Manual three-degree-of-freedom micro manipulator for minimally invasive surgery
A minimally invasive surgery and micro-manipulator technology, applied in surgical robots, surgery, applications, etc., can solve the problems of surgical stability and accuracy, lack of finger pitch freedom, etc., and achieve good stability and flexibility
Inactive Publication Date: 2013-08-28
HARBIN ENG UNIV
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Problems solved by technology
At present, the manual micromanipulators mainly used in abdominal surgery in China only have two degrees of freedom of clamping and rotation. Due to the lack of pitching degrees of freedom of fingers, it has a certain impact on the stability and accuracy of surgical operations.
Method used
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Embodiment Construction
[0018] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0019] combine Figure 1-7 , the present invention is mainly composed of a fingertip clamping mechanism 1, a fingertip pitching mechanism 2, a rotating mechanism 3, and a handle portion 4.
[0020] combine figure 2 , 3 , the fingertip clamping mechanism 1 is composed of clamping forceps A1-1, clamping rotating shaft 1-2, connecting plate central axis 1-3, traction bridge 1-4, connecting pin shaft 1-5, connecting plate 1-6, Resetting torsion spring 1-7, clamping forceps flap B1-8 is formed. The torque of the reset torsion spring keeps the fingertip valve in a clamped state, and the opening of the fingertip valve is realized by the pulling of the steel wire rope mentioned later, which drives the joint plate to cooperate.
[0021] combine Figure 4 , 5 , the fingertip pitch mechanism 2 is composed of the following parts: pitch connecting bridge 2-1, rack push ...
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The invention aims to provide a manual three-degree-of-freedom micro manipulator for minimally invasive surgery. The micro manipulator comprises a fingertip clamping mechanism, a fingertip pitching mechanism, a rotating mechanism and a handle part, wherein the fingertip clamping mechanism is arranged on the fingertip pitching mechanism; the fingertip pitching mechanism is arranged on the rotatingmechanism; the rotating mechanism is connected with the handle part; and the fingertip clamping mechanism comprises a clamping rotating shaft, a reset torsion spring, a traction bridge, a connecting plate and two clamping flaps, wherein the two clamping flaps are arranged together through the reset torsion spring to form a clamping head, the connecting plate is connected with the reset torsion spring, the clamping rotating shaft is arranged below the two clamping flaps, and the traction bridge is connected with the connecting plate. The manual three-degree-of-freedom micro manipulator for theminimally invasive surgery has three degrees of freedom of clamping, pitching and rotating, is good in stability and flexibility of the finger mechanism, simple in structure and easy to operate, and can meet the requirements of the current minimally invasive surgery.
Description
technical field [0001] The invention relates to a medical device for surgery. Background technique [0002] Compared with conventional surgery, minimally invasive surgery has obvious advantages in terms of treatment effect, pain relief, recovery period, and medical cost. It uses advanced modern medical instruments and related equipment to perform surgery with minimal trauma and can achieve excellent therapeutic effects. At present, the manual micromanipulators mainly used in domestic abdominal surgery only have two degrees of freedom of clamping and rotation. Due to the lack of pitching degrees of freedom of fingers, it has a certain impact on the stability and accuracy of surgical operations. Contents of the invention [0003] The object of the present invention is to provide a manual three-degree-of-freedom micromanipulator for minimally invasive surgery with three degrees of freedom of clamping, pitching and rotation, a small operation opening, stable and flexible mech...
Claims
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IPC IPC(8): A61B19/00A61B34/30
Inventor 于凌涛王正雨于鹏乔兴旺王涛宋华健孙立强晋喜
Owner HARBIN ENG UNIV