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Robotic Arms and Medical Robots

A robotic arm and medical device technology, applied in the field of medical devices, can solve the problems of large size, unsatisfactory obstacle avoidance ability, heavy weight, etc., and achieve the effect of small overall size, light weight, and easy installation and use

Active Publication Date: 2021-10-26
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the current mirror-holding robots are not only large in size and heavy in weight, but also have unsatisfactory obstacle avoidance capabilities.

Method used

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  • Robotic Arms and Medical Robots
  • Robotic Arms and Medical Robots
  • Robotic Arms and Medical Robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0075] like figure 1 and figure 2 As shown, in the first embodiment of the present invention, a medical robot 10 is provided, which includes a mechanical arm and a medical device detachably connected to the end of the mechanical arm. In this embodiment, the medical device is a laparoscope 8, so The robotic arm is used to drive the laparoscope 8 to move around a fixed point. From the proximal end to the distal end, the robotic arm sequentially includes a first rotating joint 101 , a first swinging joint 102 , a second swinging joint 103 , a second rotating joint 104 , and a third swinging joint 105 . The autorotation joint 106 that rotates.

[0076] The rotation axis of the first pivot joint 101 is perpendicular to and intersects with the rotation axis of the first pivot joint 102; the rotation axis of the first pivot joint 102 is parallel to the rotation axis of the second pivot joint 103; the second pivot joint 103 The rotational axis of the second rotational joint 104 is...

Embodiment 2

[0087] The robotic arm of the embodiment of the present invention is basically the same as that of the first embodiment, and the following mainly focuses on the differences.

[0088] like Figure 3a and Figure 3b As shown, in the second embodiment of the present invention, some of the links in the robotic arm are offset connections. Specifically, in Figure 3b In the top view angle shown, the middle arm 3 is located on the right side of the big arm 2, and the forearm 4 is located on the left side of the middle arm 3, that is, the axis of the middle arm 3 and the axis of the big arm 2 do not intersect, that is, the different The axis of the forearm 4 does not intersect with the axis of the middle arm 3, that is, different planes or parallel. Preferably, the axis of the large arm 2 and the axis of the forearm 4 are located on the same side of the axis of the middle arm 3 . For example, the large arm 2 and the forearm 4 are both located on the left side of the middle arm 3 (...

Embodiment 3

[0090] The robotic arm of the embodiment of the present invention is basically the same as that of the first embodiment, and the following mainly focuses on the differences.

[0091] like Figure 4 As shown, in the third embodiment of the present invention, the rotation axis of the second rotation joint 104, the rotation axis of the third swing joint 105 and the rotation axis of the autorotation joint 106 do not intersect at one point, specifically the second rotation joint The rotation axis of 104 is perpendicular to and intersects with the rotation axis of the third swing joint 105 , the rotation axis of the third swing joint 105 and the rotation axis of the autorotation joint 106 are only perpendicular but not intersecting, and the rotation axis of the second rotation joint 104 Only the axis of rotation of the autorotation joint 106 is intersected.

[0092] At this time, the mirror base connector 6 is an optional solution, that is, the forearm 5 can be directly connected t...

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Abstract

The invention relates to a mechanical arm and a medical robot, which have the advantages of small size, light weight, better obstacle avoidance, and the like. The end of the mechanical arm of the present invention is specifically detachably connected with the medical device to drive the medical device to move around a fixed point, and from the proximal end to the distal end, the mechanical arm sequentially includes a first rotating joint, a first swing joint, a second The second swing joint, the second rotation joint, the third swing joint and the rotation joint for realizing the rotation of medical equipment. In practice, the rotation axis of the autorotation joint, the rotation axis of the second rotation joint and the rotation axis of the third swing joint intersect at one point, so as to simplify the motion control of the robot; it is better between the first swing joint and the second swing joint The ground is equipped with a third rotating joint, so that the mechanical arm has seven degrees of freedom, and the constraint function of the fixed point is completed through the robot kinematics algorithm.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a mechanical arm and a medical robot. Background technique [0002] With the development of robotics, there are more and more medical robots. From the early Aesop surgical robot to the current Da Vinci surgical robot system, the functions of medical robots are becoming more and more powerful. [0003] At the same time, from the original open surgery to the current minimally invasive surgery, the form of surgery is constantly changing. The biggest feature of minimally invasive surgery is that the incision is very small, resulting in a very limited surgical field of view for doctors. For this reason, various laparoscopes with different functions have emerged. From laparoscopy to the current capsule laparoscopy, laparoscopy plays an increasingly important role in minimally invasive surgery. At present, the combination of the most advanced robotic system and surgical system...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B34/70A61B2034/305
Inventor 李涛何超宋彬师云雷
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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