Handheld mechanism of seven-freedom master operating mechanical hand

Abstract

The invention provides a handheld mechanism of a seven-freedom master operating mechanical hand, and belongs to the technical field of medical apparatuses and instruments. The handheld mechanism solves the problems that an existing clamping structure of a minimally invasive robot cannot automatically return and cannot realize active operation. The handheld mechanism of the seven-freedom master operating mechanical hand comprises a supporting base and a rotary shaft which is arranged in the supporting base in a penetrating mode and can rotate around the central axis of the rotary shaft, wherein the outer end of the rotary shaft is hinged with two opposite clamping hands; the outer end part of the rotary shaft is provided with axially extending open slots; the two clamping hands are symmetrically hinged in the open slots; a limiting assembly for limiting the two clamping hands from outwards rotating by a maximal angle is arranged on the rotary shaft; and a return structure for returning the two clamping heads after the clamping heads inwards rotate is arranged between the two clamping hands. The handheld mechanism has the advantages of being high in freedom, capable of automatically returning, capable of realizing active action and the like.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and relates to a holding mechanism of a seven-degree-of-freedom main manipulator, in particular to a hand-holding mechanism of a seven-degree-of-freedom main manipulator of a minimally invasive robot. Background technique [0002] In order to reduce the heavy physical labor of the surgeon in the medical operation process, achieve the purpose of precise surgery, and achieve the purpose of minimal trauma, less blood loss, less postoperative infection and faster postoperative recovery of the patient, the medical treatment for surgery Robotic systems typically use master-slave arms. When the operator operates the main manipulator (main manipulator), the movement of the hand will drive the main manipulator to move accordingly. The joints of the main manipulator mainly move passively, so that the motion information at the joints can be measured, and then passed The master-slave control algorit...

AI Technical Summary

Problems solved by technology

[0004] Although the above-mentioned clamping mechanism can measure the angle that the index finger part turns relative to the thumb part in real time, it still has the following problems: 1. The clamping mechanism cannot produce displacement in the axial direction, and the degree of freedom is low; 2. When the index finger part It cannot be automatically reset after being rotated relative to the thumb part, and it needs to be manually reset after each operation, which is inefficient; 3. The clamping mechanism is a passive part, which can only move following the movement of the finger, and cannot realize active action

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