Surgical robot and its arm

Abstract

The present invention provides a surgical robot and its mechanical arm; the mechanical arm includes a horizontally moving joint, a first rotating joint, a connecting arm and a vertically moving joint; the first rotating joint includes a first rotating shaft and a The first outer cylinder, the first outer cylinder can rotate around the first shaft; the connecting arms are respectively connected to the first outer cylinder and the vertical movement joint; the vertical movement joint includes a connector, and is used to drive the external member connected with the connector Movement in the vertical direction; the horizontal movement joint is connected to the first rotating shaft and used to drive the first rotation joint to move in the horizontal direction. The present invention can realize the horizontal motion of the mechanical arm through a horizontally moving joint, and can realize the vertical motion of the mechanical arm through a vertically moving joint. Since the number of joints is small and the structural relationship is simplified, the overall size of the mechanical arm is reduced and the The overall quality of the mechanical arm is improved, and the motion control precision is high, and no additional motion displacement will be generated, and the operation is easier.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a mechanical arm used for minimal trauma surgery. Background technique [0002] Minimally invasive surgery is an interventional method that uses tiny channels for surgical treatment. It uses corresponding minimally invasive surgical instruments to achieve the same or better curative effect than traditional surgery. Compared with traditional surgery, minimally invasive surgery has the characteristics of less trauma, less bleeding, and faster recovery, and has become an important direction in the development of contemporary medical technology. [0003] As a part of minimally invasive surgery, compared with general minimally invasive surgery, the use of minimally invasive surgical robots requires less surgical pressure for doctors, more precise surgical operations, and more flexible surgical operations. Therefore, the development of minimally invasive surgical robots is...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to provide a surgical robot and its mechanical arm, so as to overcome one or more problems in the prior art in the complex structure of the mechanical arm, large external dimensions, poor operation convenience, etc.

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