Three-dimensional bending controlling mechanical arm in hinge belt connection

Abstract

The invention relates to a three-dimensional bending controlling mechanical arm in hinge belt connection. The three-dimensional bending controlling mechanical arm in hinge belt connection comprises afar end tool, a near end controller and a transmission system located between the far end tool and the near end controller; the three-dimensional movement of the near end controller is transmitted tothe far end tool through the transmission system, so that the far end tool reappears the three-dimensional movement of the near-end controller; the transmission system comprises at least two hinge belts; the first ends of the hinge belts are fixedly connected to the near end controller; the second ends of the hinge belts are connected with the near ends of one group of steel wires; the far ends ofthe group of steel wires are connected with the far end tool, so that the inclined movement of the second ends of the hinge belts drives the relative movement of the group of steel wires, and then the far end tool is driven to bend. The three-dimensional bending controlling mechanical arm in hinge belt connection is high in hand feeling feedback, easy to operate, simple and compact in structure,and low in cost, and does not need a power source or a communication network.

Description

technical field [0001] The present application relates to a three-dimensional bending control robotic arm connected by a hinge belt, and in particular, 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 movement corresponding to the 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 ...

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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