Handheld mechanism of seven-freedom master operating mechanical hand

Abstract

The invention provides a hand-held mechanism of a seven-degree-of-freedom main manipulator, which belongs to the technical field of medical devices. It solves the problems that the clamping structure of the existing minimally invasive robot cannot be automatically reset and cannot realize active action. The hand-held mechanism of the seven-degree-of-freedom main manipulator includes a support and a rotating shaft that can rotate around its own central axis through the support. The outer end of the rotating shaft is hinged with two oppositely arranged grippers. The outer end of the rotating shaft has The slot extends along its axial direction, and the two grippers are symmetrically hinged in the slot. The rotating shaft is provided with a limit assembly for limiting the maximum angle of outward rotation of the two grippers. The reset structure used to reset the two grippers after rotation. The invention has the advantages of high degree of freedom, automatic reset, active action and the like.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and relates to a holding mechanism of a seven-degree-of-freedom main manipulator, in particular to a hand-holding mechanism of a seven-degree-of-freedom main manipulator of a minimally invasive robot. Background technique [0002] In order to reduce the heavy physical labor of the surgeon in the medical operation process, achieve the purpose of precise surgery, and achieve the purpose of minimal trauma, less blood loss, less postoperative infection and faster postoperative recovery of the patient, the medical treatment for surgery Robotic systems typically use master-slave arms. When the operator operates the main manipulator (main manipulator), the movement of the hand will drive the main manipulator to move accordingly. The joints of the main manipulator mainly move passively, so that the motion information at the joints can be measured, and then passed The master-slave control algorit...

AI Technical Summary

Problems solved by technology

[0004] Although the above-mentioned clamping mechanism can measure the angle that the index finger part turns relative to the thumb part in real time, it still has the following problems: 1. The clamping mechanism cannot produce displacement in the axial direction, and the degree of freedom is low; 2. When the

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