Robotic operating arm for fundus retinal microsurgery
A technology of microsurgery and robotics, which is applied in ophthalmic surgery, surgical manipulators, surgical robots, etc., can solve the problems of poor accuracy and stability of surgical operations, and achieve the effects of eliminating physiological tremors, improving consistency, and determining simplicity
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[0015] Specific implementation mode 1: Combination Figure 1 to Figure 5 Explaining this embodiment, the robot operating arm for fundus retinal microsurgery in this embodiment includes a cantilever rotation module 1; it also includes a link assembly 2 and an end effector assembly 3, and the cantilever rotation module 1 includes a rotation module 1- 1. Cantilever base 1-2, cantilever 1-3, cantilever linear guide module 1-4, cantilever slider 1-5, cantilever slider connector 1-6 and rotating module housing 1-7, cantilever base 1- One end of 2 is connected to the external mobile device, the other end of the cantilever base 1-2 is connected to the rotating module 1-1, the cantilever 1-3 is connected to the rotating module 1-1, and the cantilever linear guide module 1-4 is installed on the cantilever 1. -3, the cantilever slider 1-5 is slidably mounted on the cantilever linear guide module 1-4, the cantilever slider connector 1-6 is mounted on the cantilever slider 1-5, and the rotat...
Example Embodiment
[0024] Specific implementation manner two: combination Figure 4 To illustrate this embodiment, the rotary module 1-1 of this embodiment includes a motor, a transmission device, a worm, and a worm gear. The output end of the motor is connected to the transmission device, the output end of the transmission device is connected to the worm gear, and the worm is installed on the cantilever 1-3. On the inner side, and the worm meshes with the worm gear. In actual use, the manufacturer of the rotary module 1-1 is R150M produced by Parker. This arrangement drives the rotation of the entire cantilever 1-3 around the axis of the cantilever; the connection method is simple and reliable, and other components and connection relations are the same as those in the first embodiment.
Example Embodiment
[0025] Specific implementation mode three: combination figure 1 To describe this embodiment, the cantilever linear guide module 1-4 of this embodiment adopts the model KK40-01P-150A-F2ES2 (PNP). With this arrangement, the stroke is large, the production is convenient, and the cost is low. Other components and connection relationships are the same as those in the first or second embodiment.
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