Dipolar coordinate four free degrees parallel robot based on dual-worm

Abstract

The invention discloses a dipolar coordinate four free degrees parallel robot based on a dual-worm, comprising an upper screw mechanism, a lower screw mechanism, puncture needle mechanisms, a dual-worm transmission mechanism, a main connection board, a parallel platform holder and a support frame. One end of the parallel platform holder is fixed on the main connection board through a three-jaw structure, and the other end is connected with the support frame through a threaded coupling. The dual-worm transmission mechanism is arranged on one side of the main connection board and is connected with the main connection board. The upper screw mechanism and the lower screw mechanism symmetrically arranged at the two sides of the center of the main connection board are respectively connected with the dual-worm transmission mechanism to form two rotation free degrees, meanwhile the puncture needle mechanisms arranged on the upper screw mechanism and the lower screw mechanism form two movementfree degrees. The robot of the invention has the characteristics of simple and compact structure, light weight, small joint space, good rigidity, large working space and high flexibility, and is suitable for the automatic position of the manipulator used in minimally invasive surgeries of the neurosurgery, the orthopedic surgery, the prostate and the like.

Description

technical field [0001] The invention relates to a bipolar coordinate four-degree-of-freedom parallel robot based on a double worm, which belongs to a digital automatic positioning device for a puncture needle in minimally invasive surgery. Background technique [0002] At present, for surgical operations, the development and application of medical robot technology has been highly praised by various countries, and its related technologies have also been developed rapidly. The research on minimally invasive surgical robot technology for the purpose of surgical convenience and surgical efficiency has become one of the most important frontier research hotspots in my country and even the world. However, the current surgical puncture positioning robot in my country basically stays in the research and development stage. Surgical parallel robots have the following characteristics. 1. The topology structure follows the design idea of ​​industrial robots, and the robot system is built ...

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Problems solved by technology

1. The topology structure follows the design idea of ​​industrial robots, and the robot system is built with traditional dynamic and static platforms. This kind of mechanism is large in size and heavy, and it is inconvenient for doctors to operate; The robot has a small working space, a small range of surgical postures, and poor flexibility, which violate the requirements of minimally invasive puncture positioning surgical robots (such as neurosurgery robots), so it is difficult for such robots to move from the laboratory to clinical applications. A small, lightweight, and highly flexible parallel robot mechanism for minimally invasive surgery has not yet been developed. The development of a four-degree-of-freedom parallel robot for minimally invasive surgery will not only lay a foundation for the research of robotic mechanisms for active puncture positioning surgery, but also provide Provide reference for the design and development of robots for other surgical indications

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