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Rope Drive Parallel Master Operator

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: 2022-05-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • 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

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Embodiment Construction

[0024] In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable un...

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Abstract

The present application discloses a rope-driven parallel force feedback main operator, including: force feedback parts and operating parts; wherein, the force feedback parts are arranged in at least three groups, and each group of force feedback parts includes fixing parts for fixing on the bearing structure. part and a fixed rod assembly located on the fixed part; the fixed rod assembly includes a rod body located on the fixed part, an upper motor, a lower motor, an upper winding wheel and a lower winding wheel located on the rod body; the upper motor and the lower motor The output end of the output end maintains the set torque and is respectively connected to the upper winding wheel and the lower winding wheel; the upper winding wheel and the lower winding wheel are respectively connected to the upper and lower ends of the operating part through the upper connecting rope and the lower connecting rope; The operating part is provided with a rotating part and an encoder for acquiring a rotation signal of the rotating part. The application solves the problems in the related art that the volume and weight of the parallel main operators are large and the working space is limited.

Description

technical field [0001] The present application relates to the technical field of surgical medical instruments, and in particular, to a rope-driven parallel master 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, precision and operability. The human-computer interaction interface is an important part of the robot-assisted minimally invasive surgery. It is used to collect the operator's hand motion and force information to control the slave hand, and feedback 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 from Force Dimension and the PHANTOM series main operators from Sensable. Among them, the O...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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
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