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Mechanical arm used in microsurgery operation robot

A surgical robot and microsurgery technology, applied to surgical robots, surgery, manipulators, etc., to achieve the effects of reducing compensation, facilitating adjustment, and realizing accurate motion control

Inactive Publication Date: 2005-02-23
TIANJIN UNIV
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  • Abstract
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Problems solved by technology

[0003] The remote-operated microsurgery robot developed by Mamoru Mitsuishi of the University of Tokyo in Japan is in the experimental stage; the microsurgery robot system developed by Johns Hopkins University in the United States is mainly characterized by the ability to effectively suppress the trembling of the human hand during the operation. However, it is mainly used in the needle sticking process in eye surgery, and the action is simple.

Method used

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  • Mechanical arm used in microsurgery operation robot
  • Mechanical arm used in microsurgery operation robot
  • Mechanical arm used in microsurgery operation robot

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Embodiment Construction

[0047] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] figure 1 It shows the overall structure of the mechanical arm used in the microsurgical robot of the present invention, including the mechanical arm used in the microsurgical robot, including a support component 1 connected at one end for realizing three directions in the Cartesian coordinate system. Large-scale preliminary positioning of the boom part 2, the other end of the boom part 2 is provided with precise positioning in three directions in the Cartesian coordinate system to ensure that the robot finger can move slightly within the specified working range and achieve repeatability. The positioning fine adjustment mechanism 3, and the small arm part 4 connected with the fine adjustment mechanism 3 to clamp the robot finger and realize the posture adjustment of the finger in two directions.

[0049] figure 2 It is shown ...

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Abstract

The mechanical arm used in microsurgery operation robot includes one frame assembly, one large arm assembly with one end connected to the frame assembly for coarse positioning in 3D rectangular coordinate system, one precise regulating mechanism set to the other end of the large arm assembly for precise positioning in 3D rectangular coordinate system, robot fingers connected to the precise regulating mechanism for micro shift in the required operation range, and small arm assembly for regulating the 2D posture of fingers. The large arm assembly completes the coarse regulation in three directions X, Y and Z; while the precise regulating mechanism completes the micro displacement in three directions X, Y and Z. The system of the present invention has high rigidity, precision and reliability.

Description

technical field [0001] The invention relates to a medical device, in particular to a component of the medical device used in microsurgery. Background technique [0002] Usually, in microsurgery, because the operating object is very narrow, for example, the diameter of human blood vessels is generally less than 2mm, and the operation time is very long, which makes the doctor feel very tired, and may cause hand tremor, fatigue, muscle and nerve strain, etc. Feedback leads to inaccurate movements, increases the pain of the patient, and reduces the success rate of the operation. At present, there is a great need for an ideal fully autonomous intelligent robot that can accurately complete a series of complex micro-operations without damaging the tissue. This fully autonomous intelligent robot not only has microscopic vision and monitoring , and can also accurately adjust the operation process according to the contact force information in the operation process. But still do not ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30B25J11/00
Inventor 王树新李群智刘治平姜世杰张培信
Owner TIANJIN UNIV
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