Mechanism for adjusting position and posture of mechanical arms of minimally invasive surgery robot

Abstract

The invention discloses a mechanism for adjusting the position and the posture of mechanical arms of a minimally invasive surgery robot. The mechanism comprises a first passive mechanical arm and a second passive mechanical arm which are the same in structure. The first passive mechanical arm and the second passive mechanical arm are both connected with the passive mechanical arm fixing plate and are both five-degree-of-freedom passive mechanical arms. The mechanism comprises a first joint taking a Z axis as a rotating axis, a first connecting arm section, a second joint taking an X axis as a rotating axis, a second connecting arm section, a third joint taking the X axis as a rotating axis, a third connecting arm section, a fourth joint taking a Y axis as a rotating axis, a fourth connecting arm section and a fifth joint taking the Z axis as a rotating axis, which are connected in sequence.

Description

technical field [0001] The invention relates to the technical field of minimally invasive surgical single-hole surgical robots, in particular to a connection mechanism with manual adjustment and locking joints for adjusting the pose of a mechanical arm at the end of a single-hole surgical robot. Background technique [0002] Single-hole laparoscopic surgery involves placing multiple instruments into the abdominal cavity through a single incision. Compared with traditional multi-hole laparoscopic surgery, it has many advantages such as less invasiveness, faster recovery, and surgical beauty. However, single-hole laparoscopic surgery relying on traditional rigid laparoscopic instruments has many problems such as "straight-line vision, loss of operating triangle, and instrument interference". With the development of robotics, the emergence of single-port laparoscopic surgery robots has greatly improved the difficulties in traditional single-port laparoscopic surgery. Single-por...

AI Technical Summary

Problems solved by technology

[0003] When a single-port laparoscopic surgery robot performs surgery, a pair of end-executing robotic arms and a high-definition 3D endoscope are inserted into the body through a pre-opened hole for surgery. Adjust the posture to achieve the best position to complete the operation. At present, most of the existing single-port laparoscopic surgery robots only include one degree of freedom in the adjustment, and cannot adjust their posture more flexibly.

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