Metamorphic tool hand for abdominal cavity minimal invasive surgery robot

A surgical robot and minimally invasive surgery technology, applied in surgical robots, surgical instruments, operations, etc., can solve the problems of no institutional design medical equipment, no product development and use, etc., to achieve a simple structure, convenient exit from the abdominal cavity, and improved flexibility. sexual effect

Active Publication Date: 2009-11-25
SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

So far, in terms of medical minimally invasive surgical robots, there has not been a mechanism design applying metamorphism theory and us...

Method used

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  • Metamorphic tool hand for abdominal cavity minimal invasive surgery robot
  • Metamorphic tool hand for abdominal cavity minimal invasive surgery robot
  • Metamorphic tool hand for abdominal cavity minimal invasive surgery robot

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Embodiment Construction

[0027] The metamorphic tool hand for the abdominal minimally invasive surgery robot of the present invention will be further described in detail below in conjunction with the embodiments.

[0028] The main components and details of the hand of the metamorphic tool for the minimally invasive abdominal surgery robot of the present invention are as follows:

[0029] 1-palm body I 34-middle finger body IV 67-runner wheel 100-pin shaft

[0030] 2-index finger body I 35-guide wheel 68-secondary base rod 101-pin shaft

[0031] 3-index finger body II 36-guide wheel 69-thumb body I 102-sleeve

[0032] 4-index finger body III 37-pin shaft 70-pipe sleeve 103-pipe sleeve

[0033] 5-index finger body IV 38-pin shaft 71-finger body 2 104-guide block

[0034] 6-pipe sleeve 39-guide wheel 72-pipe sleeve 105-push rod

[0035] 7-pipe sleeve 40-pin shaft 73-pipe sleeve 106-connecting rod I

[0036] 8-pin shaft 41-guide wheel 74-thumb body III 107-pin shaft

[0037] 9-pin shaft 42-pin shaft...

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Abstract

The present invention discloses a metamorphic tool hand for abdominal cavity minimal invasive surgery robot, which comprises the following components: a finger mechanism which is composed of a forefinger, a middle finger and a thumb; a palm mechanism; a metamorphic executing mechanism; a basal rod mechanism; a driving detecting mechanism and a special tool. The forefinger and the middle finger are hinged in the palm mechanism. The metamorphic executing mechanism is hinged between the palm mechanism and the basal rod mechanism. The palm mechanism and the thumb are respectively hinged with the basal rod mechanism. The basal rod mechanism is connected with the driving detecting mechanism through the soft wire provided in the metal flexible pipe. The basal rod mechanism is equipped in the robot body through screw bolts and move along with the robot body. The joint of the tool hand is driven by the soft wire in the metal flexible pipe. The middle finger and the thumb can be retreated into the basal rod. The forefinger is straight and is parallel with the basal rod. The whole body of the metamorphic tool hand can enter and come out from the scarfskin of the abdominal cavity. The metamorphic tool hand expands to the tool hand with different configuration after entering the abdominal cavity. The metamorphic tool hand not only can directly operate the organ and tissue of the abdominal cavity but also can grasp the tool for indirectly operation.

Description

technical field [0001] The present invention relates to a minimally invasive surgical robotic medical device, in particular to a minimally invasive abdominal cavity that can enter the interior of the abdominal cavity, can be extended and contracted as a whole, its topological structure can be changed, has multiple operating functions, and is easy to use and flexible to operate. Surgical robot with metamorphic tool hand. Background technique [0002] Minimally invasive surgery is to use advanced surgical instruments and equipment to complete the operation with less trauma, and achieve better curative effect than traditional open surgery. After robot technology entered the field of minimally invasive surgery, in order to complete complex surgical operations, the end tool of the robot requires high flexibility. The end tool has developed from the initial single-degree-of-freedom configuration to a multi-degree-of-freedom configuration. Tools lack the ability to operate on larg...

Claims

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Application Information

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IPC IPC(8): A61B17/00A61B17/94A61B19/00A61B34/30
Inventor 王树新罗海风
Owner SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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