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Five-coardinate space positioning robot mechanism

A spatial positioning and robotic technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low precision, patient pain, doctor fatigue, etc., and achieve the effect of high precision, small trauma, and easy operation.

Inactive Publication Date: 2003-05-14
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

Its disadvantages are large trauma, low precision, pain for patients, and fatigue for doctors

Method used

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  • Five-coardinate space positioning robot mechanism
  • Five-coardinate space positioning robot mechanism
  • Five-coardinate space positioning robot mechanism

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Experimental program
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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] See Figure 1-8 As shown, the five-coordinate space positioning robot mechanism of the present invention is composed of lifting arm 1, big arm 2, small arm 3, wrist 4 and needle frame 5. Between the big arm 2 and the forearm 3, between the forearm 3 and the wrist 4, between the wrist 4 and the needle frame 5 are connected by a rotating shaft. Driven by the motor, each part can generate relative motion, and the working end can independently realize high-precision absolute positioning according to the planned path, and has a large working space and load capacity. The robot drive and control system is composed of an AC servo motor, a driver, a photoelectric encoder, a control card, a computer and control software.

[0027] The robot kinematics structure of the present invention has five degrees of freedom, which are respectively I, II, III, IV and...

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Abstract

The present invention relates to a five-corodinate space positioning robot mechanism and belongs to medical operational assistant positioning mechanism. The robot mechanism consists of elevating arm,large arm, small arm, wrist and needle stand, and each two parts are connected via rotating shaft. All the parts are motor driven to produce relative motion. The robot driving and controlling system consists of AC servo motor, driver, optoelectronic coder, control card and computer. The present invention can realize autonomous high-precision absolute positioning according to the doctor set route,and has relatively large working space and certain load capacity. Its use can lower the work strength of doctor, decrease operation error and decrease wound and pain of the patient. It may be remote controlled via network.

Description

technical field [0001] The invention relates to an auxiliary positioning robot mechanism applied to medical surgery, in particular to a five-coordinate space positioning robot. Background technique [0002] In recent years, the types and numbers of robots used in the medical field at home and abroad have increased rapidly. These robots can be divided into passive and active types according to their driving methods. Passive robots do not have their own drive system, and generally rely on human power, such as the CAS-R-2 frameless stereotaxic instrument produced by China Tianjin Huazhi Computer Application Co., Ltd.; active robots have their own drive system, and generally rely on motors or hydraulic pressure. Drives such as cylinders, such as the "Aesop 3000" medical surgical robot developed by the American computer motion company. [0003] In stereotaxic brain surgery, the traditional method is to use a frame fixed to the patient's skull to locate the...

Claims

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Application Information

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IPC IPC(8): B25J9/10
Inventor 张玉茹王田苗田增民郭卫东钱锡康刘博刘达王党校李伟张寿红王利红
Owner BEIHANG UNIV
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