CN113598955B - Power transmission mechanism of minimally invasive surgery robot - Google Patents
Power transmission mechanism of minimally invasive surgery robot Download PDFInfo
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- CN113598955B CN113598955B CN202111067346.XA CN202111067346A CN113598955B CN 113598955 B CN113598955 B CN 113598955B CN 202111067346 A CN202111067346 A CN 202111067346A CN 113598955 B CN113598955 B CN 113598955B
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- wire rope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
Abstract
The invention relates to a power transmission mechanism of a minimally invasive surgery robot, which comprises a power assembly, a steel wire rope transmission assembly and a steel wire rope guide conversion mechanism which are sequentially connected, wherein the power assembly comprises a base and a plurality of driver modules, the steel wire rope transmission assembly comprises a driver side supporting piece, a steel wire rope side supporting piece, ball screws, a stabilizing module, a stabilizing guide shaft, a force/moment detection sensor, a steel wire rope fixer and a position detection sensor, a mandrel of each ball screw penetrates through the driver side supporting piece and is connected with the driver side supporting piece through a bearing, and is connected with the output end of the corresponding driver module, the stabilizing module is sleeved on the stabilizing guide shaft and corresponds to the ball on the ball screw, and the stress/torque detection sensor is fixedly connected and is connected with the movable part of the corresponding position detection sensor, and the force/torque detection sensor is connected with the steel wire rope fixer. The invention has the advantage of simultaneously detecting the driving force of the steel wire rope, the external force borne by the steel wire rope and the displacement.
Description
Technical Field
The invention relates to the field of medical robot equipment, in particular to a power transmission mechanism of a minimally invasive surgery robot.
Background
During minimally invasive surgery, a surgeon performs surgical operations, such as cutting, suturing, knotting, etc., on patient tissue with elongated surgical instruments. During this procedure, it is important to ensure that the surgical safety is maintained, and the surgeon not only needs to accurately sense and control the forces exerted on the patient's tissue, but also needs to accurately control the position of the surgical end effector joint. Currently, with the rise of robot-assisted minimally invasive surgery, more and more patients select robot minimally invasive surgery with more accurate surgical operation, smaller surgical wound and short postoperative recovery time. In the robot minimally invasive surgery, doctors realize direct or indirect control on the surgical robot end effector on the patient side in a man-machine cooperation or master-slave teleoperation mode. The accurate perception of the interaction force of the surgical robot end effector and human tissues and the accurate control of the joint position of the robot end effector by a doctor are the key points for the success or failure of the robot-assisted surgery. The perception of the interaction force of the tail end and the accurate control of the position quantity of the joint not only directly influence the operation experience feeling and the training time of a doctor, but also have non-negligible influence on the operation safety.
A tendon-drive (tendon-drive based) mode based on a steel wire rope is the most popular power transmission mode of the current minimally invasive surgery robot end effector. For example, the American national surgical robot DaVinci (R.Devengenzo and T.Cooper, "Instrument interface of a neurological surgical system US7963913B2," 2011.). Chinese patent application publication No. CN105212987A discloses a surgical instrument, which uses 6 steel cables to realize three degrees of freedom control of the end of the instrument. Chinese patent application publication No. CN110368092A discloses a surgical instrument, which also adopts a wire rope transmission structure to realize control of a distal end paw. The design of the minimally invasive surgical instrument has the following defects:
(1) the interaction force of the surgical instrument with the human tissue cannot be directly detected. Because the size of the paw at the tail end of the surgical instrument is small, the space for installing the force sensitive component is insufficient, and at present, no force sensing device meeting the space size of the minimally invasive surgical instrument exists in the industry.
(2) The position of the end joint of the surgical actuator cannot be accurately detected and controlled. Because the space of the end effector joint of the surgical robot is extremely limited and the convenience of surgical disinfection is considered, the surgical robot driven by the steel wire rope adopts a mode of separately arranging the end effector and a driver (a motor, a cylinder and the like), and a power output shaft of the driver and a joint shaft of the end effector realize power transmission through the steel wire rope. The position control of the end effector is only achieved indirectly by a position detection sensor (such as a photoelectric encoder, a potentiometer and the like) arranged on an end shaft (such as a motor shaft) of the driver, so that accurate detection and control of the joint position quantity of the end effector cannot be achieved.
Thus, there is a need for more optimized surgical instruments.
Disclosure of Invention
The invention aims to provide a power transmission mechanism of a minimally invasive surgery robot.
The purpose of the invention can be realized by the following technical scheme:
a power transmission mechanism of a minimally invasive surgery robot, which comprises a power component, a steel wire rope transmission component and a steel wire rope guide conversion mechanism which are connected in sequence,
the power assembly includes a base and a plurality of driver modules,
the steel wire rope transmission assembly comprises driver side supporting pieces, steel wire rope side supporting pieces, ball screws, a stabilizing module, a stabilizing guide shaft, force/moment detection sensors, a steel wire rope fixer and position detection sensors, wherein the number of the ball screws is consistent with that of the driver modules and corresponds to that of the driver modules one by one, one end of a mandrel of each ball screw is connected with the steel wire rope side supporting pieces through a bearing, the other end of the mandrel of each ball screw penetrates through the driver side supporting pieces to be connected with the driver side supporting pieces through the bearings and is connected with the output ends of the corresponding driver modules, the two ends of the stabilizing guide shaft are respectively fixedly connected with the steel wire rope side supporting pieces and the driver side supporting pieces, the stabilizing module is sleeved on the stabilizing guide shaft and slides along the stabilizing guide shaft, and the number of the stabilizing module, the stabilizing guide shaft, the number of the force/moment detection sensors and the number of the position detection sensors are consistent with that of the driver modules, the stabilizing modules are in one-to-one correspondence with the balls on the corresponding ball screws, the stress/torque detection sensors are fixedly connected with the movable parts of the corresponding position detection sensors, the force/torque detection sensors are connected with the steel wire rope fixator, the steel wire rope fixator is connected with the driving steel wire rope, and the other end of the driving steel wire rope is connected to the end effector of the surgical instrument after passing through the steel wire rope guide transformation mechanism.
The number of the driver modules is even, every two driver modules are in one group, and the two driver modules in the same group are oppositely arranged.
The driver module comprises a driver, a driver output shaft coupler and a driver tail end position sensor, and the output end of the driver is connected to the ball screw through the driver output shaft coupler.
The steel wire rope transmission assembly further comprises a stabilizing column, and the stabilizing column is stably arranged between the driver side supporting piece and the steel wire rope side supporting piece and is parallel to the stabilizing guide shaft.
The steel wire rope transmission assembly further comprises a sensor mounting bracket, and the position detection sensor is arranged on the sensor mounting bracket.
The number of the driver modules is four.
The steel wire rope guiding and converting mechanism comprises a supporting plate and a converting mechanism supporting rod, a plurality of reversing units are distributed on the first side face of the supporting plate in a circumferential mode, and the number of the reversing units is consistent with that of the driver modules.
The reversing unit comprises two guide wheels.
The power transmission mechanism further comprises a steel wire rope guide pipe which is connected to a second side face of the supporting plate, wherein the second side face is opposite to the first side face.
The driver is a motor.
Compared with the prior art, the invention has the following beneficial effects: the detection of the driving force of the steel wire rope, the external force applied to the steel wire rope and the displacement of the steel wire movement can be realized simultaneously in the power transmission mechanism of the minimally invasive surgery robot, and the detection of the force applied to the steel wire rope and the displacement of the steel wire movement can be realized simultaneously by using one mechanism; meanwhile, by matching with position information output by a high-precision position sensor on the tail end driver, the double-position ring detection and the steel wire rope driving force detection of the minimally invasive robot driver are realized, and the control precision and the external force detection precision of the surgical instrument joint are improved.
Drawings
FIG. 1 is a schematic view of the overall structure of a power transmission mechanism of a minimally invasive surgery robot provided by an embodiment of the invention;
FIG. 2 is a front view of a power transmission mechanism of a minimally invasive surgical robot provided by an embodiment of the invention;
FIG. 3 is a perspective oblique view of the power transmission of the minimally invasive surgical robot provided by the embodiment of the invention;
FIG. 4 is a schematic view of a first transmission module of a power transmission mechanism of a minimally invasive surgical robot according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a third transmission module of the power transmission mechanism of the minimally invasive surgical robot according to the embodiment of the invention;
FIG. 6 is a schematic view of a combination of a position detection sensor and a mounting bracket of a power transmission mechanism of a minimally invasive surgery robot according to an embodiment of the present invention;
FIG. 7 is a schematic view of a sensor mounting bracket of a power transmission mechanism of a minimally invasive surgical robot provided in an embodiment of the invention;
FIG. 8 is a schematic view of a drive cable guide changing mechanism of the power transmission mechanism of the minimally invasive surgical robot according to an embodiment of the present invention;
wherein: a-a power assembly; b-a steel wire rope transmission component; c-steel wire rope guiding transformation mechanism;
1-a driver; 2-a driver support; 3-driver output shaft coupler; 4-driver side support; 5-stabilizing the guide shaft; 6-ball screw; 7-a stabilizing module; 8-a stabilizing column; 9-force/moment detection sensor; 10-a wire rope holder; 11-a support bearing of the power conversion assembly; 12-drive wire rope; 13-wire rope side support; 14-a transformation mechanism support bar; 15-a support disk; 16-a wireline conduit; 17-wire rope conduit fixings; 18-a stabilizing column; 23-a position detection sensor; 24-a sensor mounting bracket;
1.1-driver a; 1.2-driver b; 3.1-driver output shaft coupler a; 3.2-driver output shaft coupler b; 5.1-stabilizing the guide shaft a; 5.2-stabilizing the guide shaft b; 6.1-mandrel; 6.2-balls; 7.1-stabilizing module a; 7.2-stabilizing module b; 9.1-force/moment detection sensor a; 9.2-force/moment detection sensor b; 10.1-wire rope holder a; 10.2-wire rope fixer b; 12.1-wire rope a; 12.2-steel wire rope b; 23.1-position detection sensor a; 15.1-guide wheel a; 15.2-guide wheel b; 23.2-position detection sensor b; 23.3-position detection sensor c; 23.4-position detection sensor d; 24.1-sensor mounting bracket mounting hole a; 24.2-sensor mounting bracket mounting hole b; 24.3-sensor mounting bracket mounting hole c; 24.4-sensor mounting bracket mounting hole d; 25-actuator tip high precision position sensor;
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the appended drawings are in a very simplified form and are not to scale, simply for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Further, the structures shown are often part of the actual structure. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term "or" is generally intended to be used in a sense including "and/or" unless the content clearly dictates otherwise, the term "proximal" generally refers to the end near the operator and the term "distal" generally refers to the end near the subject of the surgical instrument.
Referring to fig. 1 to 8, in which fig. 1 is a schematic view illustrating an overall configuration of a power transmission mechanism of a minimally invasive surgery robot according to an embodiment of the present invention, fig. 2 is a front view of the power transmission mechanism of the minimally invasive surgery robot according to the embodiment of the present invention, fig. 3 is a perspective oblique view illustrating the power transmission of the minimally invasive surgery robot according to the embodiment of the present invention, fig. 4 is a schematic view illustrating a first transmission module of the power transmission mechanism of the minimally invasive surgery robot according to the embodiment of the present invention, fig. 5 is a schematic view illustrating a third transmission module of the power transmission mechanism of the minimally invasive surgery robot according to the embodiment of the present invention, fig. 6 is a schematic view illustrating a combination of a position detection sensor and a mounting bracket of the power transmission mechanism of the minimally invasive surgery robot according to the embodiment of the present invention, fig. 7 is a schematic view illustrating a sensor mounting bracket of the power transmission mechanism of the minimally invasive surgery robot according to the embodiment of the present invention, and fig. 8 is a view illustrating a guide transformation of a driving steel wire rope of the power transmission mechanism of the minimally invasive surgery robot according to the embodiment of the present invention The mechanism is schematic.
A power transmission mechanism of a minimally invasive surgery robot comprises a power component A, a steel wire rope transmission component B and a steel wire rope guiding transformation mechanism C which are sequentially connected, wherein the power component A is connected with the steel wire rope transmission component B through a driver output shaft coupler 3, and a steel wire rope a 12.1 and a steel wire rope B12.2 output by the steel wire rope transmission component B are connected with the steel wire rope guiding transformation mechanism C through a through hole in a steel wire rope side supporting piece 13 of the steel wire rope transmission component; transmitting the power for driving the steel wire rope to a terminal paw of the minimally invasive surgery robot through circumferentially distributed guide wheels 15.1-15.8 on the steel wire rope guide transformation mechanism C;
the power assembly includes a base and a plurality of driver modules,
the steel wire rope transmission assembly comprises a driver side support piece 4, a steel wire rope side support piece 13, ball screws 6, a stabilizing module 7, a stabilizing guide shaft 5, a force/moment detection sensor 9, a steel wire rope fixer 10 and a position detection sensor 23, wherein the number of the ball screws 6 is the same as that of the driver modules and corresponds to one another, one end of a mandrel 6.1 of each ball screw 6 is connected with the steel wire rope side support piece 13 through a bearing, the other end of the mandrel 6 penetrates through the driver side support piece 4 to be connected with the driver side support piece 4 through the bearing and is connected with the output end of the corresponding driver module, two ends of the stabilizing guide shaft 5 are respectively fixedly connected with the steel wire rope side support piece 13 and the driver side support piece 4, the stabilizing module 7 is sleeved on the stabilizing guide shaft 5 and slides along the stabilizing guide shaft 5, and the number of the stabilizing module 7, the stabilizing guide shaft 5, the number of the force/moment detection sensors 9 and the number of the position detection sensors 23 are the same as that of the driver modules, the stabilizing modules 7 are respectively and fixedly connected with the balls on the corresponding ball screws 6 and the corresponding stress/torque detection sensors 9 and connected with the movable parts of the corresponding position detection sensors 23, the force/torque detection sensors 9 are connected with the steel wire rope fixator 10, the steel wire rope fixator 10 is connected with a driving steel wire rope, and the other end of the driving steel wire rope is connected to an end effector of a surgical instrument after passing through the steel wire rope guide conversion mechanism.
As shown in fig. 3, 4 and 5, the stable guide shaft 5, the ball screw 6, the stabilizing module 7, the force/torque detecting sensor 9, the wire rope holder 10, the wire rope 12 and the position detecting sensor 23 are uniformly distributed in the wire rope transmission assembly B along the circumference.
The driver module comprises a driver 1 and a driver output shaft coupler 3, and the output end of the driver 1 is connected to the ball screw 6 through the driver output shaft coupler 3. The drive 1 is a motor.
Specifically, one end of the stable guide shaft 5 is fixed to a driver-side support 4 of the wire rope transmission assembly by a bolt, and the other end is fixed to a wire rope-side support 13 of the wire rope transmission assembly by a bolt; the stabilizing guide shaft 5 penetrates through a through hole of the stabilizing module 7 to prevent the stabilizing module 7 from rotating around the axis direction of the power conversion assembly 6; the stabilizing module 7 is fixedly connected with the ball screw 6 and is driven by the ball screw 6 to realize translational motion along the axial direction of the ball screw 6; in the ball screw, a mandrel 6.1 penetrates through a ball 6.2, and two ends of the mandrel 6.1 realize the support of the mandrel through bearings arranged on a steel wire rope side support piece 13 and a driver side support piece 4; a mandrel 6.1 of the ball screw is connected with an output shaft of the driver 1 through a driver output shaft coupler 3, and the rotary motion of the output shaft of the driver 1 is converted into the translational motion along the direction of the mandrel 6.1; a through hole is formed in the middle of the stabilizing module 7, and the force/moment detection sensor 9 is fixedly connected with the stabilizing module 7 through a bolt; the other side of the force/moment detection device 9 is fixedly connected with the steel wire rope fixer 10 through a bolt; one end of the driving steel wire rope is fixed on the steel wire rope fixer 10; when the output shaft of the driver 1 generates rotary motion under the action of a control signal, the power is transmitted to the mandrel 6.1 through the output shaft coupler 3 of the driver, and the mandrel 6.1 generates rotary motion to drive the ball 6.2 to realize translational motion; the translational motion of the ball 6.2 drives the stabilizing module 7 to perform translational motion; the translational motion of the stabilization module 7 drives the power/moment detection sensor 9 to generate translational motion; the force/moment detection sensor 9 finally transmits the translational motion to the steel wire rope fixer 10, and finally realizes the stretching motion of the driving steel wire rope 12;
in some embodiments, the wireline transmission assembly further comprises a stabilizing post, which is positioned between the drive side support 4 and the wireline side support 13 and parallel to the stabilizing guide shaft 5. Further improve the stability
The number of the driver modules is even, every two driver modules are in one group, and the two driver modules in the same group are oppositely arranged, so that the translational motion of the driving steel wire rope can be generated in pairs as shown in fig. 5, and the single driving of the steel wire rope a 12.1 and the steel wire rope b 12.2 by one group of drivers a 1.1 and b 1.2 is realized; the driving mode can form a group opposite pulling mode to realize the control of the rotary motion of a single joint; when the end effector of the external surgical instrument connected with the steel wire ropes a 12.1 and b 12.2 is in contact with an environmental object, corresponding contact force is generated, and the external contact force is respectively transmitted to the force/moment detection sensor a 9.1 and the moment detection sensor b 9.2 through the steel wire ropes a 12.1 and b 12.2, so that the detection of external force is realized.
In some embodiments, there are four driver modules.
The wire rope transmission assembly further comprises a sensor mounting bracket 24, and the position detection sensor 23 is arranged on the sensor mounting bracket 24.
The steel wire rope guiding conversion mechanism comprises a supporting plate 15 and a conversion mechanism supporting rod 14, a plurality of reversing units are distributed on the first side face of the supporting plate 15 in a circumferential mode, and the number of the reversing units is consistent with that of the driver modules.
The reversing unit comprises two guide wheels.
The power transmission mechanism further comprises a cable guide tube 16, which cable guide tube 16 is connected to a second side of the support plate 15, wherein the second side is opposite to the first side.
As shown in fig. 4, 5, 6 and 7, a position sensor mounting bracket 24 is arranged at the middle position of the steel wire rope transmission component B; the sensor mounting bracket 24 can be square hollow and cylindrical hollow, the surface of which is provided with a mounting threaded hole for mounting a position detection sensor a 23.1, a position detection sensor b 23.2, a position detection sensor c 23.3 and a position detection sensor d 23.4, and movable parts of the position detection sensor a 23.1, the position detection sensor b 23.2, the position detection sensor c 23.3 and the position detection sensor d 23.4 are fixedly connected with one side of the corresponding stabilizing module 7; when the corresponding stabilizing module 7 makes translational motion, the movable components of the position detection sensor a 23.1, the position detection sensor b 23.2, the position detection sensor c 23.3 and the position detection sensor d 23.4 under the driving of the module make translational motion respectively to generate corresponding position signals, so that the displacement of the steel wire rope a 12.1 and the displacement of the steel wire rope b 12.2 are detected. Meanwhile, the tail end shafts of the drivers 1 are respectively provided with high-precision position sensors 25, the position sensors can only detect the rotation position quantity of the drivers with high precision, and the displacement quantity of the driving steel wire rope 12 generated by the steel wire rope transmission component B cannot be detected with high precision; by the configuration method, high-precision position closed-loop detection of the driver and closed-loop detection of the driving steel wire rope are simultaneously realized, double closed-loop control of position detection is formed, precision detection and control of the displacement of the driving steel wire rope 12 are realized, and finally high-precision position control of a minimally invasive surgical instrument actuator joint formed by paired steel wire ropes is realized.
Claims (9)
1. A power transmission mechanism of a minimally invasive surgery robot comprises a power component, a steel wire rope transmission component and a steel wire rope guide conversion mechanism which are connected in sequence,
the power assembly includes a base and a plurality of driver modules,
the steel wire rope transmission assembly comprises a driver side supporting piece (4), a steel wire rope side supporting piece (13), ball screws (6), a stabilizing module (7), a stabilizing guide shaft (5), a force/moment detection sensor (9), a steel wire rope fixer (10) and a position detection sensor (23), wherein the number of the ball screws (6) is consistent with that of the driver modules and corresponds to one another, one end of a mandrel (6.1) of each ball screw (6) is connected with the steel wire rope side supporting piece (13) through a bearing, the other end of the mandrel penetrates through the driver side supporting piece (4) to be connected with the driver side supporting piece (4) through the bearing and is connected with the output end of the corresponding driver module, two ends of the stabilizing guide shaft (5) are fixedly connected with the steel wire rope side supporting piece (13) and the driver side supporting piece (4) respectively, the stabilizing module (7) is sleeved on the stabilizing guide shaft (5) and slides along the stabilizing guide shaft (5), the number of the stabilizing modules (7), the number of the stabilizing guide shafts (5), the number of the force/moment detection sensors (9) and the number of the position detection sensors (23) are all consistent with the number of the driver modules and are in one-to-one correspondence, the stabilizing modules (7) are respectively fixedly connected with the balls on the corresponding ball screws (6) and the opposite stress/moment detection sensors (9) and are connected with the movable parts of the corresponding position detection sensors (23), the force/moment detection sensors (9) are connected with the steel wire rope fixator (10), the steel wire rope fixator (10) is connected with a driving steel wire rope, and the other end of the driving steel wire rope is connected to an end effector of a surgical instrument after passing through the steel wire rope guide conversion mechanism;
the driver module comprises a driver (1), a driver output shaft coupler (3) and a driver tail end high-precision position sensor (25), wherein the output end of the driver (1) is connected to the ball screw (6) through the driver output shaft coupler (3), and the high-precision position sensor (25) can only detect the rotating position of the driver with high precision.
2. The power transmission mechanism of claim 1, wherein the number of driver modules is even, and every two driver modules in the same group are arranged oppositely.
3. The power transmission mechanism of a robot for minimally invasive surgery according to claim 1, characterized in that the wire rope transmission assembly further comprises a stabilizing column, which is disposed between the driver side support (4) and the wire rope side support (13) and is parallel to the stabilizing guide shaft (5).
4. The power transmission mechanism of a robot for minimally invasive surgery according to claim 1, characterized in that the wire rope transmission assembly further comprises a sensor mounting bracket (24), and the position detection sensor (23) is provided on the sensor mounting bracket (24).
5. A minimally invasive surgical robot power transmission mechanism according to claim 2, wherein there are four driver modules.
6. The power transmission mechanism of a minimally invasive surgery robot according to claim 1, characterized in that the steel wire rope guiding transformation mechanism comprises a support plate (15) and a transformation mechanism support rod (14), a plurality of reversing units are circumferentially distributed on a first side surface of the support plate (15), and the number of the reversing units is consistent with that of the driver modules.
7. The minimally invasive surgical robot power transmission mechanism of claim 6, wherein the reversing unit comprises two guide wheels.
8. The power transmission mechanism of a minimally invasive surgical robot according to claim 6, further comprising a wire rope guide (16), the wire rope guide (16) being connected to a second side of the support plate (15), wherein the second side is opposite to the first side.
9. A minimally invasive surgical robot power transmission mechanism according to claim 2, characterized in that the driver (1) is a motor.
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| CN114833813A (en) * | 2022-05-13 | 2022-08-02 | 上海交通大学 | General type dynamometry drive arrangement to super redundant arm |
| CN114890236A (en) * | 2022-06-09 | 2022-08-12 | 中国人民解放军陆军特色医学中心 | Digital detection device and method for tension of transmission steel wire of surgical robot |
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| WO2000067640A2 (en) * | 1999-05-10 | 2000-11-16 | Brock Rogers Surgical Inc. | Surgical instrument |
| CN112274254A (en) * | 2020-09-30 | 2021-01-29 | 深圳市精锋医疗科技有限公司 | Surgical instrument, slave operation device, and surgical robot |
| CN113038900A (en) * | 2018-11-15 | 2021-06-25 | 直观外科手术操作公司 | Surgical instrument with sensor alignment cable guide |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130090763A1 (en) * | 2008-01-25 | 2013-04-11 | The Trustees Of Columibia University In The City Of The City Of New York | Systems and methods for force sensing in a robot |
| WO2014098246A1 (en) * | 2012-12-20 | 2014-06-26 | Olympus Corporation | Position detection sensor and manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000067640A2 (en) * | 1999-05-10 | 2000-11-16 | Brock Rogers Surgical Inc. | Surgical instrument |
| CN113038900A (en) * | 2018-11-15 | 2021-06-25 | 直观外科手术操作公司 | Surgical instrument with sensor alignment cable guide |
| CN112274254A (en) * | 2020-09-30 | 2021-01-29 | 深圳市精锋医疗科技有限公司 | Surgical instrument, slave operation device, and surgical robot |
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