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Seven-freedom-degree main operating handle for surgical robot

A surgical robot and a degree of freedom technology, applied in the field of medical devices, can solve the problems of inability to achieve gravity balance, easy fatigue of doctors, and burden of hand movement of doctors, and achieve the effect of enhancing anti-interference ability, simple structure, and reducing transmission errors.

Pending Publication Date: 2020-04-28
杭州唯精医疗机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing main operator cannot realize the balance of gravity, which will burden the doctor's hand movement and make the doctor easy to fatigue

Method used

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  • Seven-freedom-degree main operating handle for surgical robot
  • Seven-freedom-degree main operating handle for surgical robot
  • Seven-freedom-degree main operating handle for surgical robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0021] Specific implementation mode one: combine Figure 1 to Figure 12 Describe this embodiment, a seven-degree-of-freedom master manipulator for a surgical robot in this embodiment includes a waist joint 7, a shoulder joint 6, an elbow joint 5, a wrist pitch joint 4, and a wrist yaw joint 3, and the wrist yaw joint Joint 3, wrist pitch joint 4, elbow joint 5, shoulder joint 6 and waist joint 7 are connected sequentially, wherein wrist yaw joint 3, shoulder joint 6 and waist joint 7 rotate in the vertical direction, shoulder joint 6 and waist joint The joints 7 are connected by a connecting rod, the wrist pitch joint 4 and the elbow joint 5 rotate in the horizontal direction, the wrist yaw joint 3 and the wrist pitch joint 4 are connected by a connecting rod, the wrist pitch joint 4 and the elbow joint 5 are connected by a connecting rod, and it also includes a clamping mechanism 1, a wrist rolling joint 2 and a counterweight 8. The counterweight 8 is installed at the end of ...

specific Embodiment approach 2

[0022] Specific implementation mode two: combination Figure 1 to Figure 5 Describe this embodiment, the clamping mechanism 1 of this embodiment comprises L-shaped connecting rod 1-1, driver 1-2, motor 1-3, encoder 1-4, encoder bracket 1-5, clamping bearing 1- 6. Rotary shaft 1-7, preload disc 1-8, preload screw 1-9, wire drum 1-10, steel wire 1-12, horizontal section of L-shaped connecting rod 1-1 and wrist yaw joint 3 Connection, the driver 1-2 is installed on the vertical section of the L-shaped connecting rod 1-1, and the motor 1-3 is horizontally installed on the vertical section of the L-shaped connecting rod 1-1 above the driver 1-2, and the motor 1-3 The output shaft is connected to the wire drum 1-10, the encoder bracket 1-5 is installed on the upper end of the vertical section of the L-shaped connecting rod 1-1, the encoder 1-4 is installed in the encoder bracket 1-5, and the rotating shaft 1 -7 is installed on the encoder bracket 1-5 at the upper end of the vertica...

specific Embodiment approach 3

[0024] Specific implementation mode three: combination Figure 8 The present embodiment will be described. The steel wire 1-12 of the present embodiment is wound around the wire drum 1-10 and the rotating shaft 1-7 in a figure-of-eight pattern. With such arrangement, the pre-tightening of the steel wire is firm and reliable. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

[0025] The motor 1-3 of this embodiment is consolidated with the L-shaped connecting rod 1-1, and is placed parallel to the axis of the rotating shaft 1-7. The shaft is fixed. The wire drum 1-10 and the rotating shaft 1-7 are connected and driven by steel wire ropes at both ends, and the way of winding the steel wire is 8-shaped winding. More specifically, one of the ends of the two sections of steel wire is fixed on two positions ① and ② of the wire drum in Fig. The steel wire rope of ③ or ④ needs to be knotted inside the rotating shaft 1-7, and the steel wire ...

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Abstract

The invention provides a seven-freedom-degree main operating handle for a surgical robot, relates to a main operating handle, and aims at solving the problems that an existing main operating handle cannot realize gravity balance, and the burden is generated on the motion of the hand of a doctor, so that a doctor easily feels fatigued. A wrist swinging joint, a shoulder joint and a waist joint of the seven-freedom-degree main operating handle rotate in the vertical direction; the shoulder joint and the waist joint are connected through a connecting rod; a wrist pitching joint and an elbow jointrotate in the horizontal direction; the wrist swinging joint and the wrist pitching joint are connected through a connecting rod; the wrist pitching joint and the elbow joint are connected through aconnecting rod; a balancing weight is arranged at the tail end of the elbow joint; an elbow rolling joint is connected with the elbow swinging joint through a clamping mechanism; and the axial lines of the wrist pitching joint, the wrist swinging joint and the wrist rolling joint are intersected at one point. The seven-freedom-degree main operating handle can be used for collecting position and posture information of the hand and the opening angle between two fingers of an operator (doctor), and is used in the field of medical appliances.

Description

technical field [0001] The invention relates to a seven-degree-of-freedom master operator, in particular to a seven-degree-of-freedom master operator for a surgical robot, which can collect pose information of an operator's (doctor's) hand and the opening and angle between two fingers. It belongs to the field of medical equipment. Background technique [0002] Compared with traditional minimally invasive surgery, robot-assisted minimally invasive surgery system has many advantages and great development prospects. As a human-computer interaction interface, the main operator's hand is an important part of the robot-assisted minimally invasive surgery system. The opening and closing angle between. However, at present, most of the main hands used in domestic robot-assisted minimally invasive surgery systems are driven by no motor, which cannot achieve this gravity balance. Then the gravity of the main hand itself will burden the doctor's hand movement, making the doctor prone ...

Claims

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Application Information

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IPC IPC(8): A61B34/37A61B34/00
CPCA61B34/37A61B34/74A61B34/76
Inventor 付宜利高超潘博
Owner 杭州唯精医疗机器人有限公司
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