Configuration Design of the Slave Manipulator of EMIS Robot

摘要

Endoscope MIS(EMIS) is the representation of MIS,and it's the innovation to the field of traditional open surgical operation;this paper presents configuration design of the slave manipulator of MIS robot,according to the characteristics and main technology of EMIS.The swing of U shaft and V shaft adopted parallel four-bar mechanism in order to carry out the 'pointing' swing;and the Z shaft transition adopted micro-ballscrew mechanism,minimized the weight and ensured the precision and precision of the whole mechanism.In addition the designed robot has symmetrical four-DOFs(Degree Of Freedom),can be flexibly operated.The robot can also achieve or exceed the level that the doctor can achieve.In order to locate and adjust the slave manipulators in a surgery,an adjustable operating table is designed.