Master-slave integrated mechanical arm for assisting minimally invasive surgery

A minimally invasive surgery, integrated technology, applied in surgical robotics, surgery, medical science and other directions, can solve problems such as inability to apply clinical operations, and achieve the effect of reducing surgical costs, reducing system volume, and simplifying system structure

Active Publication Date: 2010-11-24
SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Our country is still in its infancy in robot-assisted surgery. The existing robot system can only play

Method used

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  • Master-slave integrated mechanical arm for assisting minimally invasive surgery
  • Master-slave integrated mechanical arm for assisting minimally invasive surgery
  • Master-slave integrated mechanical arm for assisting minimally invasive surgery

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Experimental program
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Embodiment Construction

[0018] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0019] like figure 1 As shown, it is a principle diagram of the present invention, which is composed of two parts, the master operation terminal 600 and the slave operation terminal 601. The master operating end joint I500 and the slave operating end joint I501 are collinear, and the master operating end joint II502 and the slave operating end joint II503 perpendicular to the master operating end joint I500 and the slave operating end joint I501 are located at the master operating end joint I500 and the slave operating end joint On the straight line where the axis of I501 is located. The joint II503 from the operating end and the other six rotational kinematic pairs form a double parallelogram mechanism, which makes the axis 509 of the surgical tool always pass through a fixed point 510 during the movement. In this way, the joint motion sig...

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PUM

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Abstract

The invention discloses a master-slave integrated mechanical arm for assisting minimally invasive surgery. A master operating end of the mechanical arm comprises a master hand joint I seat provided with a rotatable master hand joint I shaft; the output end of the master hand joint I shaft is connected with a master hand joint II seat; the master hand joint II seat is internally provided with a rotatable master hand joint II shaft which is fixed with a telescopic frame; an upper telescopic seat is connected with a lower telescopic seat by a linear mechanism; a slave operating end comprises a base part connected with the master operating end, a driving mechanical arm part connected with the base part and a telescopic part installed on the driving mechanical arm. A tool clamping end comprises a surgical instrument seat installed on a slide block of a slave hand telescopic part; the upper surface and the lower surface of the surgical instrument seat are respectively fixedly connected with two ends of a transmission screw and can move in a straight line along the guide rail of the slave hand telescopic seat under the traction of the transmission screw. By utilizing the device, the system structure is simplified and the system volume and the failure rate are reduced.

Description

technical field [0001] The invention relates to a medical device in the field of minimally invasive surgical operations, which can hold surgical tools to assist doctors in performing minimally invasive surgical operations. Background technique [0002] Minimally invasive surgery represented by laparoscopy is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of long and thin surgical tools inserted into the body through tiny incisions on the surface of the human body to perform surgery. operational. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scar, and quick recovery time, which greatly reduces the pain suffered by patients; therefore, minimally invasive surgery is widely used in clinical operations. However, while minimally invasive surgery has brought many benefits to the patient, it has brough...

Claims

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Application Information

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IPC IPC(8): A61B19/00A61B34/37
Inventor 王树新周宁新李建民刘全达张林安
Owner SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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