Fixed point mechanism

Abstract

The invention provides a fixed point mechanism. In the fixed point mechanism, when a driving torque is acted on a first connecting rod component or a slide block device, the fixed point mechanism can realize a rotating motion around a fixed point; when the driving torque is acted on a fourth connecting rod component or a sixth connecting rod component, the fixed point mechanism can realize an extending motion corresponding to the fixed point; and when the driving torque is acted on the first connecting rod component or the slide block device, the other driving torque is acted on the fourth connecting rod component or the sixth connecting rod component, the fixed point mechanism can realize the rotating motion around the fixed point and the extending motion corresponding to the fixed point. That is, the fixed point mechanism has double degrees of freedom of the rotating motion around the fixed point and the extending motion corresponding to the fixed point.

Description

technical field

[0001] The present invention relates to the technical field of mechanical structures, in particular to a fixed point mechanism, more specifically, to a fixed point mechanism with two degrees of freedom, which can be applied to the field of minimally invasive surgical robots, and can especially Applied to the field of tool arm structure of surgical robot. Background technique

[0002] Minimally invasive surgery refers to a new technology that performs surgery in the human body through laparoscopy, thoracoscopic and other endoscopes. It has the advantages of small trauma, light pain, and less bleeding, which can effectively reduce the recovery time of patients. Discomfort and avoid some of the harmful side effects of traditional surgery. In the early minimally invasive surgery, due to the limitation of small holes on the body surface, the degree of freedom of the doctor's surgical tools was relatively reduced, and the operating direction also had defects such ...

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