CN108542498A - A kind of steering connections and minimally invasive robot for single hole minimally invasive robot - Google Patents
A kind of steering connections and minimally invasive robot for single hole minimally invasive robot Download PDFInfo
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- CN108542498A CN108542498A CN201810042558.4A CN201810042558A CN108542498A CN 108542498 A CN108542498 A CN 108542498A CN 201810042558 A CN201810042558 A CN 201810042558A CN 108542498 A CN108542498 A CN 108542498A
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- steering
- guide pad
- block
- minimally invasive
- support shaft
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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
-
- 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
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of steering connections for single hole minimally invasive robot, the steering unit being sequentially connected end to end in turn including several, each steering unit includes steering block, interior guide pad, outer guide pad, outer support block and support shaft, outer guide pad encloses packet in the outside of interior guide pad, interior guide pad is connected with outer support block, outer support block is connected with support shaft, and outer guide pad is contacted but is not attached to outer support block；Each steering block includes the steering strut for turning to chassis, positioning top plate and connection and turning to chassis, positioning top plate, and turning to can either relatively rotate and can rotate synchronously between chassis and outer guide pad.The invention also discloses a kind of minimally invasive robot, the minimally invasive robot includes mechanical arm, and the mechanical arm includes postbrachium body, front end shearing actuator and shears the steering connections as described above of actuator for connecting postbrachium body and front end.It can realize that shearing the remote of actuator to surgical arm front end flexibly turns to control using the present invention.
Description
Technical field
The invention belongs to the field of medical instrument technology more particularly to a kind of steering connections for single hole minimally invasive robot and
Minimally invasive robot.
Background technology
With the continuous development of science and technology, especially in the fast development of control aspect, robot field has had
Great breakthrough can reach minimally invasive effect by robotic assisted surgery, obtain the extensive of people especially in medical field
Receive.Miscellaneous operation auxiliary robot also achieved corresponding research and development in recent years, at present the surgical machine National People's Congress
Part is also in development phase, and existing operating robot function is relatively single, simple in structure, and the structure of mechanical arm is relatively
Heaviness, it is difficult to realize Minimally Invasive Surgery by using robot.
It can be seen that the prior art is up for further improving.
Invention content
The present invention be in place of avoiding above-mentioned the shortcomings of the prior art provide it is a kind of for single hole minimally invasive robot
Steering connections and minimally invasive robot, it is small, and can realize that far distance controlled flexibly turns to.
The technical solution adopted in the present invention is：
A kind of steering connections for single hole minimally invasive robot, including several steering units for being sequentially connected end to end in turn, respectively
Steering unit include steering block, interior guide pad, outer guide pad, outer support block and support shaft, interior guide pad integrally be in it is hemispherical,
Outer guide pad entirety is also in hemispherical, and outer guide pad encloses packet in the outside of interior guide pad, and interior guide pad is connected with outer support block, outside
Supporting block is connected with support shaft, and the external guide pad in lower section that outer support block is located at outer guide pad plays a supportive role, outer guide pad with
Outer support block is contacted but is not attached to；Each steering block includes turning to chassis, positioning top plate and connection to turn to chassis, positioning
The steering strut of top plate, each steering block include that 2N roots turn to strut, and N is integer more than or equal to 1, each steering block it is adjacent
Two angles turned between struts are equal, the support shaft for the steering unit being located above and below the steering unit and and its
The positioning top plate of adjacent steering unit is connected；The steering chassis of each steering block is nested with respectively is belonging to same turn with the steering block
To the outside of the outer guide pad of unit, and it can either relatively rotate and can rotate synchronously between steering chassis and outer guide pad.
The steering connections further includes yaw drive, and yaw drive includes deflecting traction rope and strainer,
One or two deflection traction ropes are connected on a piece steering strut, the other end for deflecting traction rope connects the strainer,
Strainer controls the deflection traction rope tensioning or loosens that the steering block is driven relative to inside and outside guide pad to occur partially
Turn, realizes and relatively rotate.
Each steering unit further includes limiting steering mechanism, and limiting steering mechanism includes being opened along the contour line of outer guide pad
If outer guide chute, the interior guide chute that opens up of contour line along interior guide pad, the position of inside and outside guide chute is opposite, and
The quantity of inside and outside guide chute with identical, the limiting steering mechanism that belongs to the steering quantity of strut of same steering unit with it
Further include that the guide rod being arranged on the inside of each steering strut and screens ball, screens ball are located at the inside of interior guide pad, guide rod
One end and turning to is connected on the inside of the bottom end of strut, after the other end sequentially passes through outer guide chute and interior guide chute with screens ball phase
Even.
The steering connections further includes rotary drive mechanism, the branch of rotary drive mechanism and the steering unit positioned at bottom
Support axis is connected and the support shaft is driven to rotate, drive and the support shaft when being located at the support shaft rotation of the steering unit of bottom
Connected outer support block rotation, to drive the interior guide pad being connected with outer support block rotation, interior guide pad rotation to pass through card
Position ball, guide rod drive the steering block and outer guide pad to rotate synchronously, and are located at the steering block rotation of the steering unit of bottom
When synchronous drive top adjacent thereto steering unit support shaft rotation, to drive entire steering connections synchronous rotary.
The rotary drive mechanism includes rotation traction traction rope, rotary chuck, positioning plate and electric rotating machine, positioning plate
Side offers traction rope entrance, the other side offers traction rope outlet, and rotary chuck is located at the top of positioning plate, is located at most
The support shaft of the steering unit of lower section runs through the rotary chuck, and the bottom end of the support shaft contacts but is not attached to positioning plate,
Rotation traction traction rope from traction rope entrance penetrate and around the support shaft below rotary chuck around one circle after drawing-in rotary chuck again
By being similarly pierced by around to the traction rope outlet around the support shaft one week above rotary chuck, and on located bottom plate, revolve
The both ends for turning traction rope are separately connected the output shaft of electric rotating machine.
The arc-shaped recess in top of the outer support block, and the profile on the top of outer support block and the bottom end of outer guide pad are taken turns
Exterior feature is adapted.
It is detachable connection between the support shaft and coupled positioning top plate.
Each steering unit further includes the connecting pole for connecting interior guide pad and outer support block, the interior guide pad
It is hollow structure in the middle part of middle part, the middle part of connecting pole and outer support block and is mutually communicated.
Conduit is both provided with below the positioning top plate of each steering block, in the just internal guide pad of entrance of conduit
Portion, outlet face position the middle part of top plate, to be threadedly coupled between the support shaft and coupled positioning top plate, positioning top
The inner hollow of disk and it is provided with internal thread, the outside of support shaft is provided with external screw thread compatible with the internal thread, each to support
The inner hollow of axis.
The invention also discloses a kind of minimally invasive robot, the minimally invasive robot includes mechanical arm, and the mechanical arm includes
Postbrachium body, front end shearing actuator and the steering connections as described above for connecting postbrachium body and front end shearing actuator, institute
It states shearing actuator with the positioning top plate of the steering unit positioned at the top to be connected, postbrachium body and the steering unit for being located at bottom
Positioning plate be connected.
By adopting the above-described technical solution, obtained by the present invention have the beneficial effect that：
Steering connections in the present invention is small, and manipulation is easy, which is installed on surgery mechanical arm, can
The far distance controlled flexibly turned to shearing actuator is realized by deflecting traction rope and rotation traction traction rope.
Description of the drawings
Fig. 1 is the part-structure of the steering unit and rotary drive mechanism positioned at bottom of an embodiment of the present invention
Installation diagram.
Fig. 2 is a kind of front view of embodiment of steering block in the present invention.
Fig. 3 is a kind of around downward front view of positioning plate in the present invention, rotary chuck and rotation traction traction rope.
Fig. 4 is the installation diagram of the interior guide pad of an embodiment of the present invention, connecting pole and outer support block.
Fig. 5 is a kind of around downward installation diagram of positioning plate in the present invention, rotary chuck and rotation traction traction rope.
Fig. 6 is a kind of status diagram of embodiment of mechanical arm in the present invention.
1, steering block 11, positioning top plate 12, steering strut 13, steering chassis 14, through-hole 15, guide rod 16, card
Position ball 2, interior guide pad 21, interior guide chute 3, outer guide pad 31, outer guide chute 4, outer support block 5, support shaft 6,
Rotation traction traction rope 7, connecting pole 8, rotary chuck 9, positioning plate 91, traction rope entrance 92, traction rope outlet 10, deflection
Traction rope 17, conduit 18, postbrachium body 19, shearing actuator
Specific implementation mode
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but the present invention is not limited to
These embodiments.
As shown in Figures 1 to 6, a kind of steering connections for single hole minimally invasive robot, including several head and the tail phases successively
Steering unit even.Although illustrating only two connected steering units in Fig. 6, the steering connections in the present invention does not limit to
In only include two connected steering units, can also be three it is even more.
Each steering unit includes steering block 1, interior guide pad 2, outer guide pad 3, outer support block 4 and support shaft 5, outer guiding
Block 3 encloses packet in the outside of interior guide pad 2.Each steering unit further includes the company for connecting interior guide pad 2 and outer support block 4
Column 7 is connect, outer support block 4 is connected with support shaft 5, and the external guide pad in lower section 3 that outer support block 4 is located at outer guide pad 3 plays support and makees
With outer guide pad 3 is contacted but is not attached to outer support block 4.The arc-shaped recess in top of the outer support block 4, and outer support block 4
The profile on top be adapted with the bottom end profile of outer guide pad 3.To realize outer guide pad 3 in rotary course, outer branch
Bracer 4 can support existing effect in fact, ensure that integrally-built stability.
Each steering block 1 includes turning to chassis 13, positioning top plate 11 and connection to turn to chassis 13, positioning top plate 11
Steering strut 12, each steering block 1 include four steering struts 12, each steering block 1 it is adjacent two turn to strut 12 between
Angle is equal.Each top for turning to strut 12 is connected with positioning top plate 11, bottom end is connected with chassis 13 is turned to, and respectively turns to strut
12 section is also arc-shaped, and all steering struts 12 for belonging to same steering block 1 cooperate composition one similar to hemispherical Shell
Shape, so that steering chassis 13 is fastened on the outside of outer guide pad 3, constitute the shape of a similar whole ball together with outer guide pad 3.
It should be noted that the steering strut 12 in the present invention in each steering block 1 be not limited only to it is above-mentioned
Four steering struts 12 may include two steering struts 12, when turning to strut 12 for only two, turns to chassis 13 and is only capable of
It is deflected to both direction along outer guide pad, certainly, each steering block 1 can also include that the six roots of sensation turns to strut 12, when there is the six roots of sensation
When turning to strut 12, turning to chassis 13 can also wrap along outer guide pad 3 to six direction deflection or even the steering block 1
Greater number of steering strut 12 is included, to realize the more careful control in deflection direction.
The support shaft 5 for the steering unit being located above and below the steering unit and steering unit adjacent thereto
Top plate 11 is positioned to be connected.It is detachable connection between the support shaft 5 and coupled positioning top plate 11.Interior guide pad 2
Entirety is in hemispherical, and whole outer guide pad 3 is also in hemispherical.The steering chassis 13 of each steering block 1 be nested with respectively with the steering
Block 1 belongs to the outside of the outer guide pad 3 of same steering unit, and turns to the energy under the drive of following yaw drives of chassis 13
It realizes and relatively rotates between enough and outer guide pad 3, it can be real between outer guide pad 3 under the drive of following rotary drive mechanisms
Now rotate synchronously.
The steering connections further includes yaw drive, and yaw drive includes deflection traction rope 10 and tensioning device
Structure, one turns to and is connected with two deflection traction ropes 10 on strut 12, and the other end of deflection traction rope 10, which passes through, is opened in steering
The strainer is connected after through-hole 14 or straight slot on chassis 13, strainer controls the tensioning of deflection traction rope 10 or puts
Pine is realized and relatively rotates to drive the steering block to deflect relative to inside and outside guide pad.
For example, for each steering block 1 possesses the steering connections of four steering struts 12, when needing to deflect to the left
When, it need to only tighten the deflection traction rope 10 being connected with the steerings strut 12 positioned at left side and pine length is comparable and be located at right side
Turn to the connected deflection traction rope 10 of strut 12, each deflection traction rope 10 being connected with the steering strut 12 positioned at front side, rear side
Keep elasticity constant, you can to realize the deflection to the left of steering block；When needing to deflect forward, it need to only tighten and be located at front side
The connected deflection traction rope 10 of steering strut 12 and the comparable deflection being connected with the steering strut 12 for being located at rear side of loose length
Traction rope 10, each deflection traction rope 10 being connected with the steering strut positioned at left side, rear side keep elasticity constant, you can real
The deflection forward of block is turned now to, and so on.
The deflection amplitude depends on tightening or degree of relaxation of the strainer for deflection traction rope 10, certainly,
The extreme position of deflection depends on the volume of the location of bottom end of following inside and outside guide chutes and the steering block 1.
Each steering unit further includes limiting steering mechanism, and limiting steering mechanism includes the contour line along outer guide pad 3
The outer guide chute 31 that opens up, the interior guide chute 21 that opens up of contour line along interior guide pad 2, the position of inside and outside guide chute
Relatively, and the quantity of inside and outside guide chute is identical as the steering quantity of strut 12 of same steering unit is belonged to it, turns to
Position-limit mechanism further includes that the guide rod 15 and screens ball 16, screens ball 16 being arranged in each 12 inside of steering strut are located at interior guide pad
2 inside, one end of guide rod 15 and turning to is connected on the inside of the bottom end of strut 12, the other end sequentially passes through outer guide chute 31 and
It is connected with screens ball 16 after interior guide chute 21.
Certainly, the screens ball 16 is not limited only to the spherical of diagram, other shapes is can also be, as long as its outer diameter
More than the cross-sectional width of interior guide chute 21, can avoid turning to chassis 13 and the disengaging of interior guide pad 2.
The steering connections further includes rotary drive mechanism, the branch of rotary drive mechanism and the steering unit positioned at bottom
Support axis 5 is connected and the support shaft 5 is driven to rotate, and is driven and the branch when being rotated positioned at the support shaft 5 of the steering unit of bottom
It supports the connected outer support block 4 of axis 5 to rotate, to drive the interior guide pad 2 being connected with the outer support block 4 to rotate, interior guide pad 2 revolves
Turn to drive the steering block 1 and outer guide pad 3 to rotate synchronously by screens ball 16, guide rod 15, is located at the steering list of bottom
The support shaft 5 of the steering unit of synchronous drive top adjacent thereto rotates when the steering block 1 of member rotates, to drive entire turn
It is rotated to joint synchronous.
The rotary drive mechanism includes rotation traction traction rope 6, rotary chuck 8, positioning plate 9 and electric rotating machine, positions bottom
The side of plate 9 offers traction rope entrance 91, the other side offers traction rope outlet 92, and rotary chuck 8 is located at positioning plate 9
Top, the support shaft 5 for being located at the steering unit of bottom run through the rotary chuck 8, the support shaft 5 and rotary chuck 8 it
Between for rigid connection, the bottom end of the support shaft 5 contacts but is not attached to positioning plate 9, and rotation traction traction rope 6 is from traction rope entrance 91
Penetrate and around the support shaft positioned at the lower section of rotary chuck 8 after a circle drawing-in rotary chuck 8 again by similarly around to around positioned at rotation
Turn the support shaft one week above chuck, and the traction rope outlet 92 on located bottom plate 9 is pierced by, the both ends point of rotation traction traction rope 6
Not Lian Jie electric rotating machine output shaft.Or the i.e. described rotation traction traction rope 6 is to twine clockwise in the upper and lower part of support shaft
Around or be wrapped anti-clockwise, rotary chuck can be driven by the movement of far distance controlled rotating wire rope 6 to realize
8 and the rotation of support shaft 5 to drive the purpose of entire steering connections rotation.
Certainly, it if in actual application, if only needing short distance control, can directly be driven positioned at most with micromotor
The support shaft 5 of the steering unit of lower section rotates, without above-mentioned rotation traction traction rope 6 and rotary chuck 8 is arranged.
In order to facilitate introducing the control circuits of following shearing actuators, in the middle part of the interior guide pad 2, connecting pole 7
Portion and the middle part of outer support block 4 are hollow structure and are mutually communicated, and the lower section of the positioning top plate 11 of each steering block 1 is equal
Be provided with conduit 17, the entrance of conduit 17 just the middle part of internal guide pad 2, outlet face positioning top plate 11 middle part, the branch
It supports to be threadedly coupled, positioning the inner hollow of top plate 11 and being provided with internal thread between axis 5 and coupled positioning top plate 11,
The outside of support shaft 5 is provided with external screw thread compatible with the internal thread, the inner hollow of each support shaft 5, and the conduit 17 is
Hose construction, control circuit can be introduced out of the steering unit positioned at bottom support shaft 5, and each steering unit of drawing-in successively
Outer support block 4, interior guide pad 2, conduit 17, connect the shearing actuator after positioning top plate 11, the control circuit connection
External control system, for controlling shearing actuator action.
As shown in Figures 1 to 6, the invention also discloses a kind of minimally invasive robot, the minimally invasive robot includes mechanical arm,
The mechanical arm includes postbrachium body 18, front end shearing actuator 19 and shears actuator 19 for connecting postbrachium body 18 and front end
Steering connections as described above, the shearing actuator 19 are connected with the positioning top plate 11 of the steering unit positioned at the top, after
Arm body 18 is connected with the positioning plate 9 of the steering unit positioned at bottom.The shearing can be driven when the steering connections movement
Actuator 19 moves synchronously, and flexibly turns to control to shearing actuator 19 to realize.
The part that do not addressed in the present invention uses or uses for reference prior art and can be realized.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.
Specific embodiment described herein is only the spiritual example explanation to the present invention.Belonging to the present invention
Those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitutes, and however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of steering connections for single hole minimally invasive robot, which is characterized in that turn including what several were sequentially connected end to end in turn
To unit, each steering unit includes steering block, interior guide pad, outer guide pad, outer support block and support shaft, and interior guide pad is whole
In hemispherical, it is also in hemispherical that outer guide pad is whole, and outer guide pad encloses packet in the outside of interior guide pad, interior guide pad and outer support
Block is connected, and outer support block is connected with support shaft, and the external guide pad in lower section that outer support block is located at outer guide pad plays a supportive role, outside
Guide pad is contacted but is not attached to outer support block；Each steering block includes turning to chassis, positioning top plate and connection to turn to
Chassis, the steering strut for positioning top plate, each steering block include that 2N roots turn to strut, and N is integer more than or equal to 1, each turn
To block it is adjacent two turn to strut between angles it is equal, the support shaft for the steering unit being located above and be located at the steering unit
The positioning top plate of lower section and steering unit adjacent thereto is connected；The steering chassis of each steering block be nested with respectively with the steering block
Belong to the outside of the outer guide pad of same steering unit, and turns to and can either be relatively rotated between chassis and outer guide pad and can
It rotates synchronously.
2. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that the steering
Joint further includes yaw drive, and yaw drive includes deflection traction rope and strainer, is connected on a steering strut
One or two deflection traction ropes are connected to, the other end for deflecting traction rope connects the strainer, described in strainer control
The tensioning of deflection traction rope loosens that the steering block is driven to deflect relative to inside and outside guide pad, realizes and relatively rotates.
3. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that each described turn
Further include limiting steering mechanism to unit, limiting steering mechanism include the outer guide chute opened up along the contour line of outer guide pad,
The interior guide chute opened up along the contour line of interior guide pad, the position of inside and outside guide chute is opposite, and inside and outside guide chute
Quantity is identical as the steering quantity of strut of same steering unit is belonged to it, and limiting steering mechanism further includes being arranged at each turn
To the guide rod and screens ball on the inside of strut, screens ball is located at the inside of interior guide pad, one end and the steering strut of guide rod
It is connected on the inside of bottom end, the other end is connected after sequentially passing through outer guide chute and interior guide chute with screens ball.
4. a kind of steering connections for single hole minimally invasive robot according to claim 3, which is characterized in that the steering
Joint further includes rotary drive mechanism, and rotary drive mechanism is connected with the support shaft of the steering unit positioned at bottom and drives institute
Support shaft rotation is stated, the outer support block rotation that drive is connected with the support shaft when being located at the support shaft rotation of the steering unit of bottom
Turn, to drive the interior guide pad being connected with outer support block rotation, interior guide pad rotation to drive institute by screens ball, guide rod
It states steering block and outer guide pad rotates synchronously, synchronous drive is adjacent thereto when being located at the steering block rotation of the steering unit of bottom
Top steering unit support shaft rotation, to drive entire steering connections synchronous rotary.
5. a kind of steering connections for single hole minimally invasive robot according to claim 4, which is characterized in that the rotation
Driving mechanism includes rotation traction traction rope, rotary chuck, positioning plate and electric rotating machine, and the side of positioning plate offers traction rope
Entrance, the other side offer traction rope outlet, and rotary chuck is located at the top of positioning plate, is located at the steering unit of bottom
Support shaft runs through the rotary chuck, and the bottom end of the support shaft contacts but is not attached to positioning plate, and rotation traction traction rope is drawn certainly
Rope entrance penetrate and around the support shaft below rotary chuck around one circle after drawing-in rotary chuck again by similarly around to around position
Support shaft above rotary chuck one week, and the traction rope outlet on located bottom plate is pierced by, the both ends point of rotation traction traction rope
Not Lian Jie electric rotating machine output shaft.
6. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that the outer branch
The arc-shaped recess in top of bracer, and the profile on the top of outer support block is adapted with the bottom end profile of outer guide pad.
7. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that the support
It is detachable connection between axis and coupled positioning top plate.
8. a kind of steering connections for single hole minimally invasive robot according to claim 1, which is characterized in that each described turn
Further include the connecting pole for guide pad in connection and outer support block to unit, in the middle part of the interior guide pad, connecting pole
It is hollow structure in the middle part of portion and outer support block and is mutually communicated.
9. a kind of steering connections for single hole minimally invasive robot according to claim 8, which is characterized in that each described turn
Conduit, middle part, the outlet face positioning top of the just internal guide pad of entrance of conduit are both provided with below to the positioning top plate of block
The middle part of disk positions the inner hollow of top plate and sets to be threadedly coupled between the support shaft and coupled positioning top plate
It is equipped with internal thread, the outside of support shaft is provided with external screw thread compatible with the internal thread, the inner hollow of each support shaft.
10. a kind of minimally invasive robot, the minimally invasive robot includes mechanical arm, which is characterized in that the mechanical arm includes postbrachium
Body, front end shearing actuator and for connect postbrachium body and front end shear actuator as any one of claim 1 to 9 right is wanted
The steering connections for single hole minimally invasive robot, the shearing actuator is asked to determine with the steering unit positioned at the top
Position top plate is connected, and postbrachium body is connected with the positioning plate of the steering unit positioned at bottom.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810042558.4A CN108542498B (en) | 2018-01-17 | 2018-01-17 | A kind of steering connections and minimally invasive robot for single hole minimally invasive robot |
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|---|---|---|---|
| CN201810042558.4A CN108542498B (en) | 2018-01-17 | 2018-01-17 | A kind of steering connections and minimally invasive robot for single hole minimally invasive robot |
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| CN108542498B CN108542498B (en) | 2019-10-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109171967A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | One kind can flexible curved surgical robotic apparatus |
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| CN107468339A (en) * | 2017-08-04 | 2017-12-15 | 吉林大学 | A kind of robot assisted Minimally Invasive Surgery Flexible Multi-joint operating theater instruments |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171967A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | One kind can flexible curved surgical robotic apparatus |
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| CN108542498B (en) | 2019-10-01 |
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