Loading patent…
AssigneeHarbin Institute of Technology
InventorsHongjian YU, Xiangyu SHEN, Zijia GUO, Dongru XIE, Mingxuan CHEN
Estimating the term…
An artificial muscle-driven hybrid fracture reduction surgical robot is disclosed, and pertains to the technical field of auxiliary operating instruments for medical surgery. In the present disclosure, the problems associated with existing fracture reduction surgical robots, such as their large size, limited workspace, low integration level, insufficient load capacity, complex control and kinematics, and being prone to cause rigid impacts during motion are addressed. In the present invention, a top side of a mounting base is provided with a dual-joint swing arm, and a first rotary joint is mounted at a first end of a swing arm connecting rod. Left and right ends of the first rotary joint are connected to two first rotary joint rotation and traction mechanisms, respectively, a bottom of the first rotary joint is connected to the mounting base, a second end of the swing arm connecting rod is mounted with a second rotary joint.
An artificial muscle-driven hybrid fracture reduction surgical robot, comprising a dual-joint swing arm (1), a four-limb 2R1T parallel mechanism (2), an end traction platform (3) and a robot base (4), wherein the robot base (4) comprises a mounting base (41), two first rotary joint rotation and traction mechanisms (42) and two second rotary joint rotation and traction mechanisms (43), the mounting base (41) is vertically arranged, the first rotary joint rotation and traction mechanism (42) and the second rotary joint rotation and traction mechanism (43) are arranged on left and right sides of the mounting base (41), wherein a top side of the mounting base (41) is provided with the dual-joint swing arm (1), wherein the dual-joint swing arm (1) comprises a first rotary joint (11), a swing arm connecting rod (12) and a second rotary joint (13), wherein the swing arm connecting rod (12) is arranged horizontally, the first rotary joint (11) is mounted at a first end of the swing arm connecting rod (12), left and right ends of the first rotary joint (11) are connected to two first rotary joint rotation and traction mechanisms (42), respectively, a bottom of the first rotary joint (11) is connected to the mounting base (41), a second end of the swing arm connecting rod (12) is mounted with the second rotary joint (13), left and right ends of the second rotary joint (13) are connected to two second rotary joint rotation and traction mechanisms (43), respectively, a top of the second rotary joint (13) is connected to the vertically arranged four-limb 2R1T parallel mechanism (2), and a top end of the four-limb 2R1T parallel mechanism (2) is mounted with an end traction platform (3);
(111) is embedded inside the first rotary joint mounting hole, an upper end of the first rotary joint bearing housing (112) is inserted into an inner hole of the first rotary joint bearing (111), and a lower end of the first rotary joint bearing housing (112) is connected to the base adapter module (113).
Dependencies are inferred from the claim text.