Suspension positioning and attitude determination mechanical arm of minimally invasive surgery robot

Abstract

The invention discloses a suspension positioning and attitude determination mechanical arm of a minimally invasive surgery robot, and belongs to the technical field of medical surgical instruments. The suspension positioning and attitude determination mechanical arm comprises a trolley, a vertical column, a large arm, a small arm, a wrist and a surgical instrument connecting piece. The vertical column is installed on the trolley, a lifting shaft J1 is installed inside the vertical column, the vertical column is connected with one end of the large arm through a rotating shaft J2, and the otherend of the large arm is connected with one end of the small arm through a rotating shaft J3; the other end of the small arm is connected with the upper end of the wrist through a rotating shaft J4, and the lower end of the wrist is connected with the surgical instrument connecting piece through a rotating shaft J5; the rotating shaft J2, the rotating shaft J3 and the rotating shaft J4 are all parallel to the lifting shaft J1; and the large arm rotates around the rotating shaft J2, the small arm rotates around the rotating shaft J3, the rotating shaft J5 and the rotating shaft J4 are mutually perpendicular, the wrist rotates around the rotating shaft J4, and the surgical instrument connecting piece rotates around the rotating shaft J5. The position and the attitude of the mechanical arm areseparated, and the positioning and attitude determination range of the mechanical arm is large; the four rotating shafts are directly driven at the shaft junction by motors; and routing is conductedinside the mechanical arm, the joint structure is simple, and the problems of winding, wire clamping and the like are avoided.

Description

technical field [0001] The invention belongs to the technical field of medical surgical instruments, and in particular relates to a minimally invasive surgical robot suspension, positioning and attitude-fixing mechanical arm. Background technique [0002] Minimally invasive surgical robots are receiving more and more attention from the medical and robotics industries due to their high accuracy, repeatability, minimal postoperative trauma, and quick recovery. The mechanical arm is used as the support, positioning and posture determination part of the surgical robot. Its stability, reliability and accuracy will directly determine the success or failure of the operation, and even the life safety of the patient. At present, the surgical robot system on the market adopts the integrated transmission mode of the surgical equipment part and the equipment support part. The various mechanisms and transmission links increase the complexity of the mechanism and the number of parts, whic...

AI Technical Summary

Problems solved by technology

The purpose of the present invention is to design a simple, reliable, and accurate positioning robotic arm system for minimally invasive surgical robots, so as to solve the problems of complex joint structure, chaotic wiring, and high cost of current medical robot products.

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