A main manipulator and surgical robot for continuum surgical robot

Abstract

The invention discloses a main manipulator for a continuum surgical robot and the surgical robot. The main manipulator solves the problem that the control requirement of the continuum surgical robot cannot be met in the prior art, and has the beneficial effect of being capable of providing multi-degree-of-freedom force feedback. The specific scheme is as follows: the main manipulator for the continuum surgical robot comprises a base, a horizontal deflection mechanism, a vertical deflection mechanism, a feeding mechanism, a data acquisition mechanism and a handheld mechanism, wherein the horizontal deflection mechanism comprises a base cover and a first angle detection part, and the base cover can rotate relative to the base; the vertical deflection mechanism comprises a top plate and a second angle detection part, and the top plate is supported on the base cover through a supporting arm and can rotate relative to the supporting arm; the feeding mechanism comprises a telescopic rod anda third detection part, and the telescopic rod penetrates through the top plate and is connected with a lifting part; and the data acquisition mechanism is used for acquiring the position change of atleast one of the horizontal deflection mechanism, the vertical deflection mechanism and the feeding mechanism and calibrating an original point of each mechanism.

Description

technical field [0001] The invention relates to the field of minimally invasive surgical robots, in particular to a main operator and a surgical robot for a continuum surgical robot. Background technique [0002] Minimally invasive surgical robot technology is a new medical and engineering multidisciplinary research field. On the basis of clinical medicine, technologies such as information science, robotics, materials science, medical engineering and microelectronics are added, making medical operations tend to be information digitized. , light equipment, intelligent equipment. The application of robot technology in the field of minimally invasive surgery makes the operation more safe and reliable, and the operation of surgical instruments is more flexible. The most important thing is that it can solve the fatigue problem of doctors during long-term operations. Most of them are master-slave robots, and the master hand is used as an intermediate bridge connecting the operato...

AI Technical Summary

Problems solved by technology

However, the inventors found that the current research and development of main hands at home and abroad are mostly applied to rigid rod surgical robots, and there is no dedicated main hand for the research and development of continuum surgical robots. , the direct mapping of degrees of freedom cannot be realized, and the control requirements cannot be fully met when applied to continuum surgical robots, and there are problems such as difficult master-slave hand mapping and limited surgical flexibility.

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