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Minimally invasive surgery robot 7-degree freedom operation master manipulator

A minimally invasive surgery, robotics technology, applied in the field of medical robots, can solve problems such as poor flexibility and versatility, complex structure, etc.

Active Publication Date: 2017-05-17
吉林省金博弘智能科技有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] In order to solve the problems of complex structure, poor flexibility and poor versatility of the existing minimally invasive surgical robot operating hand, the present invention further provides a seven-degree-of-freedom operating main hand of minimally invasive surgical robot

Method used

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  • Minimally invasive surgery robot 7-degree freedom operation master manipulator
  • Minimally invasive surgery robot 7-degree freedom operation master manipulator
  • Minimally invasive surgery robot 7-degree freedom operation master manipulator

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Embodiment Construction

[0023] The technical solutions of the present invention will be further described below in conjunction with the drawings and specific implementations.

[0024] Combine Figure 1-Figure 10 It is explained that the seven-degree-of-freedom operation master hand of a minimally invasive surgical robot of this embodiment includes a base 31, a turntable 32 that is arranged on the base 31 and rotates around the z-axis, and is connected to the turntable 32. The connecting rod that rotates around the x-axis 1, the first rotation link 21 connected to the connecting rod 1 that can rotate around the x-axis, and the second rotation link connected to the first rotation link 21 that can rotate around the x-axis The connecting rod 22 and the clamping mechanism 5 connected with the second rotation connecting rod 22;

[0025] The clamping mechanism 5 includes a thumb part 5-1 and an index finger part 5-2 that rotate relatively.

[0026] In this embodiment, the angular displacement sensor provided in e...

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Abstract

The invention discloses a minimally invasive surgery robot 7-degree freedom operation master manipulator, and relates to a minimally invasive surgery robot; the operation master manipulator is used for solving the problems of complex structure and bad flexibility and university of the manipulator of the minimally invasive surgery robot. The master manipulator comprises a substrate, a turntable arranged on the substrate and rotated around a z axis, a link rod connected with the turntable and rotated around the x axis, a 1# self-rotating link rod connected with the link rod an rotated around the x axis, a 2# self-rotating link rod connected with the 1# self-rotating link rod and rotated around the x axis, and a clamping mechanism connected with the 2# self-rotating link rod; the clamping mechanism comprises a thumb part and an index finger part which are rotated face to face.

Description

Technical field [0001] The invention relates to a minimally invasive surgical robot, in particular to a seven-degree-of-freedom operation main hand of a minimally invasive surgical robot, belonging to the field of medical robots. Background technique [0002] Minimally invasive surgery means that the surgeon inserts the surgical machinery into the human body through a small incision on the patient's body, and uses visual monitoring equipment and smart surgical instruments to diagnose or treat the lesion. Compared with traditional surgery, it has less damage, fast healing, can bring more ideal surgical results to patients, and is widely used. However, in minimally invasive surgery, due to the smaller operation objects and reduced hand flexibility, when the operation time is long, the surgeon is prone to fatigue and jitter, which leads to inaccurate operations. [0003] Minimally invasive surgery robot is the successful application of robotic technology in medical surgery, and it is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37A61B17/00
CPCA61B17/00234A61B2017/00238
Inventor 冯美王吉钊吴允坚赵继金星泽张海军李秋萌郝良天
Owner 吉林省金博弘智能科技有限责任公司
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