Flexible-arm robot for single-pore laparoscopic minimally-invasive operation

A minimally invasive surgery, flexible arm technology, applied in surgical robots, surgery, applications, etc., can solve the problems of large size of surgical robots and many skin incisions, to enhance operability and precision, reduce pain, and reduce structure size Effect

Active Publication Date: 2012-10-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a flexible arm robot for single-hole abdominal minimally invasive surgery, to s

Method used

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  • Flexible-arm robot for single-pore laparoscopic minimally-invasive operation
  • Flexible-arm robot for single-pore laparoscopic minimally-invasive operation
  • Flexible-arm robot for single-pore laparoscopic minimally-invasive operation

Examples

Experimental program
Comparison scheme
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specific Embodiment approach 1

[0017] Specific implementation mode one: combine Figure 1-Figure 4 Describe this embodiment, the robot of this embodiment comprises a first motor 1, a drive box 2, a first guide rail 3, a base 4, a support plate 5, a second motor 6, a third motor 7, a fourth motor 8, and a fifth motor 9. The sixth motor 10, the seventh motor 11, the first guide column 12, the second guide column 13, the third guide column 14, the first driving wire 16, the second driving wire 17, the third driving wire 18, the fourth Driving wire 19, fifth driving wire 20, sixth driving wire 21, first flexible arm support 30, flexible arm 31, second flexible arm support 32, pivot joint 33, wrist connecting rod 34, first set of guide wheels 35. The second set of guide wheels 36, wrist joint 38, clamping clamp guide wheel 39, clamping clamp 40, first finger 43, second finger 44, guide roller 45, first shaft 46, second shaft 47, fixed Clip 53, two sets of fixed splints 37, two mounting ears 41, two deep groove ...

specific Embodiment approach 2

[0027] Specific implementation mode two: combination figure 1 and Figure 4 Describe this embodiment, the robot of this embodiment also includes fixed shaft 48, the connection mode of clamping pliers 40 and first finger 43 and second finger 44 is that fixed shaft 48 passes through clamping pliers 40 and connects with clamping pliers guide wheel The radial direction of 39 is on the same straight line, the end of the first finger 43 is provided with the first connecting ring 49, the end of the second finger 44 is provided with the second connecting ring 50, the first connecting ring 49 and the second connecting ring 50 Set on the fixed shaft, the advantage of this structure is that the second motor and the third motor can flexibly drive the first finger and the second finger through the first driving wire and the second driving wire, so as to realize the flexibility of the first finger and the second finger sports. Other implementation manners are the same as the specific impl...

specific Embodiment approach 3

[0028] Embodiment 3: The flexible arm 31 of this embodiment is a flexible arm made of Nitinol material. The advantage of this material is that it has a large elastic deformation under the premise of ensuring a certain rigidity. Other implementation manners are the same as the specific implementation manner 1.

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Abstract

The invention relates to a flexible-arm robot for a single-pore laparoscopic minimally-invasive operation, which relates to the minimally-invasive operation robot. The robot aims at solving the problems in the traditional endoscope minimally-invasive operation that multiple skin incisions of a patient exist and the size of the operation robot is larger. A drive box is connected with a base through a first lead rail and is driven by a first motor which is fixed on the base so as to enable an entire flexible arm to deeply stretch into an abdominal cavity of the patient; a second motor drives a first finger to open and close through a first drive wire; a third motor drives a second finger to open and close through a second drive wire; a fourth motor drives a third arm of a flexible joint arm to make a pitching motion through a third drive wire; a fifth motor drives a fourth arm of the flexible joint arm to make an oscillating motion through a fourth drive wire; a sixth motor drives a drive shaft rotating joint to make a pivoting motion through a fifth drive wire; a seventh motor drives a wrist joint to make a pitching motion through a sixth drive wire; and an eighth motor drives a first connecting rod and a second connecting rod in the horizontal direction through a lead screw and a second lead rail, so that a first flexible support and a second flexible support are driven to move. The flexible-arm robot is used for the single-pore laparoscopic minimally-invasive operation.

Description

technical field [0001] The invention relates to a robot for minimally invasive surgery. Background technique [0002] Minimally invasive surgical technology makes most surgical operations bid farewell to the open surgical mode. The application of robot technology to medical surgery has been highly valued by countries all over the world. Robots have incomparable operational stability, speed and accuracy. Advantages. Integrating robotic technology into surgical operations can improve the operating environment for doctors and shorten the recovery time of patients. The current minimally invasive robotic surgery is mainly performed by making multiple tiny incisions on the patient, usually two There are incisions for surgical instruments and one incision for the endoscope. At present, there are too many incisions in this technology, which prolongs the patient's postoperative recovery time and increases the risk of wound infection. Moreover, the current minimally invasive surgical...

Claims

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Application Information

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IPC IPC(8): A61B19/00A61B34/30
Inventor 杜志江董为韩大为杨文龙
Owner HARBIN INST OF TECH
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