Instrument arm from operating end

Abstract

The invention provides a slave operation end instrument arm which comprises a connecting part, a control part, a far-end execution part and an auxiliary arm, and the connecting part is of a telescopic structure and comprises a driving end and a driven end; two driving rods of the control part are respectively connected with the driving end of the connecting part, and the other end of the control part is connected with the driven operation end; one end of the far-end executing part is connected with the driven end of the connecting part, and the other end of the far-end executing part is connected with the executing mechanism; one end of the auxiliary arm is hinged below the connecting part, and the other end of the auxiliary arm is hinged with the far-end executing part; the control part controls the connecting part to stretch out and draw back and / or swing along a spherical surface and enables the executing mechanism to always point to the sphere center corresponding to the spherical surface; and the auxiliary arm moves passively along with the telescopic and / or swinging movement of the connecting part along a spherical surface.

Description

technical field [0001] The present disclosure relates to the technical field of instrument arms, in particular to an instrument arm from an operating end. Background technique [0002] At present, the instrument arm of the surgical robot with a fixed point is equipped with a connecting rod assembly for transmitting motion in the axial direction of the surgical tool guide. In order to avoid interference between the assembly and the auxiliary surgical instrument or the patient during the movement, the The length of each connecting rod of the assembly is increased, thereby increasing the volume of the instrument arm. The instrument arm of a surgical robot can be regarded as a cantilever beam structure. When the length of each connecting rod in the structure increases, the moment of inertia of the instrument arm will also increase, and the elastic deformation of each component will also increase during the movement process, and the end of the surgical tool will be repeatedly pos...

AI Technical Summary

Problems solved by technology

The instrument arm of a surgical robot can be regarded as a cantilever beam structure. When the length of each connecting rod in the structure increases, the moment of inertia of the instrument arm will also increase, and the elastic deformation of each component will also increase during the movement process, and the end of the surgical tool will be repeatedly positioned. Reduced accuracy

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