INSTRUMENT DRIVE APPARATUS

Abstract: the present disclosure discloses an instrument drive apparatus comprising an instrument assembly, a first rotating drive assembly, a second rotary drive assembly, and a push-pull drive assembly, the instrument assembly comprising a handle, operating levers slidably connected to the handle, and a rotary rod rotatably connected to the handle; a rotary seat mechanism is connected to the instrument assembly, a first rotary drive mechanism has an output end connected thereto for driving rotation of the instrument assembly; a rotary wheel mechanism is in transmission connection to the rotary rod, a second rotary drive mechanism has an output end connected thereto for driving rotation of the rotary rod; flexible push-pull wires and the operating levers correspond one to one, push-pull drive mechanisms drive reciprocation of the wires to cause the operating levers to reciprocate. the instrument drive apparatus reliably improves the control accuracy and motion stability of the end effectors.

Inventor(s): Cunwang GE, Gang WU, Hao CHEN, Xueting WEI

CPC Classification: A61B34/71 ({Manipulators operated by drive cable mechanisms})

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