Remote motion center mechanism

Abstract

The invention discloses a remote motion center mechanism which comprises a motor box, a connecting rod device, a transmission case and a fixture, wherein the motor box is internally provided with a first motor; the connecting rod device comprises a first connecting rod, a second connecting rod, a first support rod, a second support rod and a support rod bracket; the transmission case comprises two stand plates arranged symmetrically; a first rotating shaft, a second rotating shaft and a third rotating shaft are sequentially arranged between the two stand plates from right to left; the two ends of the first rotating shaft are fixedly connected with one end of the first connecting rod and one end of the first support rod respectively; the other end of the first connecting rod is fixedly connected with an output shaft of the first motor; first synchronous belt wheels are arranged on the first rotating shaft and the third rotating shaft; first synchronous belts surround the two first synchronous belt wheels; and the fixture is fixed at the end part of one end of the third rotating shaft. The remote motion center mechanism can not obstruct operation or vision of a doctor, and realizes the effects of accurate positioning and control on postures of operative tools.

Description

technical field [0001] The invention relates to a remote motion center mechanism, which belongs to the field of medical equipment. Background technique [0002] In order to make the volume of the end of the robot as small as possible, and the change of the posture of the end of the robot does not affect the movement of the entire robotic arm, the robot for cranial and maxillofacial surgery uses a remote motion center mechanism plus a three-degree-of-freedom robotic arm mechanism. The distribution of the degree of freedom of this robot is similar to the PAKY robot first invented by Professor Taylor of Johns Hopkins University. The PAKY robot consists of a 7-degree-of-freedom passive mechanical arm and an end effector. The robotic arm controls the position of the anchor point at the end of the robot, while the mechanism at the end of the robot has two degrees of freedom and controls the posture of the surgical tool. The advantage of this is that when the position of the posit...

AI Technical Summary

Problems solved by technology

However, there are many connecting rods in the traditional remote motion center mechanism, which takes up a lot of space and still affects the doctor's operation.

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