Eight-degree-of-freedom surgery mechanical arm comprising closed-loop connecting rod

Abstract

The invention provides an eight-degree-of-freedom surgery mechanical arm comprising a closed-loop connecting rod. The eight-degree-of-freedom surgery mechanical arm comprises a position adjustment assembly, a posture adjustment and a surgery instrument, wherein the posture adjustment assembly is connected onto the position adjustment assembly, the posture adjustment assembly has the characteristicof telecentric fixed point, the surgery instrument is connected onto the posture adjustment assembly, the position adjustment assembly is used for adjusting the position of the telecentric fixed point, and the posture adjustment assembly is used for adjusting the posture of the surgery instrument. The eight-degree-of-freedom surgery mechanical arm has the beneficial effects as follows: a hinged arm is connected with a slide rail assembly, the position of the telecentric fixed point can be adjusted at multiple degrees of freedom, the posture adjustment system can adjust postures of the surgeryinstrument around the telecentric fixed point in multiple directions to drive the surgery instrument to realize telecentric movement required by a minimally invasive surgery, the structure is simpleand flexible, and small space is occupied. The system comprises a closed-loop connecting rod module, a drive group required by joints is effectively moved forwards, is simple in structure, stable inmovement, decoupled in posture and convenient and flexible to drive.

Description

technical field [0001] The invention relates to the field of surgical robots, in particular to an eight-degree-of-freedom surgical robot arm containing a closed-loop connecting rod. Background technique [0002] In recent years, surgical robots have developed rapidly in the medical field. At the same time, the continuous application and development of minimally invasive surgery in clinical operations has continuously demonstrated its advantages: small incisions, light pain, high surgical accuracy, and fast postoperative recovery. In order to meet the surgical needs of different surgeries, our surgical robots Surgical precision, movement flexibility and operational convenience all put forward higher requirements. [0003] Traditional surgical robots cannot have telecentric features and cannot be well used in the medical industry. For example, Chinese patent (CN 108274449 A) ​​invented a six-degree-of-freedom serial robot for industrial operations and Chinese patent (CN104816...

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Problems solved by technology

[0003] Traditional surgical robots cannot have telecentric features and cannot be well used in the medical industry. For example, Chinese patent (CN 108274449 A) ​​invented a six-degree-of-freedom serial robot for industrial operations and Chinese patent (CN104816293 A) invented a Eight-degree-of-freedom mobile robotic arm; with the development of robotics in the medical industry, some surgical robots have the characteristics of telecentric movement. A) Invented minimally invasive surgery robot and surgical equipment using it and Chinese patent (CN 109091230 A) invented a minimally invasive surgery main operating arm

The above-mentioned patented inventions have the characteristics of telecentric movement, but most of them use complex linkage mechanisms or cumbersome transmission systems to realize telecentric movement. The common problems are that the driving method is relatively complicated, the processing and manufacturing are difficult, the cumulative error is large, and the stability is not high. , the problem of taking up a lot of space

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