027] like figure 2 It is a schematic diagram of the structure of the universal mechanism of the present invention. The deflection structure 2 and the pitch structur...

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Abstract

The invention discloses a steel wire rope transmission universal mechanism used for a surgical driller. The steel wire rope transmission universal mechanism comprises a deflecting mechanism, a pitching mechanism and a steel wire rope transmission system; the deflecting mechanism is composed of deflecting shafts, driving wheels, guide wheels, a pitching frame, a deflecting cylinder and the like; the pitching mechanism is mainly composed of pitching shafts, driving wheels, a pitching frame, a wrist joint frame, a rotating pipe and the like; the steel wire rope transmission system is composed of driving wheels, guide wheels, a guide wheel axle and a guide wheel stand. The universal mechanism has three freedom degrees, has the characteristic that the three axes intersect at one point and can simulate wrist movement to drive a tail end actuator to swing, and the universal mechanism is easy and flexible to operate and reliable and accurate. The scheme of wire feeding at the two sides and intersection on different faces is adopted in the steel wire rope transmission system, and the problems that wire feeding on the single side is complex, and wires interfere mutually are effectively solved. The mechanism has the advantages of being stable and reliable in structure, precise in control, free of hysteresis errors, high in transmission efficiency and the like.

Description

technical field [0001] The invention relates to a wire rope transmission universal mechanism, in particular to a wire rope transmission universal mechanism used for surgical drills. Background technique [0002] In the traditional surgical operation, the doctor holds the surgical instrument and performs the operation with his own perception and experience. Due to psychological or physiological reasons, the doctor’s hand will shake, which may lead to operational errors, ranging from surgical failure to serious. endanger the life of the patient. For example, in cochlear implant surgery, when the surgical drill is drilling, if the positioning is not accurate due to hand shaking, when the tip is close to the inner ear cartilage tissue, the inner eardrum may be drilled. Therefore, it is necessary to develop a robot-assisted surgical drill tool to improve positioning accuracy, reduce the physiological shaking of the doctor's hand, and improve the quality of surgery. [0003] The...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F11/00
CPCA61F11/20
Inventor 桑宏强张鑫贵李灿杨世明李博张文刚周莹
Owner TIANJIN POLYTECHNIC UNIV
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