A surgical robot with arc-shaped moving joint

Abstract

The invention relates to a surgical robot containing an arc-shaped moving pair. The surgical robot is characterized by comprising a fixed platform, a linear guide rail, a bottom driving motor, a movable sliding block, a lower arc-shaped connecting rod, an upper arc-shaped connecting rod and a tail-end executing device, wherein the linear guide rail is fixedly arranged on the fixed platform; the movable sliding block can move along the axial direction of the linear guide rail, the bottom driving motor is fixedly arranged on the movable sliding block, and an output shaft of the bottom driving motor is matched with the lower end of the lower arc-shaped connecting rod to drive the lower arc-shaped connecting rod to rotate around the output shaft of the bottom driving motor; the lower end of the upper arc-shaped connecting rod is connected with the lower arc-shaped connecting rod, and the upper end of the upper arc-shaped connecting rod is connected with the tail-end executing device; a long groove is arranged on the upper surface of the lower arc-shaped connecting rod, a middle-section driving motor is arranged at the upper end of the lower arc-shaped connecting rod, and an output shaft of the middle-section driving motor is connected with a gear; and a bulge is arranged at the lower end of the upper arc-shaped connecting rod and is matched with the long groove on the upper arc-shaped connecting rod, and the upper arc-shaped connecting rod is concentric to the lower arc-shaped connecting rod.

Description

technical field [0001] The invention relates to the technical field of medical surgical instruments, in particular to a surgical robot with arc-shaped moving pairs. Background technique [0002] With the rapid development of computer and microelectronic technology and medical science, medical robots with various purposes are being used more and more widely in the medical field. At present, research on medical robots mainly focuses on surgical robots, rehabilitation robots, nursing robots and micro-robots. In surgery, minimally invasive surgery has a small working space, but requires robots to be more dexterous and have higher positioning accuracy, which is difficult for commonly used surgical robots. Common surgical robots are mostly joint-type series structures, which make each arm seriously affected by gravity, resulting in low reliability and stability of the robot. [0003] For example, a surgical robot (CN201110401551.5) proposed by Zhang Ying et al. of Shenzhen Insti...

AI Technical Summary

Problems solved by technology

[0007] Most of the joints of these surgical robots realize multiple degrees of freedom in three-dimensional space through the combination of the R pair and the P pair. Due to the combination of the R pair and the P pair, the gravity of the end link itself will be reduced during the movement of the robot. Superimposed on the connecting rod connected to the fixed platform, it produces a large motion inertia and reduces its motion accuracy

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