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Main manipulator of seven-degree-of-freedom series minimally invasive surgery robot

A robot-driven, minimally invasive surgery technology, applied in the field of medical devices, can solve problems such as poor operational flexibility, and achieve the effects of easy processing and assembly, flexible operation, and good application prospects

Pending Publication Date: 2020-03-31
HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the existing main operator has poor operational flexibility due to the need to bear a large moment of inertia

Method used

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  • Main manipulator of seven-degree-of-freedom series minimally invasive surgery robot
  • Main manipulator of seven-degree-of-freedom series minimally invasive surgery robot
  • Main manipulator of seven-degree-of-freedom series minimally invasive surgery robot

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specific Embodiment approach 1

[0027] Embodiment 1: Combining Figure 1 to Figure 6 Illustrating this embodiment, a main operator of a 7-DOF serial minimally invasive surgical robot in this embodiment includes a posture adjustment mechanism Z, which also includes a position adjustment mechanism W, and the position adjustment mechanism W includes a shoulder 1, a large arm 2 and a small Arm 3, the shoulder 1 and one end of the arm 2 are connected in a vertical direction to form a shoulder joint A1, and the other end of the large arm 2 and one end of the forearm 3 are connected in a vertical direction to form an elbow joint A2. The other end of the arm 3 and the posture adjustment mechanism Z are rotated in the horizontal direction to form the wrist joint A4, and the forearm 3 and the elbow joint A2 are rotated in the horizontal direction to form the forearm rotation joint A3, and the posture adjustment mechanism Z is three. Axle interchange.

[0028] The main operating wrist mechanism of the present inventio...

specific Embodiment approach 2

[0030] Specific implementation mode 2: Combining Figure 1 to Figure 6 Describing this embodiment, the posture adjustment mechanism Z of this embodiment includes a first L-shaped frame 4 , a second L-shaped frame 5 and a gripping hand 6 , the upper part of the vertical section of the first L-shaped frame 4 and the end of the forearm 3 The wrist joint A4 is formed by the rotation connection of the first L-shaped frame 4 and the horizontal section of the second L-shaped frame 5 in the vertical direction to form the clamping posture vertical adjustment joint A5. The gripping hand 6 is horizontally and rotatably installed on the gripping hand 6 to form a gripping posture level adjustment joint A6, and the gripping hand 6 is a gripping hand with a gripping degree of freedom. In this way, the arc 8 is easy to cooperate with the pawl. Other components and connection relationships are the same as in the first embodiment.

specific Embodiment approach 3

[0031] Specific implementation three: combination Figure 5 to Figure 6 Describing the present embodiment, the arm 3 of the present embodiment is a parallelogram mechanism. This arrangement is convenient to ensure that the posture of the end of the main operator remains unchanged during the up and down movement of the end of the main operator. Other compositions and connection relationships are the same as in the first or second embodiment.

[0032] The motion principle of the parallelogram mechanism in this embodiment is as follows: Figure 4 and Figure 5 shown. As can be seen from the figure, due to the constraints of the parallelogram mechanism, ab is always parallel to cd when the elbow of the designed main operator performs the pitching motion, which ensures that the wrist is always kept horizontal during the up and down movement of the end of the main operator.

[0033] The parallelogram mechanism of this embodiment ensures that the front and rear ends of the parall...

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Abstract

The invention discloses a main manipulator of a seven-degree-of-freedom series minimally invasive surgery robot, which relates to the main manipulator. The problem that an existing main manipulator needs to bear large inertia moment, so that operation flexibility is poor is solved. A shoulder part (1) is rotatably connected with one end of a big arm (2) in the vertical direction to form a shoulderjoint (A1); the other end of the big arm (2) is rotatably connected with one end of a forearm (3) in the vertical direction to form an elbow joint (A2); the other end of the forearm (3) is connectedwith a posture adjusting mechanism (Z) in a rotating mode in the horizontal direction to form a wrist joint (A4), the forearm (3) is connected with the elbow joint (A2) in the rotating mode in the horizontal direction to form a forearm rotating joint (A3), and the posture adjusting mechanism (Z) is a three-axis intersection mechanism. The main manipulator adopts a joint motor to output torque so as to ensure the comfort and flexibility of doctor operation. The main manipulator is used for the seven-degree-of-freedom series minimally invasive surgery robot.

Description

technical field [0001] The invention relates to a main operator, in particular to a main operator of a 7-degree-of-freedom series minimally invasive surgical robot. It belongs to the field of medical devices. Background technique [0002] At present, the development of minimally invasive surgical robots has had a significant impact in the medical field, bringing fundamental changes in technology and even concepts to traditional medicine. The design of master-slave minimally invasive surgical robots and the research on related key technologies have become one of the hotspots in the field of robotics. [0003] The master-slave minimally invasive surgical robot adopts the working mode of teleoperation. During the minimally invasive surgery, the surgeon directly operates the master operator, which records the doctor's hand movements and transmits them to the slave surgical robotic arm. The slave robot arm follows the movement of the master operator in real time to perform sur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/37A61B34/30
CPCA61B34/37A61B34/76A61B34/71A61B2034/301
Inventor 王建国夏国杰王笑寒
Owner HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIP CO LTD
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