Active and passive type inner-mirror operation robot

A surgical robot, active and passive technology, applied to endoscopes, internal fixators, surgical forceps, etc., can solve the problems of difficult control, complex system structure, and high production costs

Inactive Publication Date: 2008-01-30
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Its disadvantages are: the system structure is compl...

Method used

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  • Active and passive type inner-mirror operation robot
  • Active and passive type inner-mirror operation robot
  • Active and passive type inner-mirror operation robot

Examples

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Embodiment Construction

[0028] The specific implementation manners of the present invention are given below and described in conjunction with the accompanying drawings.

[0029] As shown in Figure 1, the active and passive endoscopic operation surgical robot includes a carrier vehicle 1, a lifting mechanism 2, a large rotating arm 3, a small rotating arm 4, a stepping motor 5, an endoscope clamping device 6 with a ball hinge, and a Control panel 71, DSP digital signal processor 72, the control system 7 that stepper motor driver 73 forms; Wherein, lifting mechanism 2 is screw nut mechanism; The vertical guide rail 23 slides; the nut 24 is fixed on the lower end of the sleeve 21, and the outer end of the screw 25 screwed into the nut 24 is connected with the stepper motor 5; so, driven by the stepper motor 5, the sleeve 21 can move along the The guide rail 23 slides up and down; the large rotating arm 3 is placed on the top of the sleeve 21 horizontally, and is connected with the output shaft of the st...

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Abstract

The present invention aims at disclosing an active-passive-typed endoscopic surgical robot, which is used for the necessary endoscopic pose adjustment in the minimally invasive operations. The invention includes a carrying vehicle, an ascending and descending mechanism, a big swivel arm and a small swivel arm, a stepping motor, an endoscope clamping device and a control system which is composed of a control panel, a DSP digital signal processor and a stepping motor driver. The information which can be received by the DSP digital signal processor is generated by using the invention and pushing the operation buttons on the operation panel, and the relevant instructions can be also emitted with the help of the stepping motor driver, so as to change the rotation direction and angle of the big swivel arm and the small swivel arm; then, the endoscope which penetrates the abdominal (chest) wall of the patients is moved under the restraints of the skin at the insertion point, so as to obtain the best image of the surgical site on a display. The active-passive type is differentiated by whether a moving bar is provided with a controllable motor for dragging. The invention has simple structure and control principle, relatively low production cost and can facilitate the development and production of the products.

Description

technical field [0001] An active and passive endoscope operating surgical robot is used for endoscope (endoscope) pose adjustment. It belongs to auxiliary equipment for surgery. Background technique [0002] With the advancement of science and technology, people are gradually organically combining traditional medical devices with technologies such as information, microelectronics, new materials, automation, precision manufacturing, and robots to improve medical quality. [0003] Compared with traditional open surgery, endoscopic minimally invasive surgery is widely welcomed by doctors and patients because of its advantages such as small wound, less pain for patients, short recovery period, low surgical risk and cost, and has broad application prospects. During such operations, the position of the endoscope needs to be constantly adjusted according to the requirements of the chief surgeon, so that the image of the operation site can be observed timely and accurately from the...

Claims

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Application Information

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IPC IPC(8): A61B17/94A61B1/045B25J3/00
Inventor 张立勋董九志李艳生张铁锋
Owner HARBIN ENG UNIV
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