Main operation hand for minimally invasive neurosurgery robot on basis of wire rope gearing

Abstract

The invention discloses a main operation hand for a minimally invasive neurosurgery robot on the basis of wire rope gearing. The main operation hand comprises a base, a first joint transmission mechanism, a second joint transmission mechanism, a third joint transmission mechanism, a wrist transmission mechanism and an opening and closing mechanism. By means of the layout mode that a motor is arranged in front of the base, the weight of all parts of the mechanisms of the main operation hand can be greatly lowered, then the rotating inertia of the main operation hand is reduced, and the rigidity of the mechanisms can be easily improved; wire rope gearing is adopted for first three joints of the mechanisms, and therefore the sizes of all the parts in the mechanisms are effectively reduced, and the mechanisms are more compact; by means of wire rope gearing, through appropriate tensioning, the return difference problem can be effectively solved; through the serial connection of the mechanisms and the reasonable joint layout, the working space of the mechanisms is enlarged, and the main operation hand better conforms to operation habits of a doctor.

Description

technical field [0001] The invention relates to the field of surgical robots, in particular to a main operator for a minimally invasive surgical robot driven by a wire rope. Background technique [0002] Minimally invasive surgery refers to the operation in which the slender laparoscope and surgical instruments are inserted into the patient's body through a small incision, and the doctor operates with the help of an image monitoring system. The main operator of the minimally invasive surgical robot is an important part of the minimally invasive surgical robot, which is operated by the doctor during the operation and replaces human hands to complete a series of surgical actions such as cutting, suturing, and knotting. [0003] At present, the existing products include sigma, omega and delta series main operators produced by Swiss Force Dimension Company. The main structure of this product is a parallel mechanism with high rigidity and precision. However, the working space of ...

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Problems solved by technology

[0004] The Chinese patent with the application number CN201410284253 discloses a "full passive six-degree-of-freedom main operator". The main operator is a fully passive structure, which does not rely on the driving motor to achieve the gravity balance of the rod, and realizes all postures through the counterweight Gravity balance, but because there is no driving motor, the main operator cannot provide feedback force, and the operator cannot perceive the contact between the end of the surgical tool and the lesion, which has great limitations

[0005] The Chinese patent with the application number CN201110313771 discloses a "9-DOF minimally invasive surgical robot main operator with force feedback", which has nine degrees of freedom and can move through nine sets of driving lines in nine degrees of freedom. Feedback forces are applied separately, and the driving motors of the nine degrees of freedom of the main operator are all placed in front of the base, resulting in an overly large and complex system with poor reliability, which cannot reflect the advantages of the driving motor in front, that is, the inertia of the rod cannot be reduced, increase flexibility

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