fixed point agency

Abstract

The present invention provides a fixed point mechanism. In the fixed point mechanism, when a driving moment acts on the first link member or the slider device, the fixed point mechanism can realize the movement around the fixed point. Rotational movement; when a driving moment acts on the fourth link member or the sixth link member, the fixed point mechanism can realize the telescopic movement relative to the fixed point; when a driving moment acts on the first link member or The slider device, and another driving moment acts on the fourth link member or the sixth link member, the fixed point mechanism can realize the rotational movement around the fixed point and the telescopic movement relative to the fixed point. That is, the fixed point mechanism has two degrees of freedom of rotational movement around the fixed point and telescopic movement relative 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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