Modularized joint of cooperative positioning arm for minimally invasive surgery robot

Abstract

The invention discloses a modularized joint of a cooperative positioning arm for a minimally invasive surgery robot. The modularized joint comprises a shell, a driving mechanism fixedly arranged in the shell and an output mechanism rotatably arranged in the shell, wherein the driving mechanism is connected with the output mechanism and is connected with the output mechanisms or racks of other modularized joints; and the output mechanism is connected with driving mechanism or grippers of other modularized joints. The modularized joint adopts an interval layered structure of a rotating part anda fixed part in a transmission shaft; a motor works to realize active operation of the cooperative positioning arm; and the modularized joint has larger output torque and reasonable kinematic velocity, is high in degree of control precision, small in size, light in weight and convenient in part installation and ensures personal safety of medical care personnel.

Description

technical field [0001] The invention relates to a technology in the field of medical robots, in particular to a modular joint for a cooperative positioning arm of a minimally invasive surgical robot. Background technique [0002] Minimally invasive surgical robots need to work collaboratively with medical staff during use, which puts high demands on their safety. In the existing product technology, in order to ensure safety, the robotic arm used for preoperative positioning in minimally invasive surgery is usually passive, and there are few active positioning robotic arms, which cannot collect control and safety detection data in real time. The output torque and movement speed of the mechanical arm cannot be well controlled, which is likely to pose a threat to the personal safety of medical staff. Contents of the invention [0003] Aiming at the above-mentioned deficiencies in the prior art, the present invention proposes a modular joint for a cooperative positioning arm ...

AI Technical Summary

Problems solved by technology

In the existing product technology, in order to ensure safety, the robotic arm used for preoperative positioning in minimally invasive surgery is usually passive, and there are few active positioning robotic arms, which cannot collect control and safety detection data in real time. The output torque and movement speed of the mechanical arm cannot be well controlled, which is likely to pose a threat to the personal safety of medical staff

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