Title:
WRIST OF MASTER MANIPULATOR, AND MASTER OPERATING APPARATUS AND SURGICAL ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/083057
Kind Code:
A1
Abstract:
A wrist (23) of a master manipulator, and a master operating apparatus (20) and a surgical robot. The wrist (23) of a master manipulator comprises: a handle (234); a first lever (231), which is rotationally connected to the handle (234) about a first axis of rotation (J1) by means of a first rotation joint (235); a second lever (232), which is rotationally connected to the first lever (231) about a second axis of rotation (J2) by means of a second rotation joint (236); and a third lever (233), which is rotationally connected to the second lever (232) about a third axis of rotation (J3) by means of a third rotation joint (237), wherein the third rotation joint (237) is provided with a torque compensation mechanism about the third axis of rotation (J3), so as to compensate for torque generated by the handle (234), the first lever (231) and the second lever (232) about the third axis of rotation (J3). By means of the wrist (23) of a master manipulator, and the master operating apparatus (20) and the surgical robot, the effect of driving rotation joints using a relatively small driving force is achieved by means of torque compensation, thereby effectively reducing the effect of end inertia, and increasing force transparency.
Inventors:
LIU FANG (CN)
Application Number:
PCT/CN2022/129011
Publication Date:
May 19, 2023
Filing Date:
November 01, 2022
Export Citation:
Assignee:
SHENZHEN EDGE MEDICAL CO LTD (CN)
International Classes:
A61B34/37; A61B34/00; B25J19/00
Foreign References:
| CN113017840A | 2021-06-25 | |||
| CN1634685A | 2005-07-06 | |||
| CN101160104A | 2008-04-09 | |||
| CN111386085A | 2020-07-07 | |||
| US20070156122A1 | 2007-07-05 | |||
| CN108818618A | 2018-11-16 |
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