Initial-angle-adjustable three-dimensional bending control mechanical arm

Abstract

The invention relates to an initial-angle-adjustable three-dimensional bending control mechanical arm. The mechanical arm comprises a far-end tool, a near-end controller and a transmission system located between the far-end tool and the near-end controller; three-dimensional motion of the near-end controller is transmitted to the far-end tool, and then the far-end tool reproduces the three-dimensional motion of the near-end controller; the far-end tool comprises a rod with a near end and a far end and a far end actuator, and the far end of the rod is a three-dimensional bendable flexible section; the transmission system comprises at least one group of steel wires, the near ends of the steel wires are connected with the controller, and the far ends of one group of the steel wires are fixedto the opposite side of the far end of the rod in the first direction; tilting motion of the near end controller drives one group of the steel wires to move relatively, and then the far end of the rodand the far end actuator are driven to bend in the direction corresponding to the first direction; the near ends of the steel wires are provided with steel wire fastening adjusting pieces and used for adjusting the tensity of each steel wire, and then the initial angle of the far end of the rod is adjusted. The initial-angle-adjustable three-dimensional bending control mechanical arm is high in hand feeling feedback, easy to operate, simple and compact in structure, free of power supply and communication network, smooth in bending control operation, stable in rotation, precise and rapid in positioning, large in rotatable angle and capable of achieving flexible adjustment, adjusting the initial angle and prolonging the life cycle.

Description

technical field [0001] The present application relates to a three-dimensional bending control robotic arm with an adjustable initial angle, in particular, it relates to a three-dimensional movement of the proximal end that can be transmitted to a distal tool located at the far end, so that the distal tool performs a corresponding three-dimensional movement of the proximal end. three-dimensional movement. Background technique [0002] With the development of medicine, control and computer technology, the application of minimally invasive surgery is becoming more and more extensive. This kind of surgery has small wounds and quick recovery, and is welcomed by doctors and patients. At present, minimally invasive surgical instruments mainly include robot-assisted minimally invasive surgical systems, such as the Da Vinci surgical robot. The surgical robot uses intelligent technologies such as computers and big data processing to transmit the operation data of the master robot to t...

AI Technical Summary

Problems solved by technology

However, the adjustment angle of the distal end of the mechanical minimally invasive surgical instruments in the prior art is single, and can only be adjusted in one or two directions, and cannot perform multi-dimensional continuous adjustment

Some robotic arms need to be equipped with complex wire ropes, pulleys, or gears to achieve multi-dimensional adjustment of the remote end. During the adjustment, the various components are easy to interact with each other, causing the remote tool to get stuck and the adjustment is not in place.

In actual use, sometimes it is necessary to adjust the angle of the distal end of the robotic arm. For example, after repeated use, the distal end of the robotic arm forms a large angle with the main axis of the arm, which will make it difficult to insert the robotic arm into the cavity. The initial angle of the prior art robotic arm cannot be adjusted. , which brings great inconvenience to the use of

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