A deployment mechanism of a single-hole surgical robotic arm

Abstract

The invention discloses a deployment mechanism of a single-hole surgical manipulator, which relates to the technical field of medical machinery and includes: a first intermediate link, a first lumbar link, a second lumbar link, a first slider shaft, a first Auxiliary connecting rod, second auxiliary connecting rod, first pin shaft, second pin shaft, second intermediate connecting rod, third waist connecting rod, second slider shaft and third auxiliary connecting rod. Both the first waist link and the second waist link are connected to the first middle link, the first auxiliary link is arranged in the first waist link, and the second auxiliary link is arranged in the second waist link. The present invention adopts an isosceles trapezoidal structure, and the sum of the lengths of the two driving wires is a constant value, which ensures that the shortening amount of one driving wire is kept equal to the elongation of the other driving wire, and can avoid the mechanism from being out of motion. To confirm the phenomenon, set the driving wire in the grooves on the upper and lower sides of the middle connecting rod. The grooves on both sides can ensure that the driving wire does not interfere with the middle connecting rod during movement.

Description

technical field [0001] The invention relates to the technical field of medical machinery, in particular to a deployment mechanism for a single-hole surgical robot arm. Background technique [0002] In traditional multi-hole laparoscopic surgery, since there is a certain distance between the minimally invasive holes, it can be ensured that each surgical instrument arm passing through the minimally invasive holes is not easy to interfere with each other, which provides a guarantee for the smooth operation. However, in single-hole surgery, all surgical instrument arms pass through the only minimally invasive hole. This structural change will easily cause interference between the surgical instrument arms, which is not conducive to the normal operation. Therefore, in single-port surgery, it is necessary to add a special structure so that each instrument arm can be separated from each other after entering the patient's body, so as to effectively avoid interference. At present, mo...

AI Technical Summary

Problems solved by technology

When wire drive is used for control, a pair of driving wires usually controls the movement of the deployment mechanism. The deployment mechanism of many systems cannot ensure that the shortening of one driving wire is always equal to the elongation of the other driving wire. When a relatively moving rigid body stops at a certain moving position, the tension between the shortened driving wire and the rigid body will disappear. At this time, if the elongated driving wire is in a relaxed state, external disturbances may cause the shortened driving wire to The wire is in a loose state, which makes the elongated driving wire tend to be in a tight state, which will change the relative position of each component in the mechanism, so the movement of the mechanism will be uncertain, which may cause adverse effects on the results of the operation. lead to failure of surgery

Images