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A robot instrument finger with multiple degrees of freedom and its application

A degree of freedom and robotic technology, applied in the field of robotics, can solve problems such as application difficulties and lack of force perception ability of operating equipment, and achieve the effects of improving detection accuracy, high tension, and ensuring transmission accuracy and stability

Active Publication Date: 2021-06-18
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, one of the current common problems is the lack of force perception ability or difficulty in the operation of instruments.

Method used

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  • A robot instrument finger with multiple degrees of freedom and its application
  • A robot instrument finger with multiple degrees of freedom and its application
  • A robot instrument finger with multiple degrees of freedom and its application

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] The specific implementation manners of the present invention are given below and described in conjunction with the accompanying drawings.

[0050] combine figure 1 , 2 , 4, 9 and 13, a robot instrument finger with multiple degrees of freedom, which consists of a drive mechanism 1, a mounting bracket mechanism 2 and a wrist finger mechanism 3. The driving mechanism 1 is connected with the wrist finger mechanism 3 via the mounting bracket mechanism 2 .

[0051] The wrist-finger mechanism 3 is driven by the cable with three degrees of freedom of pitching, deflection and / or clamping by the driving mechanism 1 .

[0052] The wrist finger mechanism 3 is driven by the mounting bracket mechanism 2 with a degree of freedom of rotation.

[0053] The wrist finger mechanism 3 has three degrees of freedom of motion, pitch, deflection and / or opening and closing.

[0054] combine Figures 1 to 8 Further, the driving mechanism 1 is composed of a frame body mechanism 1100, 3 groups...

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Abstract

The invention provides a robot instrument finger with multiple degrees of freedom and its use. The robot instrument finger is composed of three parts: a driving mechanism, a mounting bracket mechanism and a wrist finger mechanism. The driving mechanism is connected with the wrist finger mechanism through the mounting bracket mechanism; it can be used in the fields of medical surgery, industrial operation and remote control. Beneficial technical effects: the multi-degree-of-freedom robot instrument finger of the present invention has four degrees of freedom of rotation, pitch, yaw, and opening and closing; the initial tension of the driving cable is 20N, and the error is within ±2N; the minimum tension is less than Less than 7.5N; the linear displacement range of the driving cable is 0 to 12mm; the angle range of the rotation joint is between ±180°; the angle range of the pitch joint is between ±90°; the angle range of the yaw joint is ±75°; the opening and closing angle Between 0 and 150°.

Description

technical field [0001] The invention belongs to the field of robot technology, and in particular relates to a robot-assisted minimally invasive surgery medical device, which is applied to a minimally invasive surgical robot to perform surgical operations, and more particularly relates to a 4-degree-of-freedom robot-assisted robot based on an elastic flexible cable drive mode. The device is specifically a robotic device finger with multiple degrees of freedom and its application. Background technique [0002] Compared with traditional surgery, robot-assisted minimally invasive surgery has the advantages of accurate target positioning, easy to achieve minimally invasive, and remote surgery, etc., laying a technical foundation for the third-generation surgery with minimally invasive and refined features It can improve the efficiency and success rate of the operation, reduce the pain of the operation, and shorten the recovery time after the operation. However, one of the curren...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J13/08A61B34/00
CPCA61B34/70B25J13/088B25J17/0283
Inventor 王正雨訾斌李元钱森王道明钱钧于凌涛
Owner HEFEI UNIV OF TECH
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