Force feedback main manipulator for minimally invasive surgery
A master operator and minimally invasive surgery technology, applied in the field of medical machinery, can solve the problems that the structure and function cannot fully meet the needs of minimally invasive surgery, unfavorable force between surgical instruments and tissues, clamping mechanism does not have force feedback function, etc. Achieve the effects of small space, increased rigidity and compact structure
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[0037] This embodiment discloses a force feedback main manipulator for minimally invasive surgery, which includes a base 1, an arm position adjustment mechanism 2, a wrist posture adjustment mechanism 3, and a clamping mechanism 4, with a total of eight degrees of freedom. Among them, R1, R2, R3, R5, R6, R7, R8 are connected to the seven joint motors, which are active joints that can provide force feedback; R4 is connected to the double parallelogram mechanism, which is a passive joint, to realize the wrist posture adjustment mechanism 3. maintain standard.
[0038] Please refer to figure 2 , image 3 , Figure 4 , Figure 5 The base 1 includes a base 1 frame, a base 1 motor frame, a base 1 bearing seat, and a slewing bearing. The base 1 frame and the base 1 bearing seat are mounted on the base 1 frame, and the slewing bearing is connected to the base 1. With the first position adjustment mechanism; the central axis of the slewing bearing is the R1 axis, and the base 1 is connec...
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