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Instrument arm and slave operating end using same

A technology of an instrument arm and an operating end, which is applied to the field of the operating end, can solve the problems of increased elastic deformation and reduced repeated positioning accuracy of the end of surgical tools, and achieves the effects of compact structure, reduced robot volume, and improved rigidity and bearing capacity.

Pending Publication Date: 2022-07-22
天津大学医疗机器人与智能系统研究院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Instrument arm and slave operating end using same
  • Instrument arm and slave operating end using same
  • Instrument arm and slave operating end using same

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Embodiment Construction

[0054] The present disclosure provides an instrument arm and a slave operating end using the same. The instrument arm includes: a connection part, a control part, a distal execution part and an auxiliary arm, and the connection part is a retractable structure, including a driving end and a driven end; The two driving rods of the control part are respectively connected with the active end of the connecting part, and the other end of the control part is connected with the slave operating end; One end of the arm is fixedly connected to the lower part of the connecting part, and the other end of the auxiliary arm is hinged with the distal actuator part; the control part controls the connecting part to extend and / or swing along a spherical surface, so that the actuator always points to the center of the sphere corresponding to the spherical surface; the auxiliary arm follows the connection The part moves passively along a spherical telescoping and / or oscillating motion.

[0055] In...

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Abstract

The invention provides an instrument arm and a slave operation end using the same, the instrument arm comprises a connecting part, a control part, a far-end execution part and an auxiliary arm, 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 fixedly connected below the connecting part, and the other end of the auxiliary arm is hinged to the far-end execution 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, and in particular, to an instrument arm and a slave operating end using the same. Background technique [0002] At present, the slave-end instrument arm of a surgical robot with a fixed point is provided with a connecting rod assembly for transmitting motion in the axial direction of its surgical tool conduit. In order to avoid interference between the assembly and the auxiliary surgical instrument or patient during the movement The length of each link of the assembly is increased, thereby increasing the volume of the instrument arm. The surgical robot instrument arm can be regarded as a cantilever beam structure. When the length of each link in the structure increases, the motion 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 positi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J13/00A61B34/37A61B34/00
CPCB25J3/00B25J13/00A61B34/37A61B34/70
Inventor 王树新王佳童赵建厂
Owner 天津大学医疗机器人与智能系统研究院
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