Main manipulator device for surgical robot
A surgical robot and main operator technology, applied in the field of surgical robots, can solve the problems of limited operation space, low positioning accuracy, poor structural rigidity of a serial main operator device, etc.
Pending Publication Date: 2022-04-19
SHENZHEN ROBO MEDICAL TECH CO LTD
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Problems solved by technology
[0003] Most of the existing main manipulators are in parallel structure, with complex structure and limited operating space. In addition, some main manipulators adopt serial structure in order to improve space utilization, but each joint point on the existing series main manipulator It is a single-bearing structure with low positioning accuracy, and the structural rigidity of the tandem main operator device is poor and cannot withstand large feedback forces
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[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0024] In the description of the present invention, the orientations or positional relationships indicated, such as up, down, left, right, etc., are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the...
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The invention discloses a main manipulator device for a surgical robot. The main manipulator device comprises a base; the horizontal rotary disc can rotate in a horizontal plane; the supporting assembly is fixedly arranged on the horizontal rotary disc; the first longitudinal rotary disc and the second longitudinal rotary disc are parallel to each other and can rotate in a vertical plane, a first connecting rod is fixedly arranged on the circumferential side wall of the first longitudinal rotary disc, and the supporting assembly is rotationally connected with the first longitudinal rotary disc and the second longitudinal rotary disc through at least two bearings; one end of the second connecting rod is hinged to the end of the first connecting rod, an operating handle is fixedly arranged at the other end of the second connecting rod, the second connecting rod and the first connecting rod are rotationally connected through at least two bearings, and the second longitudinal rotary disc can drive the second connecting rod to rotate in the vertical plane. According to the main manipulator device, space movement within a large range can be achieved, the structural rigidity of the main manipulator device can be improved through a double-bearing or multi-bearing structure, and the positioning precision of the main manipulator device is improved.
Description
technical field [0001] The invention relates to the field of surgical robots, in particular to a main manipulator device. Background technique [0002] Surgical robot is a new type of medical device that integrates many disciplines. It is an important development direction of current medical device informatization, program control and intelligence. Application prospects. The surgical robot adopts the master-slave remote control method, which requires the doctor to operate the master manipulator device at the console, and the motion information of the master manipulator device can be transmitted to the terminal kinematic mechanism at the patient through remote signals, and the terminal kinematic mechanism can be connected with the master manipulator. The hand device moves synchronously to perform surgery. During the operation, the terminal motion mechanism can also feed back force signals to the main operating hand device to realize force feedback. [0003] Most of the exis...
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IPC IPC(8): A61B34/37
CPCA61B34/37A61B34/70A61B2034/305
Inventor 杨嘉林胡庆浩陈剑箫刘飞龙飞沈卢宸林立炀
Owner SHENZHEN ROBO MEDICAL TECH CO LTD