Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery

Abstract

The invention discloses a mechanical arm for clamping a propelling mechanism of a minimally invasive blood vessel interventional surgery. The mechanical arm comprises a base arm connected with a big arm base through a waist rotating joint; the internal part of the base arm is mounted with a power mechanism and a transmission mechanism; the big arm base can rotate on the base arm; the big arm base is connected with one end of a first big arm through a big arm joint; the other end of the first big arm is connected with a small arm through a small arm joint; one end of the small arm is connected with one end of a second big arm which is parallel with the first big arm; the other end of the small arm is connected with a hand connecting piece and is connected with a terminal end base through a wrist swinging joint; and the terminal end base is connected with a terminal end sleeve through a wrist rotating joint. The mechanical arm for clamping the propelling mechanism of the minimally invasive blood vessel interventional surgery disclosed by the invention improves automation degree of the surgery, surgical precision and surgical stability. The big arm joint and the small arm joint of the mechanical arm for clamping the propelling mechanism of the minimally invasive blood vessel interventional surgery disclosed by the invention not only have small structural sizes, but also realize large-torque transmission.

Description

technical field [0001] The invention relates to a mechanical arm for a robot, in particular to a mechanical arm for clamping a propulsion mechanism for minimally invasive blood vessel interventional surgery. Background technique [0002] Vascular interventional surgery means that under the guidance of the digital subtraction angiography (DSA) system, the doctor manipulates the catheter (a kind of rigid flexible tube) to move in the human blood vessel, pushes the catheter to the target position, and then treats the lesion Relevant treatments are carried out to achieve the purpose of embolizing malformed blood vessels, dissolving thrombus, and dilating narrow blood vessels. Compared with traditional surgery, this method does not require surgery, and has the advantages of less bleeding, less trauma, less complications, safety and reliability, and quick postoperative recovery. [0003] At present, the main steps for doctors to perform vascular interventional surgery are as foll...

AI Technical Summary

Problems solved by technology

[0011] 1) Doctors always work in high-intensity radiation environment, and long-term operation will cause great damage to the body;

[0012] 2) Factors such as poor controllability of the operation, long time, doctor fatigue and unstable manual operation will directly affect the quality of the operation;

[0013] 3) The operation is complex, highly skilled, and risky, difficult for doctors to master, and takes a long time for surgical training

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