Unlock instant, AI-driven research and patent intelligence for your innovation.

Rope-driven parallel main manipulator

A main manipulator and rope-driven technology, applied in the direction of surgical manipulators, surgical robots, etc., can solve the problems of large volume and weight, limited working space, etc., and achieve the effect of small volume, simplified structure, and light weight

Active Publication Date: 2021-10-01
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The main purpose of this application is to provide a rope-driven parallel main operator to solve the problems in the related art that the parallel main operator has a large volume and weight and limited working space

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Rope-driven parallel main manipulator
  • Rope-driven parallel main manipulator
  • Rope-driven parallel main manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0025] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a rope-driven parallel force feedback main manipulator, which comprises force feedback pieces and an operating piece, wherein at least three sets of force feedback pieces are arranged, and each set of force feedback piece comprises a fixing part used for being fixed to a bearing structure and a fixing rod assembly arranged on the fixing part; the fixing rod assembly comprises a rod body arranged on the fixing part, and an upper motor, a lower motor, an upper reel and a lower reel which are arranged on the rod body; the output ends of the upper motor and the lower motor are in transmission connection with the upper reel and the lower reel respectively after keeping set torque; the upper reel and the lower reel are respectively connected with the upper end and the lower end of the operating piece through an upper connecting rope and a lower connecting rope; and a rotating piece and an encoder for acquiring a rotating signal of the rotating piece are arranged on the operating piece. The problems that in the prior art, a parallel main manipulator is large in size and weight, and the working space is limited are solved.

Description

technical field [0001] The present application relates to the technical field of surgical medical instruments, in particular, to a rope-driven parallel main operator. Background technique [0002] Compared with traditional surgery, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery, while robot-assisted minimally invasive surgery provides doctors with better flexibility, accuracy and operability. The human-computer interaction interface is an important part of robot-assisted minimally invasive surgery. It is used to collect the operator's hand motion and force information to control the slave hand, and to feed back the force of the slave hand to the master operator's hand, so as to realize the master-slave operation. [0003] At present, the main operators that have been successfully applied mainly include the Omega series main operators of Force Dimension Company and the PHANTOM series main operators of Sensable Company. Among them,...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): A61B34/37
CPCA61B34/37A61B34/70A61B34/71A61B34/76
Inventor 李长胜段星光孟繁盛
Owner BEIJING INSTITUTE OF TECHNOLOGYGY