Micro instrument terminal based on module joint and used for minimally invasive surgery robot

Abstract

The invention discloses a micro instrument terminal based on module joints and used for a minimally invasive surgery robot. The micro instrument terminal comprises a rotary module of a first four-bar mechanism consisting of a module top end part, a module bottom end part, a lower support and first left and right connection pieces, and a rotary module of a second four-bar mechanism consisting of amodule top end part, a rotary connection shaft, an upper support and second left and right connection pieces; two ends of a first steel wire rope are connected with the top surfaces of the module topend parts, and the other two ends of the first steel wire rope are sequentially connected with a first rotary actuating device through the module bottom end part; two ends of a second steel wire ropeare connected with a rotary connecting shaft, and the other two ends of the second steel wire rope are sequentially connected with the first rotary actuating device through the module top end parts and the module bottom end part; and the upper part of the rotary connecting shaft is inserted into the central hole of a rotary rod and is in clearance and running fit with the rotary rod, and the rotary rod is connected with a surgery apparatus. Complex surgery can be more flexibly completed by adopting the device.

Description

technical field

[0001] The invention relates to a minimally invasive surgical robot medical device, in particular to a micro-device terminal interface for a minimally invasive surgical robot. Background technique

[0002] Since the 1990s, with the rapid development and wider application of surgical robot technology, micro-instruments for medical surgical robots with multiple degrees of freedom, high flexibility, and less surgical trauma have become the core of surgical robots. one. Micro-instruments for surgical robots are used for minimally invasive surgery. During the operation, the terminal part of the instrument enters the human body, and a series of surgical operations such as cutting, suturing, and knotting are performed on human organs and tissues, requiring multiple degrees of freedom, high flexibility, and high Precision, high security and stability etc. At present, the surgical robot systems that have reached the level of commercial clinical application are ZEUS,...

Examples

Embodiment approach

[0026]A microinstrument terminal for a minimally invasive surgical robot based on modular joints of the present invention includes a module bottom part 1-1, and a module top part 1-2 and a rotating connection shaft 1 are sequentially arranged above the module bottom part -3, upper arc grooves 1-20 are respectively opened on the top surfaces of the module bottom part 1-1 and the module top part 1-2, and lower arc grooves are respectively opened on the bottom surface of the module top part and the bottom surface of the rotating connecting shaft Arc groove 1-18, on the module bottom part 1-1, top part 1-2 and rotating connecting shaft 1-3 on the left and right sides of each upper arc groove 1-20 and lower arc groove 1-18 The left and right connecting seats with connecting holes 1-22 are arranged respectively, and the axis of each upper and lower arc groove 1-20 is parallel to the axes of the connecting holes 1-22 on the left and right connecting seats on both sides thereof. Offse...

technical field

[0001] The invention relates to a minimally invasive surgical robot medical device, in particular to a micro-device terminal interface for a minimally invasive surgical robot. Background technique

[0002] Since the 1990s, with the rapid development and wider application of surgical robot technology, micro-instruments for medical surgical robots with multiple degrees of freedom, high flexibility, and less surgical trauma have become the core of surgical robots. one. Micro-instruments for surgical robots are used for minimally invasive surgery. During the operation, the terminal part of the instrument enters the human body, and a series of surgical operations such as cutting, suturing, and knotting are performed on human organs and tissues, requiring multiple degrees of freedom, high flexibility, and high Precision, high security and stability etc. At present, the surgical robot systems that have reached the level of commercial clinical application are ZEUS,...

Examples

Embodiment approach

[0026]A microinstrument terminal for a minimally invasive surgical robot based on modular joints of the present invention includes a module bottom part 1-1, and a module top part 1-2 and a rotating connection shaft 1 are sequentially arranged above the module bottom part -3, upper arc grooves 1-20 are respectively opened on the top surfaces of the module bottom part 1-1 and the module top part 1-2, and lower arc grooves are respectively opened on the bottom surface of the module top part and the bottom surface of the rotating connecting shaft Arc groove 1-18, on the module bottom part 1-1, top part 1-2 and rotating connecting shaft 1-3 on the left and right sides of each upper arc groove 1-20 and lower arc groove 1-18 The left and right connecting seats with connecting holes 1-22 are arranged respectively, and the axis of each upper and lower arc groove 1-20 is parallel to the axes of the connecting holes 1-22 on the left and right connecting seats on both sides thereof. Offse...

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