Steel wire rope transmitting linear telescopic mechanism for minimally-invasive surgery robot

Abstract

The invention discloses a steel wire rope transmitting linear telescopic mechanism for a minimally-invasive surgery robot. The steel wire rope transmitting linear telescopic mechanism mainly comprises a driving system, a steel wire rope transmitting device and a tail end actuating mechanism. The driving system is composed of a rear servo motor, a speed reducer and a coupler, wherein the output shaft of the speed reducer is connected with a ball spline shaft through the coupler to transmit movement to the steel wire rope transmitting system. The steel wire rope transmitting system is composed of a steel wire rope, a ball spline, a spline screw barrel, a guide shaft and a guide wheel. The mutual conversion between the circumferential motion and the linear motion of the steel wire rope is achieved, and the self linear motion direction change of the steel wire rope is obtained. The tail end actuating mechanism is fixed to a telescopic supporting rod, a linear guide rail is arranged on the telescopic supporting rod, the tail end actuating mechanism is connected with the steel wire rope through a fixing screw device, and the linear motion of the steel wire rope can be transmitted to the tail end actuating mechanism. The steel wire rope is arranged in a closed loop mode. The linear telescopic mechanism has the advantages of being small in occupancy, simple in structure, accurate in control, free of hysteresis error and high in transmitting efficiency.

Description

technical field [0001] The invention relates to a linear telescopic mechanism, in particular to a wire rope driven linear telescopic mechanism for a minimally invasive surgical robot. Background technique [0002] Minimally invasive surgery refers to the surgical technique in which the doctor inserts the slender endoscope and surgical instruments deep into the lesion through a small incision in the patient's epidermis. Compared with traditional surgical operations, it has many advantages such as less trauma, less bleeding, and shorter postoperative recovery time. Due to the small operating space, difficult operation, and high requirements for doctors, the application of minimally invasive surgery technology in precision surgery is limited. With the development of robotics and information technology, minimally invasive surgical robots have emerged as the times require. They have strong stability, high sensitivity, and are easy for doctors to operate, raising medical technolo...

AI Technical Summary

Problems solved by technology

However, due to the particularity of minimally invasive surgery, the front motor may affect the surgical operation during the movement of the robotic arm or cause motion interference between the robotic arms, resulting in the unsmooth operation of the surgical operation. Therefore, the mechanism and wire rope transmission mode There is still a lot of room for improvement

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