Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery

Abstract

The invention discloses a multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery, which comprises two seven-degree-of-freedom mechanical arms and a five-degree-of-freedom mechanical arm. Tail ends of the seven-degree-of-freedom mechanical arms are provided with scalpels, the tail end of the five-degree-of-freedom mechanical arm is provided with a cameral, seven degrees of freedom of each seven-degree-of-freedom mechanical arm include the rotation degree of freedom around a center shaft of the arm, the arm front and back stretching and retracting degree of freedom, the horizontal swinging degree of freedom, the vertical swinging degree of freedom, the horizontal swinging degree of freedom, the vertical swinging degree of freedom and the tool degree of freedom which are successively arranged from the root of the seven-degree-of-freedom mechanical arm, the front and back stretching and retracting degree of freedom and the rotation degree of freedom around a center line of the arm are arranged at the tail end, which contacts with a mouth gag, of the five-degree-of-freedom mechanical arm, three planar swinging degrees of freedom deeply penetrate into the mouth gag and are successively arranged from the root of the five-degree-of-freedom mechanical arm, and transmission of each degree of freedom is controlled via a steel wire. The multi-degree-of-freedom single-wound-hole robot flexible hand is a single-hole operation multi-degree-of-freedom mechanism, and can realize surgical operations including incising, pulling, suturing and the like, so that operability and accuracy of the surgery are improved.

Description

technical field [0001] The invention relates to a medical operation instrument, in particular to a multi-degree-of-freedom manipulator used for abdominal minimally invasive surgery. Background technique [0002] In order to avoid the risk of large wounds, blood loss, and exposure of organs to the air brought about by traditional abdominal laparotomy, the current minimally invasive abdominal surgery usually requires three holes with a diameter of about 8 mm in the abdominal cavity. However, in terms of surgical accuracy requirements and rehabilitation perspective, the three holes will have a great impact on the patient's rehabilitation and even post-operative aesthetics. Therefore, single-port laparoscopic surgery has received extensive attention. [0003] After searching the literature of the prior art, it was found that the invention patent 201110007611.5 (publication date 2011-04-27, publication number 102028548A) invented a clamp-type surgical instrument for a minimally ...

AI Technical Summary

Problems solved by technology

[0006] 1) Under the condition of a single hole, all the instruments are almost parallel to enter the patient's abdominal cavity to complete the operation, and it is impossible to form a triangular operating space that doctors are accustomed to, which makes it easy to cause interference between instruments and increases the difficulty of operation;

[0007] 2) The existing cutting-edge minimally invasive surgical robot needs to locate and open three wounds on the patient when performing complex operations, which will have a great impact on the patient's recovery and the appearance of the skin in the future;

[0008] 3) With the help of electronic camera equipment instead of human eyes, the surgical field of view loses three-dimensional real vision, making it difficult for doctors to judge distance and position;

[0009] 4) In order to make the operation process closer to the traditional operation, it is usually necessary to develop special instruments, such as multi-channel, deformable puncture cannula, etc., which increases the cost

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