Three-dimensional bending-control mechanical arm

Abstract

The invention relates to a three-dimensional bending-control mechanical arm. The mechanical arm comprises a remote tool, a near end controller and a transmission system between the remote tool and thenear end controller; three-dimensional motion of the near end controller is transmitted to the remote tool through the transmission system, so that the remote tool reproduces the three-dimensional motion of the near end controller; the rotating angle of the near end of the three-dimensional bending-control mechanical arm is in proportion to the rotating angle of the remote end of the three-dimensional bending-control mechanical arm, and the proportion is between 0.1 and 10. The three-dimensional bending-control mechanical arm adopts mechanical bending control, the three-dimensional motion ofthe near end of the mechanical arm is directly mapped to the three-dimensional motion of the remote end, operation is conducted with a single hand, the hand feeling feedback is high, operation is easy, the structure is simple and compact, neither a power supply nor a communication network is needed, and the cost is low. According to the three-dimensional bending-control mechanical arm, remote toolbending control operation is smooth, rotation is stable, positioning is precise and rapid, the rotatable angle is large, and the remote end can be flexibly adjusted for conducing three-dimensional rotating bending.

Description

technical field [0001] The present application relates to a mechanical arm with three-dimensional bending control, and in particular, relates to a three-dimensional movement of a proximal end that can be transmitted to a distal tool at a distal end, so that the distal tool performs a three-dimensional movement corresponding to the three-dimensional movement of the proximal end. 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 the slave robot. After recei...

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.

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