Minimally invasive surgical wire driving and four-freedom surgical tool

Abstract

The invention discloses a minimally invasive surgical wire driving and four-freedom surgical tool which comprises a tool connecting rod, wherein one end of the tool connecting rod is connected with the tail end of the tool, and the tail end of the tool comprises a main tool body; the rear end of the main tool body is connected with a main body driving wheel; the front end of the tool connecting rod is provided with a rear shaft pin; both sides of the rear shaft pin are respectively provided with two rear driving wheels which are connected with the main tool body of the tail end of the tool through the main body driving wheel in the middle of the two rear driving wheels; the middle part of the main tool body is provided with two middle driving shafts with middle driving wheels; the front end of the main tool body is provided with a front shaft pin which is connected with a tool pliers body through two pliers body driving wheels arranged on the tool pliers body; each pliers body drivingwheel is fixedly connected with one end of a front wire rope and divides the front wire rope into two parts, and one part is turned for one time, while the other part is turned for two time through the middle wheels. The tool realizes long-distance driving by adopting the wire rope, thereby eliminating return differences and guaranteeing reliable driving.

Description

technical field [0001] The invention relates to a minimally invasive surgical robot medical device, in particular to a minimally invasive surgical robot surgical tool. Background technique [0002] With the development of medical technology, minimally invasive surgery was born and spread rapidly. It means that with the help of advanced surgical instruments and equipment, doctors use slender surgical tools to penetrate into the body through tiny incisions on the body surface for surgical operations. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scar, and short recovery time, which greatly reduces the pain suffered by patients and reduces the risks borne during the operation; therefore, minimally invasive surgery It is widely used in clinical operations. However, while minimally invasive surgery has brought many benefits to patients, it has brought a series of difficulties to the doctor's operatio...

AI Technical Summary

Problems solved by technology

The disadvantage of this structure is that the transmission wire rope of the pliers body cannot be perpendicular to the axis of the pliers body, so the pliers body is subjected to additional axial force during transmission, which deteriorates the stress on the tool and increases the friction of the wire transmission; In the center, the two transmission wheels that are arranged symmetrically will be switched to each other, which will affect the accuracy of wire transmission.

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