Surgical robot system

A surgical robot and surgical technology, applied in the field of minimally invasive surgery and surgical operations, can solve problems such as prone to postoperative complications, obvious pain, and patient pain, and achieve the advantages of avoiding the accumulation of motion errors, high motion accuracy, and easy operation Effect

Inactive Publication Date: 2012-06-27
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Traditional surgical operations have large trauma and heavy bleeding, are prone to postoperative complications, and have obvious pain, causing psychological and physical pain to patients

Method used

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  • Surgical robot system

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Effect test

Embodiment 1

[0017] The surgical robot system consists of a fixed platform 1 and three identical six-degree-of-freedom robotic arms, and the robotic arms are symmetrically distributed on the fixed platform 1; by controlling the joint movement of each robotic arm, the specific pose of the surgical clamping device can be realized , and cooperate to complete the operation process. Each mechanical arm is connected to the fixed platform 1 through the bracket 13, the turntable 2, the ball screw 3, and the slider 10, and is driven by the motor one 12 and the motor two 11 to drive the rotation of the turntable 2 and the movement of the ball screw 3 so that The movement of the sliding block 10 is driven to realize translational positioning on the horizontal plane of the mechanical arm. In each mechanical arm, the slider 10 is connected with the rotary head 6 through the telescopic rod 9 and the rotary pair 8, and the telescopic movement of the telescopic rod 9 and the rotation of the rotary pair 8 ...

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Abstract

A surgical robot system relates to the fields of minimally invasive operation, clinical surgical operation and the like, in particular to the minimally invasive operation with the high-precision requirement. The system comprises three same mechanical arms which are symmetrically arranged on a fixed platform; each mechanical arm has six degrees of freedom; the specific gesture of an operation clamping device is realized by the coordinated movement of the six degrees of freedom, thus achieving the positioning movement required in the operation process. The six degree-of-freedom mechanism arm realizes the movement decoupling, is convenient for the gesture control of the operation clamping device, not only has low requirement on the hardware of the control system, but also can reach the high-precision movement control; and the surgical robot system has simple structure, is convenient to operate and easy to maintain and can realize the minimally invasive operation with high-precision requirement.

Description

【Technical field】 [0001] The invention relates to the field of surgery, in particular to the field of minimally invasive surgery. 【Background technique】 [0002] With the continuous progress and development of medical theory, surgical operations are also developing in a more sophisticated and complex direction. In recent decades, technologies such as computers, robots, electronic information, and network communications, which have developed rapidly, have been increasingly used in the medical field. "Robot Aided Surgery" (RAS, Robot Aided Surgery), the system has been increasingly used in modern clinical medicine. First-generation surgical robots are already in use in many operating rooms around the world. These robots are not really autonomous robots, they cannot perform the surgery themselves, but they provide useful mechanized assistance to the surgery. These machines still require a surgeon to operate them and give them input. The control methods of these surgical rob...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/00A61B34/30
Inventor 李彬赵新华崔洋潘春旺
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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