| 摘要 |
The invention relates to a modular assisting robot for exploration and intervention in limited spaces, meant to be used in medical applications, for manipulating surgical instruments. According to the invention, the modular assisting robot has a multi-hinged arm (A) consisting of two spatial mechanisms (1 and 2), an external mechanism (1) comprising a proximal external vertebra (3), 20 intermediate external vertebrae (4), a distal external vertebra (5), and an internal mechanism (2) comprising a proximal internal vertebra (6), 34 intermediate internal vertebrae (7) and a distal internal vertebra (8), each such vertebra being made with simple or double curved segments, spherical surfaces, and being maintained in contact by means of some wires (9, 10 and 11), namely: three wires for the external mechanism (1) arranged at 120° therebetween, and one central wire (12) for the internal mechanism (2), while, for ensuring a succession of movement sequences, it has a control system (B) comprising the following sections: a base plate support (13), a back and forth motion structure (14), a linear slide, a screw-nut mechanism (1), three digital linear actuators (16, 17 and 18) with encoder for the external mechanism (1), a back and forth motion structure, a linear slide (19), a screw-nut mechanism (20) and a digital linear actuator (21) with encoder for the internal mechanism (2), where, for preventing the vertebrae from twisting during operation, the cylindrical surfaces of the external vertebrae (3, 4 and 5) exhibit, in one embodiment, two diametrically opposite channels (a) at one end and two bolts (b) at the other end, respectively. |
