中国科学院沈阳自动化研究所;SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES
发明人:
LIU, Hao,刘浩,JIANG, Guohao,江国豪,ZHOU, Yuanyuan,周圆圆
申请号：
CNCN2019/071870
公开号：
WO2020/118848A1
申请日:
2019.01.16
申请国别(地区):
CN
年份:
2020
代理人:
摘要：
A deformation linkage mechanism, comprising a proximal driving section (1), a linkage deformation section (2), a distal actuation section (3), and an actuator mechanism (4). The linkage deformation section (2) comprises a flexible central framework (201), a linkage connecting tendon (202), a connector (203), a proximal plate (205), and a distal plate (206). A proximal end of the flexible central framework (201) and a proximal end of the linkage connecting tendon (202) are both fixed to the proximal plate (205)； a distal end of the linkage connecting tendon (202) is fixedly connected to the distal plate (206)； and a distal end of the flexible central framework (201) passes through the distal plate (206), extends into the distal actuation section (3), and is connected to the actuator mechanism (4). A connector (203) is provided on the linkage deformation section (202), the proximal driving section (1) is provided with a proximal driving tendon (101), and the proximal driving tendon (101) passes through the proximal plate (205) and is then fixedly connected to the connector (203). The distal actuation section (3) is provided with a distal driving tendon (302), and a distal end of the distal driving tendon (302) is fixedly connected to an end of the actuator mechanism (4). A proximal end of the distal driving tendon (302) passes through the linkage deformation section (2) and the proximal driving section (1) and then extends outwards. The present invention can produce the deployment space required for surgery without affecting the action of an actuator mechanism, and satisfies requirements for instrument deformability, small dimensions, and high load capacity.L'invention porte sur un mécanisme de liaison de déformation, comprenant une section d'entraînement proximale (1), une section de déformation de liaison (2), une section d'actionnement distale (3), et un mécanisme d'actionneur (4). La section de déformation de liaison (2) comprend une armature centrale flexible (20
