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Seven-degree-of-freedom decoupling main manipulator

A main operator and degrees of freedom technology, applied in the field of medical machinery, can solve the problem of the main operator's degrees of freedom interfering with each other

Active Publication Date: 2021-12-07
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003]The present invention provides a seven-degree-of-freedom decoupling main operator, the purpose of which is to solve the need for multiple transformations of the existing main operator and part of the main operator. The problem of mutual interference between the degrees of freedom of the operator

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Embodiment Construction

[0035] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0036] The present invention provides a seven-degree-of-freedom decoupling main operator for the problems that the existing main operator needs to convert action signals multiple times and the degrees of freedom of some main operators interfere with each other.

[0037] like figure 1 As shown, the embodiment of the present invention provides a seven-degree-of-freedom decoupling master manipulator, including: hand shear joint R 1 , wrist offset joint R 2 , Wrist flexion and extension joint R 3 , forearm rotation joint R 4 , forearm rollover joint R 5and elbow flexion and extension joint R 6 connected one by one; the forearm rotary joint R 4 Flip joint R with forearm 5 There is a horizontal displacement drive device M between 1 ; The hand shear joi...

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Abstract

The invention provides a seven-degree-of-freedom decoupling main manipulator. The seven-degree-of-freedom decoupling main manipulator comprises a hand shearing joint, a wrist offset joint, a wrist flexion and extension joint, a forearm rotating joint, a forearm overturning joint and an elbow flexion and extension joint which are connected one by one; a horizontal displacement driving device is arranged between the forearm rotating joint and the forearm overturning joint; and the hand shearing joint, the wrist offset joint, the wrist flexion and extension joint, the forearm rotating joint, the forearm overturning joint, the elbow flexion and extension joint and the horizontal displacement driving device are each provided with two steel wires, and the two steel wires conduct transmission in the two directions of the corresponding joints or devices. The seven-degree-of-freedom decoupling main manipulator has the functions of motion transmission and force feedback, seven degrees of freedom are completely decoupled, the degrees of freedom do not interfere with each other during operation of the main manipulator, and the main manipulator can move independently.

Description

technical field [0001] The invention relates to the technical field of medical machinery, in particular to a seven-degree-of-freedom decoupling main operator. Background technique [0002] Minimally invasive surgery is generally also called interventional surgery. It cuts several small incisions on the body surface (or relies on the natural official cavity of the human body), and with the help of the image guidance of the visual display system, inserts surgical instruments through the incisions on the body surface. Surgery done by entering the body for therapeutic or diagnostic purposes. Minimally invasive surgical technology has made most surgical operations bid farewell to the open surgical mode. The application of robot technology to medical surgery has become more and more popular. Robots have significant advantages in terms of operational stability, speed and accuracy. , Integrating robotics into surgery can improve the operating environment for doctors and shorten rec...

Claims

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Application Information

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IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 朱晒红段吉安凌颢罗志李政李洲易波朱利勇王国慧
Owner CENT SOUTH UNIV
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