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Multi-degree-of-freedom robot instrument finger and application thereof

A degree of freedom, robot technology, applied in the field of robotics, can solve problems such as application difficulties, lack of force perception ability of operating equipment, etc.

Active Publication Date: 2018-08-14
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, one of the current common problems is the lack of force perception ability or difficulty in the operation of instruments.

Method used

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  • Multi-degree-of-freedom robot instrument finger and application thereof
  • Multi-degree-of-freedom robot instrument finger and application thereof
  • Multi-degree-of-freedom robot instrument finger and application thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] The specific implementation manners of the present invention are given below and described in conjunction with the accompanying drawings.

[0050] combine figure 1 , 2 , 4, 9 and 13, a robot instrument finger with multiple degrees of freedom, which consists of a drive mechanism 1, a mounting bracket mechanism 2 and a wrist finger mechanism 3. The driving mechanism 1 is connected with the wrist finger mechanism 3 via the mounting bracket mechanism 2 .

[0051] The wrist-finger mechanism 3 is driven by the cable with three degrees of freedom of pitching, deflection and / or clamping by the driving mechanism 1 .

[0052] The wrist finger mechanism 3 is driven by the mounting bracket mechanism 2 with a degree of freedom of rotation.

[0053] The wrist finger mechanism 3 has three degrees of freedom of motion, pitch, deflection and / or opening and closing.

[0054] combine Figures 1 to 8 Further, the driving mechanism 1 is composed of a frame body mechanism 1100, 3 groups...

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Abstract

The invention provides a multi-degree-of-freedom robot instrument finger and application thereof. The robot instrument finger consists of three parts including a driving mechanism, a mounting supportmechanism and a wrist finger mechanism, wherein the driving mechanism is connected with the wrist finger mechanism through the mounting support mechanism. The multi-degree-of-freedom robot instrumentfinger can be used in the fields of medical operation, industrial operation and remote control. The multi-degree-of-freedom robot instrument finger has the following technical effects that the multi-degree-of-freedom robot instrument finger has four degrees of freedom, namely rotating, pitching, deflecting and opening and closing; a driving flexible cable has the initial tension of 20 N and the error within + / -2 N; the minimum tension is not less than 7.5 N; the driving flexible cable has the linear displacement range of 0-12 mm; a rotary joint has the angle range of + / -180 degrees; a pitchingjoint has the angle range of + / -90 degrees; a deflecting joint has the angle range of + / -75 degrees; and an opening and closing angle is 0-150 degrees.

Description

technical field [0001] The invention belongs to the field of robot technology, and in particular relates to a robot-assisted minimally invasive surgery medical device, which is applied to a minimally invasive surgical robot to perform surgical operations, and more particularly relates to a 4-degree-of-freedom robot-assisted robot based on an elastic flexible cable drive mode. The device is specifically a robotic device finger with multiple degrees of freedom and its application. Background technique [0002] Compared with traditional surgery, robot-assisted minimally invasive surgery has the advantages of accurate target positioning, easy to achieve minimally invasive, and remote surgery, etc., laying a technical foundation for the third-generation surgery with minimally invasive and refined features It can improve the efficiency and success rate of the operation, reduce the pain of the operation, and shorten the recovery time after the operation. However, one of the curren...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J13/08A61B34/00
CPCA61B34/70B25J13/088B25J17/0283
Inventor 王正雨訾斌李元钱森王道明钱钧于凌涛
Owner HEFEI UNIV OF TECH
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