RCM mechanism for mechanical arm of laparoscopic minimally invasive surgical robot

Abstract

The invention discloses an RCM mechanism for a mechanical arm of a laparoscopic minimally invasive surgical robot. The RCM mechanism disclosed by the invention comprises a connecting rod I, a connecting rod II, a connecting rod III, a connecting rod IV, a connecting rod V, a connecting rod VI, a linear motion output mechanism I, a linear motion output mechanism II, a rotation output mechanism and surgical instruments, wherein the six connecting rods form double parallelogram mechanisms. According to the RCM mechanism, motions of the surgical instruments including linear displacement freedom degree T, deflection freedom degree P and rotation freedom degree Y are correspondingly realized through the driving actions of the linear motion output mechanism I, the linear motion output mechanism II and the rotation output mechanism respectively; requirements of various freedom degrees to moment / torque of a driving mechanism are reduced through the double parallelogram mechanisms and the manner that the rotary centre axis of the rotation freedom degree Y and the connecting rod II form a certain included angle theta; the connecting rod III is directly pushed and pulled through the linear motion output mechanism II, so that the output moment / torque requirements to a freedom degree driving mechanism are reduced; and thus, the light weight and the miniaturization of the mechanical arm of the laparoscopic minimally invasive surgical robot are realized.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a mechanical arm RCM mechanism of a laparoscopic minimally invasive surgery robot. Background technique [0002] The teleoperated minimally invasive surgical robot system can assist doctors to complete more delicate surgical actions and reduce injuries caused by fatigue or hand tremor during surgery. At the same time, less surgical damage and faster healing will bring better surgical results to patients. At present, the da Vinci minimally invasive surgical robot system (da Vinci System) in the United States has been widely used in clinical practice. Miniaturized and low-cost robotic systems for minimally invasive surgery are the future development trend, and tactile force feedback plays an extremely important role in minimally invasive surgery. The miniaturization of the surgical robot system can save operating space and facilitate installation and operation, but it ...

AI Technical Summary

Problems solved by technology

The miniaturization of the surgical robot system can save operating space and facilitate installation and operation, but it also puts forward higher requirements for the miniaturization of the robotic arm of the surgical robot system

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