Parallel operation robot with remote motion center

Abstract

The present invention provides a parallel operation robot with a remote motion center. The robot comprises a robot main body, a robot location system and an operation desk. The robot main body comprises two branch chains, a lead screw, a scalpel and a robot pedestal, the two branch chains are planar connection rod mechanisms and have the same structure to form a parallel mechanism. Each branch chain is driven by two motors, moving platforms at the tail ends of the branch chains are connected with the lead screw through a rotation pair and a screw pair, and the scalpel is installed at the tailend of the lead screw. Through an installation mode of the branch chains, it is ensured that the axis of the scalpel is located on an intersecting line of planes where the two branch chains are located, and the intersecting line passes through the remote center. The robot main body is installed on the operation desk through the robot positioning system. The device has three translation freedom degrees and one rotation freedom degree. The parallel operation robot with a remote motion center employs parallel configuration and is compact in structure, high in precision and good in stability.

Description

technical field [0001] The invention relates to the field of robots, in particular to a parallel surgical robot with a remote motion center. Background technique [0002] Minimally invasive is an important development trend of surgery and a profound technical revolution to traditional surgery. Minimally invasive surgery sends special instruments, physical energy or chemical agents into the human body through minimal trauma or natural channels to complete surgical operations such as inactivation, resection, repair or reconstruction of lesions, deformities, and trauma in the human body to achieve therapeutic purposes Branch of medical science. Its outstanding feature is small trauma, which can reduce postoperative complications and sequelae, and is conducive to the stability of the internal environment of the body and the recovery of functions. [0003] Surgical robots are an important means to achieve minimally invasive surgical wounds, miniaturized instruments, intelligent...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a parallel surgical robot with a remote motion center, in order to achieve the effect of being simpler, easier to control and lower in cost than the general structure; moreover, the parallel mechanism has the advantages of no error accumulation, higher rigidity and better stability characteristics, so as to solve the shortcomings of the existing mechanism such as uncompact structure, low motion precision and poor stability.

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