A robotic arm for assisting minimally invasive surgery

Abstract

The invention discloses a mechanical arm of an assistant robot for a minimally invasive surgery.The mechanical arm comprises a connecting base I and a connecting rod II.A parallelogram OPQR is formed by the axis of the connecting rod II, a connecting rod III, a connecting rod IV and a parallel line of the axis of a connecting base VIII.Under the driving of a motor I, a shaft II drives the connecting rod III to rotate around a point P, a shaft IV drives the connecting rod IV to rotate around a point Q, a shaft VI drives the connecting base VIII to rotate around a point R, the mechanical arm moves with a fixing point O as the center in a plane formed by the axis of the connecting rod II, the connecting rod III, the connecting rod IV and the parallel line of the axis of the connecting base VIII in a parallelogram pendulum mode.Under driving of a motor II, the connecting rod II rotates around the connecting rod II itself in the axial direction, and the mechanical arm does pendulum motion with the fixing point O as the center around the axis of the connecting rod II.The mechanical arm has the advantages of being accurate in transmission, high in reliability, large in movement range and system rigidity, long in service life, concise in appearance, small and light.

Description

technical field [0001] The invention relates to a medical device in the field of minimally invasive surgery, which can hold surgical tools to assist doctors to perform minimally invasive surgery, in particular to an auxiliary minimally invasive surgery suitable for minimally invasive surgery of the thoracic and abdominal cavities Robot arm. Background technique [0002] Minimally invasive surgery represented by laparoscopic surgery is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of long and thin surgical tools inserted into the body through tiny incisions on the surface of the human body. Surgical operation. Compared with traditional open surgery, it has the advantages of small surgical incision, less blood loss, small postoperative scar, and faster recovery time, which greatly reduces the suffering of patients; for this reason, minimally invasive surgery is widely used...

AI Technical Summary

Problems solved by technology

The robot system developed by the method of arc guide rail has the defects of large occupation volume and kinematic coupling; the double parallelogram mechanism has the advantages of simple structure, small size and light weight, and is currently the most widely used method. However, it puts forward very high requirements on the processing and assembly of the system. Since the accuracy of each connecting rod in the parallelogram in the length direction is difficult to guarantee, it greatly affects the motion accuracy and stiffness of the robot.

[0004] At present, the power transmission structure of the mechanical arm used in minimally invasive surgery is mainly wire transmission. Due to the elasticity of the wire rope, the wire rope is easy to stretch under the action of traction. After a period of use, the friction force of the wire transmission decreases or fails, and the transmission function is lost.

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