Battlefield operation robot system

Battlefield operation robot system

  • CN 109,259,867 B
  • Filed: 10/17/2018
  • Issued: 02/02/2021
  • Est. Priority Date: 10/17/2018
  • Status: Active Grant
First Claim
Patent Images

1. A battlefield operation robot system is characterized by comprising an operating table (6) and two manipulator devices symmetrically fixed on two sides of the operating table;

  • the manipulator device comprises a support (1), a first electric cylinder (2), a second electric cylinder (3), a manipulator (4) and a camera (5), wherein the first electric cylinder (2) and the second electric cylinder (3) respectively comprise a motor, a cylinder body and a sliding table, the cylinder body of the first electric cylinder (2) is fixed on the support (1), the cylinder body of the second electric cylinder (3) is fixed on the sliding table of the first electric cylinder (2), the manipulator (4) comprises a first platform (4-2), a first six cylinders (4-3), a second platform (4-4), a third platform (4-6), a second six cylinders (4-7) and a fourth platform (4-8), the first six cylinders (4-3) are arranged between the first platform (4-2) and the second platform (4-4) in parallel, and two ends of the first platform (4-2) and the second platform (4-4) are rotatably connected, the six second cylinders (4-7) are arranged between the third platform (4-6) and the fourth platform (4-8) in parallel, and two ends of the six second cylinders are rotatably connected with the third platform (4-6) and the fourth platform (4-8);

    the first platform (4-2) is fixedly connected with the sliding table of the second electric cylinder (3), the second platform (4-4) is fixedly connected with the third platform (4-6) at a certain angle, and the fourth platform (4-8) is used for connecting surgical instruments;

    the operating table comprises an operating table plate I (6-1), an operating table plate II (6-3), an electric cylinder III (6-4), an electric cylinder IV (6-5) and at least three cylinders III (6-2) which can be rotatably connected between the operating table plate I (6-1) and the operating table plate II (6-3), wherein the electric cylinders III (6-4) and the electric cylinder IV (6-5) are arranged in parallel and fixed with the ground, the operating table plate II (6-3) is fixedly connected with the sliding tables of the electric cylinder III (6-4) and the electric cylinder IV (6-5) and can slide horizontally, and the operating table plate I (6-1) is used for fixing a patient;

    the camera (5) is fixed at the uppermost part of the bracket;

    the bracket (1) is an aluminum alloy bracket;

    the first platform (4-2), the second platform (4-4), the third platform (4-6), the fourth platform (4-8), the first operating table (6-1) and the second operating table (6-3) are all made of aluminum alloy;

    the air cylinders can be replaced by electric cylinders;

    the first platform (4-2) is fixedly connected to the sliding table of the second electric cylinder (3) through a first connecting piece (4-1), the second platform (4-4) is fixedly connected with the third platform (4-6) through a second connecting piece (4-5), the first connecting piece (4-1) is L-shaped, and the second connecting piece (4-5) is V-shaped;

    the system also comprises three DSP modules, wherein one manipulator is controlled by the first DSP module, and the first DSP module indirectly controls the second DSP module and the third DSP module through Modbus communication to control the other manipulator and the operating table, so that the coordination of the whole system is ensured;

    and a friction-free cylinder is additionally arranged between the platform four (4-8) and the surgical instrument.

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