Surgical robot manipulator arm with self-adaptability

A surgical robot, self-adaptive technology, applied in surgical robot, surgery, medical science, etc., can solve the problems of reduced flexibility, restricted tool freedom, bulky, etc., to improve self-adaptive ability, reduce structural complexity, reduce The effect of the moment of inertia

Active Publication Date: 2016-10-26
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, while minimally invasive surgery brings many benefits to the patient, it brings a series of difficulties to the doctor's operation, such as: 1) The incision on the body surface restricts the freedom of the tool and reduces its flexibility
2) The direction of the doctor's operation is opposite to the expected direction, and the coordination is poor
At present, the only minimally invasive s

Method used

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  • Surgical robot manipulator arm with self-adaptability
  • Surgical robot manipulator arm with self-adaptability
  • Surgical robot manipulator arm with self-adaptability

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Embodiment Construction

[0036] The present invention will be described in detail below in conjunction with specific embodiments.

[0037] As shown in the accompanying drawings, the robotic manipulator arm with self-adaptive capability includes a passive adjustment structure 1 and an active structure 6. The passive adjustment structure 1 includes a body base 1-1, and a support beam 1-1 arranged along the horizontal direction. The rear end of 3 is connected to the main body base 1-1 through the lifting mechanism and can slide up and down on the main body base 1-1 in the vertical direction under the drive of the lifting mechanism to realize the lifting degree of freedom of the passive adjustment structure 1 R1, the front end of the support beam 1-3 is connected with an arc-shaped deflection frame 1-4 so that the two form a rotating joint, and a brake is fixedly installed on the support beam 1-3, and the brake The rotating shaft is fixedly connected with the arc deflection frame. The brake is connected ...

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Abstract

The invention discloses a robot manipulator arm with self-adaptability, which comprises a passive adjustment structure and an active structure, wherein the active structure comprises a plurality of active arms; each of the active arms comprises a driving bracket; the driving brackets are fixedly arranged under an arc-shaped deflection frame by active and passive connecting shafts which are uniformly distributed on the arc-shaped deflection frame; each active arm comprises an active joint I which is formed by rotatable connection of an active frame and a joint connecting seat; the joint connecting seats and connecting rods I are rotatably connected to form active joints II; and the connecting rods I and connecting rod revolving seats are rotatably connected to form active joints III. The manipulator arm can effectively realize the fast and flexible adjustment of the initial position and posture of the active structure of a robot, reduce the structure size of the active arms, and reduce the movement inertia.

Description

technical field [0001] The invention relates to an auxiliary minimally invasive surgical robot operating arm, in particular to a thoracoabdominal cavity minimally invasive surgical robot operating arm capable of realizing large-scale movement and multi-pose adjustment functions. Background technique [0002] Minimally invasive surgery is known as one of the important contributions of the medical field to human civilization in the 21st century. Minimally invasive surgery refers to a type of surgical operation performed using modern medical equipment such as thoracoscopy and laparoscopy and supporting instruments. Compared with traditional open surgery, minimally invasive surgery has the advantages of small surgical incision, less bleeding, small postoperative scar, and faster recovery time, which greatly reduces the pain suffered by patients and also helps to reduce the overall cost of surgery for patients. Therefore, minimally invasive surgery has been more and more widely u...

Claims

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Application Information

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IPC IPC(8): A61B34/37A61B17/00
CPCA61B17/00234
Inventor 王树新孔康杨英侃李建民喻宏波李进华
Owner TIANJIN UNIV
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