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Single-degree-of-freedom remote movement center mechanism

A remote motion center and degree of freedom technology, applied in the field of medical devices, can solve problems such as large size of the mechanism, affecting motion accuracy and stability, and large volume, and achieve high precision, stiffness, and simple structure

Active Publication Date: 2020-05-15
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The above-mentioned RCM mechanism realizes the rotation of the end device around the remote motion center or moves along a straight line passing through the RCM point, but the above-mentioned RCM mechanism is composed of multiple joints in series, which affects its motion accuracy and poor stability; in addition, due to the complex structure, The relatively large size of the mechanism makes it difficult to apply to small surgical robots
Patent No. CN107049498A proposes a surgical robot based on a parallel three-degree-of-freedom remote motion center mechanism, which has high motion accuracy and good rigidity, but has a complex structure and a large volume

Method used

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Embodiment Construction

[0019] A single-degree-of-freedom remote motion center mechanism proposed by the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. The embodiments of the present invention have been presented for purposes of illustration and description only, but are not intended to be exhaustive or to limit the invention to the form disclosed.

[0020] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left" etc. is based on the orientation or positional relationship shown in the drawings , is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention...

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Abstract

The invention provides a single-degree-of-freedom remote movement center mechanism. The mechanism is composed of a base, a movable platform, a first branch chain, a second branch chain and a tail endappliance. Both the first branch chain and the second branch chain are connected through a revolving pair by two links, and the base is rotatably connected with the movable platform through the firstbranch chain and the second branch chain. Through the above-mentioned connection, the tail end appliance mounted on the movable platform can rotate around a connecting line MN in space, so as to formthe single-degree-of-freedom remote movement center mechanism. The mechanism is small in quantity of contained members, simple and reliable in structure and easy in processing and assembling, has relatively good rigidity, can serve as a posture adjusting mechanism of a medical micromanipulator and can also be applied to a multiple-degree-of-freedom minimally-invasive surgery robot.

Description

technical field [0001] The invention belongs to the field of medical equipment, and relates to an attitude adjustment mechanism for a medical robot. Background technique [0002] Minimally invasive surgery has the advantages of less trauma, less pain and shorter recovery time for patients, and has become an important development direction of surgery. When performing minimally invasive surgery, it is usually necessary to have a surgical robot to assist the doctor in the operation. In the process of minimally invasive surgery assisted by surgical robots, the terminal surgical instrument needs to realize at least three degrees of freedom movement, that is, two degrees of freedom rotation around the puncture hole and movement along the axial direction of the surgical instrument. Usually, this motion mode can be realized by a Remote-Center-Motion (RCM) mechanism. The characteristic of this RCM mechanism is that its output member can rotate around a fixed point at the far end an...

Claims

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Application Information

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IPC IPC(8): A61B34/35
CPCA61B34/35A61B34/72A61B34/77A61B2034/301
Inventor 黄龙刘北尹来容胡宏伟徐晓强易可夫
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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