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Multi-degree-of-freedom surgical robot based on high-rigidity parallelogram telecentric mechanism

A parallelogram and surgical robot technology, applied in the field of surgical robots, can solve the problems of inaccurate positioning, long operation time, and decompression range based on experience, etc., and achieve the effect of simple movement mode, convenient operation, and quick and convenient replacement

Pending Publication Date: 2019-11-22
SHANGHAI NINTH PEOPLES HOSPITAL SHANGHAI JIAO TONG UNIV SCHOOL OF MEDICINE +1
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Problems solved by technology

[0004] In view of the shortcomings of the prior art described above, the technical problem to be solved in this application is to provide a multi-degree-of-freedom surgical robot based on a high-stiffness parallelogram telecentric mechanism, which is used to solve the existing positioning problems during orbital decompression surgery. Inaccurate, long operation time, decompression range depends on experience, etc.

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  • Multi-degree-of-freedom surgical robot based on high-rigidity parallelogram telecentric mechanism
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  • Multi-degree-of-freedom surgical robot based on high-rigidity parallelogram telecentric mechanism

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[0024]Embodiments of the present application are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0025] The embodiments of the present application will be described in detail below with reference to the accompanying drawings, so that those skilled in the art of the present application can easily implement them. The present application can be embodied in various...

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Abstract

The invention provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism. The robot is composed of a base, a three-dimensional mobile platform, a horizontal rotation mechanism, a linear module mechanism, the parallelogram mechanism and a surgical tool movable mechanism. The three-dimensional mobile platform is used for adjusting the spatial position of a surgical tool, the high-rigidity parallelogram telecentric mechanism is used for adjusting the posture of the surgical tool, and the surgical tool movable mechanism is used for feeding and angle adjustment of the surgical tool and comprises a surgical tool quick-disassembly mechanism. According to the multi-degree-of-freedom surgical robot, the position and posture of the surgical tool can be adjusted, it can be guaranteed that the surgical tool moves along any trajectory in the space and the angle is randomly adjusted, and the operation accuracy and stability are guaranteed. The multi-degree-of-freedom surgical robot is stable in structure, simple in movement mode and convenient to operate and has good application prospects.

Description

technical field [0001] The present application relates to the technical field of surgical robots, in particular to a multi-degree-of-freedom surgical robot based on a high-stiffness parallelogram telecentric mechanism. Background technique [0002] The human orbit is a conical bony space with a volume of only about 30ml. Once inflammation occurs, the volume of the orbital tissue will increase, causing exophthalmos and exophthalmos due to hyperthyroidism. When patients are insensitive or intolerant to radiotherapy and hormone therapy, orbital decompression surgery becomes the only effective means to relieve compressive optic neuropathy and exposure keratitis. Orbital decompression surgery can expand the orbital volume by chiseling out the orbital bone wall, and then achieve the therapeutic effect of orbital decompression. [0003] However, there are a series of problems in orbital decompression surgery, such as difficulty, complex anatomy, narrow space, limited field of view...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B2034/304
Inventor 范先群周慧芳李寅炜宋雪霏林艳萍李稣陈士行
Owner SHANGHAI NINTH PEOPLES HOSPITAL SHANGHAI JIAO TONG UNIV SCHOOL OF MEDICINE
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