Differential value compensation mechanism applied to manipulator

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a differential value compensation mechanism applied to a manipulator. The invention provides the differential value compensation mechanism applied to a manipulator, aiming at the problems that a steel wire rope is tightened or loosened when the manipulator moves to other positions in the prior art, so that the steel wire rope drives a forceps head to generate slight position offset, the independent control of the forceps head cannot be realized, and the operation of medical personnel is inconvenient. The ifferential value compensation mechanism applied to a manipulator comprises a clamp head seat, a clamp head assembly, a second control rope and a tensioning wheel assembly, and further comprises a differential value compensation assembly. In the rotating process, the change trend of the length, pressed on the difference compensation assembly, of the second control rope is opposite to the change trend of the length, pressed on the tensioning wheel assembly, of the second control rope. The differential value compensation assembly is arranged, tightening or loosening caused by the length change of the second control rope pressed on the surface of the tensioning wheel assembly can be compensated and offset through the differential value compensation assembly, and it is guaranteed that the clamp head assembly is independently controlled.

Description

technical field [0001] The invention belongs to the technical field of medical devices, in particular to a difference compensation mechanism applied to a manipulator. Background technique [0002] Surgical forceps are mostly used in medical treatment to clamp human tissue during surgery. In the prior art, there are surgical forceps that control the rotation and opening and closing of the forceps head with a wire rope. However, there are many movable joints provided on the surgical forceps, that is, when the movable position is more than one clamp head, the steel wire rope will be tightened or loosened when other positions are moved, thereby causing the steel wire rope to drive the clamp head to slightly shift. Can't realize the independent control of pliers, inconvenient for medical staff to operate. [0003] For example, a Chinese invention patent application discloses a detachable laparoscopic clip applier [application number: 201911172052.6]. shaft, a first U-groove wh...

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Problems solved by technology

[0004] This invention patent application has the advantages of small size, light weight, strong flexibility, not easy to damage branches and leaves, and high degree of freedom of movement between complex branches and leaves, but it still has the above problems and cannot be applied in the medical field

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