1122 results about "Wrist joints" patented technology

The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

In an endoprosthesis (11h) for a joint, the two interacting joint parts (15h, 16h) are joined by a cord-type connection piece (21h), which is attached in the vicinity of the body axis (M2h, M2h') of the convex condyle (15h) and extends through a longitudinal groove (22h) in the flexion direction of the joint. The connection piece assures a play space (31h) between the contact surfaces (19h, h', 20h, h') of joint (11h). It is protected from friction on groove wall (55h, 55h') by an elevation (50h, 43h) in concave joint part (16h). An elevation (43h, 50h) at concave joint part (16h) and a depression (49h) at convex joint part (15h) interact in such a way that the lateral movement play space between depression and elevation determines the freedom of movement with respect to the lateroflexion of the joint. In preferred forms of embodiment, thanks to the spherical surfaces at least one pair of corresponding sliding surfaces (19h, 20h; 20h') on the two condyles lie flatly on one another, under load, in any position of the joint.

The invention relates to an upper limb rehabilitation training robot which comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint; the five joints are sequentially connected serially; the movement of all the joints respectively corresponds to the unfolding / folding of shoulder joints, the bending / extension of the shoulder joints, the bending / extension of elbow joints, the internal rotation / external turning of forearms, the bending / extension of wrist joints and the bending / extension of fingers; all the joints of the robot are driven by independent motors; each joint is provided with a mechanical hard limit and an electric limit to protect the training of a patient; and the second joint and the fourth joint are respectively provided with a adjustment device capable of adjusting relative positions between the second joint and the third joint and between the third joint and the fifth joint. The upper limb rehabilitation training robot provides various rehabilitation movement for the turning of the shoulders, elbows and forearms as well as the wrist and finger joints of the upper limbs of the patient in a three-dimensional space, and can complete the upper limb rehabilitation training to the upper limbs of the patient with higher quality.

The invention discloses a transfer robot based on a mobile mechanical arm, and relates to the field of robots. The transfer robot comprises MACNUM wheels, a vehicle body base, a revolving platform and the mechanical arm; the MACNUM wheels are arranged on the lower portion of the vehicle body base, the revolving platform is arranged on the upper portion of the vehicle body base through a revolving mechanism, and the mechanical arm is arranged on the revolving platform and comprises a first arm, a second arm, a third arm, a wrist joint and a mechanical grasper which are sequentially connected; the mechanical arm is further provided with a first oil cylinder, a second oil cylinder and a third oil cylinder which are used for driving the first arm, the second arm and the third arm respectively, and the portion, at the end of a screw, of the mechanical arm is provided with a revolving motor. According to the transfer robot, a mobile vehicle body based on the MACNUM wheels and the hydraulic mechanical arm are combined together, and the advantages that moving is flexible, the power density is high, and energy supply is convenient are achieved.

The invention discloses a clamp-type surgical instrument for an abdominal cavity minimally invasive surgery robot, relates to the clamp-type surgical instrument for the abdominal cavity minimally invasive surgery robot and aims to solve the problem of easy tensile failure of a steel wire which drives left fingers and right fingers due to failed compensation of residual movement of the left fingers and the right fingers during rotating of wrist joints because the steel wire is driven to rotate an operating pipe, the wrist joints, the left fingers and the right fingers by a motor driving wire wheel in the clamp-type surgical instrument for the conventional abdominal cavity minimally invasive surgery robot. The surgical instrument is connected with an interface base and drives an operating pipe transmission mechanism, a left finger transmission mechanism, a right finger transmission mechanism and a wrist joint transmission mechanism on the surgical instrument respectively through four driving mechanisms on the interface base; and the wrist joints, the left fingers and the right fingers on a tail end actuating mechanism are driven to move by a left finger front driving steel wire, a left finger back driving steel wire, a right finger front driving steel wire, a right finger back driving steel wire, a wrist joint front driving steel wire and a wrist joint back driving steel wire. The clamp-type surgical instrument is applied to abdominal cavity minimally invasive surgery.

The invention relates to a large-tolerance docking acquisition device, in particular to a large-tolerance docking acquisition device focused on a space large mechanical arm and rendezvous and docking. The large-tolerance docking acquisition device is provided for solving the problems that the existing cone-pole-type acquisition mechanism cannot acquire a small-inertia unpowered target freely floating in the space, and the allogeneic isomorphic peripheral docking mechanism has a small tolerance range. The large-tolerance docking acquisition device comprises an acquisition mechanism and an interfacing mechanism; the acquisition mechanism is arranged on a wrist joint of an active satellite or a space mechanical arm, and the interfacing mechanism is mounted on an acquired satellite or acquired load. The large-tolerance docking acquisition device is used for acquiring the small-inertia unpowered target freely floating in the space or performing the allogeneic isomorphic peripheral docking.

The invention discloses a hedgerow pruning manipulator with six degrees of freedom (DOP). The manipulator comprises a main swing mechanism, a pruning knife assembly and a supporting mechanism, wherein the supporting mechanism is fixed on a dragging vehicle, and consists of a base, a rotary component, a lifting component and a telescopic component; the front end of the supporting mechanism is fixedly provided with the main swing mechanism capable of doing gyroscopic motion; the output shaft end of the main swing mechanism is fixedly connected with a horizontal mechanical arm the front end of which is connected with a vertical mechanical arm, and the front end of the vertical mechanical arm is provided with a wrist joint; the output end of the wrist joint is fixedly provided with the pruning knife assembly; and a control system utilizes a control module which takes ARM series processors as the core to automatically control the joint operation of the horizontal mechanical arm, the vertical mechanical arm, the wrist joint and the main swing mechanism, so that the pruning knife can be operated along various tracks in space, thus realizing pruning operation of various form such as a spherical shape, a conical shape, a cylindrical shape, a plane, an inclined face, a wavy face and the like. The pruning manipulator has the characteristics of high automaticity, wide adaptability, energy conservation, environmental protection and the like, and is convenient to popularize and use.

The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, two mechanical arm assemblies and six motor driving components, wherein the base comprises a moving base, an electrical cabinet, an electric lifting post, a base platform, a motor mounting corner bracket, a base rotating motor, a coupling, a base main bearing block, a base and ball screw nut assembly, a base nut seat, a base shared secondary bearing block, a right support, a base linear guide rail assembly and a left support; the mechanical arm assembly comprises a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly and a mechanical hand part assembly; each motor driving assembly comprises a motor and speed reducing component, a torque sensor component and a driving component which are respectively arranged on the same motor driving base frame. The exoskeletal rehabilitation robot can be worn on the upper limbs of the human body and can be used for assisting the upper limbs of the human body in moving in a three-dimensional space and performing rehabilitation training.

The invention discloses an upper limb movement rehabilitation training system and method based on a Kinect sensor. The system comprises the Kinect sensor and a computer carrying an upper limb movement rehabilitation training module. The Kinect sensor is connected with the computer through a data line and arranged above a computer display screen. The upper limb movement rehabilitation training module comprises a single-joint rehabilitation training module, a comprehensive rehabilitation training module, a grading module and a correcting module and can conduct upper limb single-joint training and comprehensive training of shoulders, elbows and wrist joints. Patients do not need to wear or operate any interactive devices and only need to face the Kinect sensor and finish rehabilitation training movement according to the words or voice prompt on the display screen. The Kinect sensor conducts position capture on the upper limb joints, records and feeds back space position information of the upper limb joints of the patients in real time, guides the patients to finish rehabilitation training through motion sensing interaction and corrects non-standard training movement. The training method is simple, easy to master, good in enjoyment and low in use device cost.

The invention provides an exoskeleton type upper limb rehabilitation robot, comprising a five-degree-of-freedom or three-degree-of-freedom mechanical arm, an auxiliary mechanism and a control system. In the five-degree-of-freedom mechanical arm, a cross arm, a big arm and a small arm are sequentially connected in series to constitute an outreaching / adduction degree of freedom of a shoulder joint, a bending / stretching degree of freedom of the shoulder joint, and a bending / stretching degree of freedom of an elbow joint; the big arm and the small arm are respectively blocked by an arc-shaped sliding rail to respectively constitute an inwards rotation / outwards rotation degree of freedom of the shoulder joint and the inwards rotation / outwards rotation degree of freedom of a wrist joint; and the three-degree-of-freedom mechanical arm comprises three degrees of freedom of the shoulder joint. The auxiliary mechanism comprises a mobile base, servo stand columns and a saddle-shaped seat. The heights of the mechanical arm and the seat relative to the mobile base are respectively regulated by the two stand columns. By matched usage of mechanical limiting and electronic limiting, the rehabilitation safety of a patient is guaranteed. A display device placed before a patient seat can simulate training states under different scenes, and the training states can serve as input signals to control a virtual training game so as to improve the rehabilitation effect of the patient.

The invention provides a surgical instrument tail end structure of a minimally invasive surgery robot. A first joint rotating base back end is fixedly connected with a connecting cylinder front end of a surgical instrument, a first joint rotating base front end is hinged to a second joint rotating base back end, and accordingly a bending freedom degree is achieved. A second joint rotating base front end and a third joint rotating base back end are hinged, and a rotating freedom degree is achieved. A third joint rotating shaft back end is arranged at a third joint rotating base front end through a bearing to achieve a torsion freedom degree. The back end of a jaw fixing part is fixedly connected with the front end of a third joint rotating shaft, a jaw moving piece is hinged to the jaw fixing part, and accordingly a jaw opening freedom degree is achieved. The four freedom degrees are controlled by a steel wire rope connected into a cylinder, the four freedom degrees simulate moving functions of all doctor arm joints of shoulder joints, elbow joints and wrist joints, and accordingly the safety of minimally invasive surgery is effectively improved.

The invention discloses an exoskeletal rehabilitation robot for upper limbs. The exoskeletal rehabilitation robot comprises a base, a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical front arm assembly, a mechanical wrist joint assembly, a mechanical hand part assembly and a motor driving assembly, wherein the base supports the whole exoskeletal rehabilitation robot for the upper limbs; the mechanical shoulder girdle assembly is connected with the base; the mechanical shoulder joint assembly is connected with the mechanical shoulder girdle assembly; the mechanical elbow joint assembly is connected with the mechanical shoulder joint assembly; the mechanical front arm assembly is connected with the mechanical elbow joint assembly; the mechanical elbow joint assembly is connected with the mechanical front arm assembly; the mechanical hand part assembly is connected with the mechanical wrist joint assembly; the motor driving assembly is used as a power source of the whole exoskeletal rehabilitation robot for the upper limbs. The exoskeletal rehabilitation robot disclosed by the invention can be used for assisting the upper limbs of a human body in moving in a three-dimensional space and performing rehabilitation training.

The invention provides rehabilitation training system and method combined with functional electric stimulation and a robot. The system comprises a functional electric stimulation part, a robot part and a control unit which is respectively connected with the functional electric stimulation part and the robot part, wherein the control unit is used for receiving bioelectric signals and controlling the functional electric stimulation part and the robot part at real time according to the mode of adjustable auxiliary proportion of the functional electric stimulation part and the robot part or the mode of adjustable tracking error so that the functional electric stimulation part can stimulate the corresponding muscle groups of a joint of a patient and the robot part can provide a joint auxiliary torque for the patient. The invention can be applied to progressive interactive rehabilitation of elbow joints, wrist joints, knee joints, ankle joints and shoulder joints and can help patients carry out active rehabilitation training in an improved movement space, thereby greatly accelerating the recovery of movement function of joints of affected sides.

A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

A radial component of a total wrist arthroplasty prosthesis includes a platform having a stem configured to be implanted within the radius bone. The platform carries an insert that provides the radial articulating component for the wrist joint. The platform and insert include mating features that allow for ready engagement or disengagement of the insert to the platform when the platform is implanted to the radius bone.

The invention provides an exoskeleton wearable upper limb rehabilitation robot, which comprises a shoulder joint exoskeleton, an elbow joint exoskeleton, a wrist joint exoskeleton and a hand exoskeleton, wherein the shoulder joint exoskeleton has two degrees of freedom; the elbow joint exoskeleton has two degrees of freedom; the wrist joint exoskeleton has one degree of freedom; and the hand exoskeleton has three degrees of freedom, namely the robot have eight degrees of freedom. The exoskeleton wearable upper limb rehabilitation robot is driven by using a harmonic wave speed reducer and a disc type motor serving as a high-power motor to realize zero-rotation error and the good fit of driving and joints of patients. The exoskeleton wearable upper limb rehabilitation robot can be driven by a storage battery, the problem of limit of activity range in the conventional rehabilitation device is solved, and the robot is portable.

The invention provides a seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs comprises a front arm and wrist joint movement mechanism, an elbow joint movement mechanism, an upper arm movement mechanism, a gravity compensation movement mechanism, a shoulder joint movement mechanisms and a chair mechanism which are sequentially connected. The seven-degree-of-freedom exoskeletal rehabilitation robot for upper limbs is driven and controlled by a motor to help a hemiplegic patient do active and passive training for upper affected limbs, including bending / stretching of wrist joints, adduction / abduction movement of the wrist joints, inward / outward rotating movement of the front arms, bending / stretching of elbow joints, bending / stretching of shoulder joints, inward / outward rotating movement, and outward swinging / adduction movement.

A multi-degree-of-freedom flexible robot used for a single-port celiac minimally invasive surgery relates to a robot for a minimally invasive surgery and aims at solving the problems of an existing minimally invasive surgery robot that the whole integration level is not high, mechanical parts are too simple, the personified degree of freedom cannot be completely realized and the whole size is larger. A first motor realizes bending movement of a first flexible arm through a first arm driving screw; a second motor realizes bending movement of a second flexible arm through a second arm driving screw; a third motor realizes bending movement of a third flexible arm through a third arm driving screw; a fourth motor realizes axial rotary movement of a wrist shaft rotary joint through a fourth joint driving screw; a fifth motor realizes pitching motion of a wrist joint through a fifth joint driving screw; a sixth motor realizes opening and closing movement of a first clamping pincers joint through a sixth joint driving screw; a seventh motor realizes the opening and closing movement of a second clamping pincers joint through a seventh joint driving screw. The multi-degree-of-freedom flexible robot is used for the single-port peritoneoscope minimally invasive surgery.

The present invention discloses a wearable upper extremity rehabilitation training robot device, including shoulder joints, upper arms, elbow joints, forearms, wrist joints and palms. The robot device of the present invention has eight free degrees to simulate the free degrees of the joints of the human upper extremities and can provide more free degrees, so as to guarantee the main joints of the human upper extremities to get assisted training during the rehabilitation training; the present invention uses the wearable structure, the structure is simple, the weight is light, which can be worn on the patients with the good comfort, furthermore, the present invention can directly act on the affected limb, so the pertinence of the training is strong and the effect is good. The structural design of multi-free degree can meet a variety of control methods and assist the affected limb to carry out the rehabilitation training of the single joint movement and multi-joint compound movement, so as to achieve the purpose of assisting the patients to fulfill the necessary things in the daily lives.

The invention discloses a human-simulated mechanical arm in seven degrees of freedom and belongs to the robot field, aiming at solving the problems that the existing mechanical arm is heavy in weight, low in loading capacity, poor in flexibility, low in integration level, and the working capacity of a robot system end effector is limited to be improved. According to the human-simulated mechanical arm, a first shoulder joint is fixedly connected with a base and a first arm lever of the mechanical arm; the first arm lever is fixedly connected with a second arm lever through a second shoulder joint; the second arm lever is fixedly connected with a third arm lever through a first elbow joint; the third arm lever is fixedly connected with a fourth arm lever through a second elbow joint; the fourth arm lever is fixedly connected with a fifth arm lever through a first wrist joint; the fifth arm lever is fixedly connected with a sixth arm lever through a second wrist joint; the sixth arm lever is fixedly connected with a seventh arm lever through a third wrist joint; the seventh arm lever is fixedly connected with an end effector of the mechanical arm; a rotational axis of the second shoulder joint and a rotational axis of the second elbow joint are in space parallel arrangement; and a rotational axis of the second wrist joint is in orthogonal arrangement with a rotational axis of the third wrist joint. The human-simulated mechanical arm is used for realizing the connection between a robot system main body and the end effector.

An external fixator includes a main body and an outrigger for extending over a fractured joint, such as a wrist joint. The main body can be positioned next to a right arm, or flipped over and positioned next to a left arm. The outrigger is attachable to extend either to the left or to the right of the main body, as appropriate. A distal body is removeably connectable to the distal end of the main body, and the distal body can be affixed to bone on the opposite side of the fracture to immobilize the joint where the fracture occurs. The distal body is connected to the main body with an adjustable securement section which provides six degrees of adjustment freedom. The outrigger is attached to the main body through a slide plate in a dual rail configuration which provides two dimensions of adjustment. Fragment pin supports ride in a track of the outrigger, and provide seven degrees of adjustment freedom for directed fixation of fragments at the fracture site. The outrigger is pivotally adjustable relative to the main body, and includes track portions separated by a wrap around angle. The major components of the fixator are molded of plastic. A surgical technique using the fixator includes immobilizing the joint for an initial healing duration and retaining fragment pins in place during a secondary healing duration.

The invention relates to a wrist joint rehabilitation training device which comprises two parts, namely, a rehabilitation training executive device part and a mirror image autonomous input device part. The rehabilitation training executive device part comprises a base seat, a forearm sliding chute, a forearm sliding block, a forearm height adjusting rod, a forearm supporting plate, a wrist rotating sliding rail, a wrist rotating sliding block, a wrist rotating guiding wheel, a bracket, a wrist rotating angle sensor, a wrist rotating motor, a pull rope, a wrist rotating rod, a wrist swing rod, a wrist swing angle sensor, a wrist swing motor, a wrist deflection rod, a wrist deflection sensor and a wrist deflection motor. The mirror image autonomous input device part comprises no motor, and the other devices of the mirror image autonomous input device part are symmetrical with those of the rehabilitation training executive device part. The wrist joint rehabilitation training device has three freedom degrees of rotation, swing and deflection, can achieve all the motions of a wrist joint and the rehabilitation training of composite motions through wearing for one time, and enables a rehabilitation therapist to control the wrist of a patient to carry out rehabilitation training conveniently through the mirror image autonomous input device part.

The invention discloses an upper limb hemiplegia rehabilitation robot, which belongs to the technical field of medical appliances, and comprises a shoulder joint motion module, an elbow joint motion module, a forearm and wrist joint motion module, a gravity compensating module, a bracket and a data acquisition module, wherein the two ends of the gravity compensating module are connected with the shoulder joint motion module; the shoulder joint motion module, the elbow joint motion module and the forearm and wrist joint motion module are connected in turn; the shoulder joint motion module is fixedly connected with the top of the bracket; and the data acquisition module is fixedly arranged on the elbow joint motion module. The upper limb hemiplegia rehabilitation robot can help a patient do7-degree-ofmotion-freedom active motion training, including bending, stretching, inward / outward turning and outward / inward swinging motions at the shoulders of the upper limbs of the patent, bending / stretching motions at the elbow joints of the patient, inward / outward turning motion of the forearms of the patient, and bending, stretching and outward / inward swinging motion at the wrist joints of the patient. The robot provides a new rehabilitation training means and can improve the efficiency of rehabilitation training.

The invention discloses a method for quick solution of six-degree-of-freedom humanoid dexterous arm inverse kinematics. The method includes: firstly, setting up a six-degree-of-freedom human arm simulated joint structural model, solving an elbow joint angle and two joint angles of the shoulder joint according to a planar relation formed by the shoulder center, the elbow center, the wrist center and the neck center of the dexterous arm and the tail end position of the dexterous arm, and further solving three joint angles of the wrist joint by the aid of the dexterous arm tail-end posture relation; and calculating position error of a dexterous arm target link to prove effectiveness of the solution of the inverse kinematics by means of a positive kinematic model. Compared with a numerical solving method for robot inverse kinematics, the method for quick solution of six-degree-of-freedom humanoid dexterous arm inverse kinematics is high in precision and quick in speed, and can be used for humanoid dexterous arm operational tasks having high requirements on precision and instantaneity.

The invention discloses a heavy material handling power-assisting bionic exoskeleton which can be worn on limbs of a human body. The heavy material handling power-assisting bionic exoskeleton can assist the human body in rapidly completing the task of carrying large-heavy materials under the harsh working condition and comprises an upper limb exoskeleton and a lower limb exoskeleton. The upper limb exoskeleton is a 7-degree-of-freedom system and consists of 3-degree-of-freedom shoulder joints, 1-degree-of-freedom elbow joints, 2-degree-of-freedom wrist joints, 1-degree-of-freedom hands and a motor driving system box of the back; and the 7 degrees of freedom are all driven by a motor. The lower limb exoskeleton is a 6-degree-of-freedom system and consists of a 3-degree-of-freedom hip joint, 1-degree-of-freedom knee joints, 2-degree-of-freedom ankle joints and an electrohydraulic driving system box of the back; and the 6 degrees of freedom are all driven by the hydraulic pressure. After the human body wears the complete set of exoskeleton equipment, when the materials are moved, the efficiency and the flexibility can be greatly improved by mechanical power such as the motor or the hydraulic pressure and the like so as to fulfill the aim of saving time and labor.

The invention relates to a flexible-arm robot for a single-pore laparoscopic minimally-invasive operation, which relates to the minimally-invasive operation robot. The robot aims at solving the problems in the traditional endoscope minimally-invasive operation that multiple skin incisions of a patient exist and the size of the operation robot is larger. A drive box is connected with a base through a first lead rail and is driven by a first motor which is fixed on the base so as to enable an entire flexible arm to deeply stretch into an abdominal cavity of the patient; a second motor drives a first finger to open and close through a first drive wire; a third motor drives a second finger to open and close through a second drive wire; a fourth motor drives a third arm of a flexible joint arm to make a pitching motion through a third drive wire; a fifth motor drives a fourth arm of the flexible joint arm to make an oscillating motion through a fourth drive wire; a sixth motor drives a drive shaft rotating joint to make a pivoting motion through a fifth drive wire; a seventh motor drives a wrist joint to make a pitching motion through a sixth drive wire; and an eighth motor drives a first connecting rod and a second connecting rod in the horizontal direction through a lead screw and a second lead rail, so that a first flexible support and a second flexible support are driven to move. The flexible-arm robot is used for the single-pore laparoscopic minimally-invasive operation.

The invention discloses a virtual surgical instrument with 5-free degree force feedback, which belongs to the field medical training instruments. The invention includes a control detecting system and a mechanical structure which consists of a set of feet, a base board, two columns, a roof, four reduction gears, four reduction arc teeth, four retaining plates, two scissor handles, two parallel guide rods, a set of pull rods, an operating lever, a rolling bearing, an upper beam, a lower beam, a roller and a slide block and five drive actuators. The sensor collects input information of an interactive system such as pose and operating speed of an equipment handle, while drive actuators apply a variety of force and damping effect to an equipment operator. The virtual surgery device with 5-free degree force feedback can realize force feedback function with 5 free degrees, and the allowable human sports joints include the wrist joint, the elbow joint and the shoulder joint of the arm. With the virtual surgical instrument, the operator can perform virtual surgery actions of surgical scissors, a surgical clamp, a scalpel and a surgical abrasion drill, etc.