Driving arm of surgical robot

Abstract

The invention provides a driving arm of a surgical robot, and belongs to the technical field of medical apparatuses. The problems that an existing driving arm of a surgical robot is supported on two sides and is large in size, large in weight and small in stretching range are solved. The driving arm comprises a fixed arm arranged on a stand, a middle section arm hinged to one end of the fixed arm,a front section arm hinged to the end, away from the fixed arm, of the middle section arm, and a sliding arm hinged to the end, away from the middle section arm, of the front section arm. A surgicalapparatus with an apparatus hand is arranged on the sliding arm. The middle section arm is located on one side of the fixed arm. The front section arm is located on one side of the middle section arm.The middle section arm and the front section arm form two adjacent sides of a parallelogram. An apocenter which is located on the vertex of the parallelogram and allows the apparatus hand to penetrate through is arranged between the middle section arm and the front section arm. A driving assembly for driving the apparatus hand to swing with the apocenter as the circle center is arranged between the stand and the sliding arm. Single-side support is adopted, so the driving arm has the advantages of being small in size, light in weight, large in stretching range and the like.

Description

technical field [0001] The invention belongs to the technical field of medical instruments, and relates to an active arm of a surgical robot, in particular to an active arm of a surgical robot supported on one side. Background technique [0002] With the application and development of robot technology, especially the development of computing technology, the role of medical surgical robots in clinical practice has been paid more and more attention. Minimally invasive surgical robots can reduce the physical labor of doctors during the operation, and at the same time achieve the purpose of precise surgery, so that patients have minimal trauma, less blood loss, less postoperative infection, and faster postoperative recovery. Minimally invasive surgical robot systems usually use a master-slave control mode: when the operator operates the master hand, the movement of his hand will drive the master hand to move accordingly, and the sensors at the joints of the master hand can measu...

AI Technical Summary

Problems solved by technology

The large size affects the layout of the multiple arms. In order to avoid the mutual interference of the arms, the distance between the surgical openings is relatively large; the large weight makes it difficult to drive, and the front-end surgical instruments are easy to shake

The double-sided support structure needs to achieve a large range of motion. When contracting, the arms need to overlap. In order to avoid interference, each arm needs to form a corner with a certain angle on the shape, so that the internal transmission belt cannot go in a straight line, and several guide wheels are needed to turn, increasing the structure. Complexity

Images