Haptic device of 5 degree of freedoms that parallel style structure and series style structure for remote robot surgical operation are combined

摘要

The invention of the five degrees of freedom haptic combined with a parallel structure with the serial structure for remote robotic surgery relates to a device , driven by a tendon wire (tendon wire) driving mechanism to secure the plurality of actuators in force reflecting haptic device for a physician to remotely control the robotic surgical manipulator that can convey a reaction force on the base of the switching control system to facilitate the analysis and the overall configuration is simple and , in series with a parallel structure -like structure for yeokgu remote robotic surgery to improve Bi to provide a degree of freedom haptic device of the combined 5 .