A miniaturized surgical robot with rear motor
A surgical robot and actuator technology, applied in the field of medical surgical robots, can solve problems such as increasing joint drive torque, doctor's distraction, mechanical arm system vibration, etc., to achieve the effect of reducing configuration, reducing risk of occurrence, and driving precision
Active Publication Date: 2020-08-25
SHANDONG UNIV
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Problems solved by technology
However, the inventors found that such an installation method would lead to top-heavy operation of the surgical robot, increase the driving torque of the joints, easily cause vibration of the robotic arm system, reduce accuracy, and more likely cause doctors to be distracted, thus increasing the risk of surgery
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[0034] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
[0035] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.
[0036] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present i...
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The invention relates to a miniaturized rear-motor surgical robot. The robot comprises a V-shaped first connection rod and a V-shaped second connection rod. The turning angle of the first connection rod is connected to the turning angle of the second connection rod through a connection shaft. The bottom end of the first connection rod is connected to a first motor, and an output shaft of a secondmotor passes through the bottom end of the second connection rod. The output shaft of the second motor is fixedly connected to one end of a swing arm arranged between the first connection rod and thesecond connection rod. The other end of the swing arm is hinged with one end of a third connection rod. The other end of the third connection rod is hinged with one end of a V-shaped rod of which a turning angle is rotatably connected with a connection shaft. The other end of the V-shape rod is connected with one end of a fourth connection rod. The other end of the fourth connection rod is hingedwith a slide table that is rotatably connected to the top ends of the first connection rod and the second connection rod. The slide table is equipped with a lifting mechanism that is connected to an actuator. The actuator is used for connecting a terminal actuating element. The surgical robot of the invention has low vibration and low probability of operation risk.
Description
technical field [0001] The invention relates to the technical field of medical surgical robots, in particular to a miniaturized surgical robot with a rear motor. Background technique [0002] With the development and progress of science and technology, the concept of "minimally invasive" has penetrated into various fields of surgery. Minimally invasive surgery refers to surgery performed using modern medical instruments such as laparoscopes and thoracoscopes and related equipment. Compared with traditional surgery, minimally invasive surgery has the advantages of less trauma, less pain, less bleeding, faster recovery, and shorter hospital stay, which is conducive to improving the quality of surgical operations and reducing medical costs. One of the development directions of surgery in the 21st century. The application of minimally invasive surgical instruments and surgical robots has changed the way of traditional surgery. While bringing convenience to doctors to operate s...
Claims
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IPC IPC(8): A61B34/30A61B34/00
CPCA61B34/30A61B34/70
Inventor 杜付鑫张钢彭崧苑宇龙王淦张涛
Owner SHANDONG UNIV