Decoupled quick change surgical device for robot assisted minimally invasive surgery

Abstract

The invention discloses a decoupled quick change surgical device for a robot assisted minimally invasive surgery, and relates to a surgical device for the robot assisted minimally invasive surgery, and in particular relates to the decoupled quick change surgical device for the robot assisted minimally invasive surgery, aiming at solving the problems of high probability of snap break of driving left finger and right finger, complex structure and over-long replacement time of surgical instruments in a surgical process existing in the conventional minimally invasive surgical device. The decoupled quick change surgical device comprises an upper blade transmission mechanism, a wrist transmission mechanism, a casing transmission mechanism, a lower blade transmission mechanism, a first resetting mechanism, a second resetting mechanism, a first guide mechanism, a second guide mechanism, a front-end surgical scissor mechanism, an adapter shell, an adapter upper cover, a casing, a wrist connecting piece, an upper blade traction lower steel wire, an upper blade traction upper steel wire, a wrist traction lower steel wire, a wrist traction upper steel wire, a lower blade traction lower steel wire, a lower blade traction upper steel wire and seven screws. The decoupled quick change surge surgical device is used in the robot assisted minimally invasive surgery.

Description

technical field [0001] The invention relates to a surgical device for robot-assisted minimally invasive surgery, in particular to a non-coupling quick-change surgical device for robot-assisted minimally invasive surgery. Background technique [0002] Minimally invasive surgery is generally also called interventional surgery. It cuts 2 to 4 incisions of 5 to 10 mm on the body surface (or relies on the natural official cavity of the human body), and with the help of the image guidance of the visual display system, the surgical instruments are passed through. The incision on the body surface extends into the body for treatment or diagnosis, and the operation is completed. The patent application number is 200910073301.6, the publication number is CN101732093A, and the publication date is June 16, 2010. The invention patent application discloses a "miniature manipulator for abdominal minimally invasive surgery". Realize the rotation of the operation tube, wrist joint, left finge...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the steel wires driving the left and right fingers of the existing minimally invasive surgical devices are easy to break, and the structure is complex, and the replacement time of surgical instruments during the operation is too long, the invention further proposes a coupling-free fast Replacement Surgical Devices

[0005] The beneficial effect of the present invention is: the present invention solves the inaccurate compensation movement of the end effector of the surgical instrument due to the gear gap and transmission error of the existing robot-assisted minimally invasive surgery instrument, which in turn leads to the coupling between the wrist joint and the end effector The problem that the movement cannot be completely eliminated; the present invention also solves the problem that the existing robot-assisted minimally invasive surgical instruments do not have a quick-change function, which leads to long surgical replacement time and affects the quality of the operation. The present invention has coupling-free movement and quick-change In addition, the reset of the transmission mechanism cooperates with the quick-change structure of the surgical instrument to realize the zero point reset of the transmission mechanism of the surgical instrument while performing rapid installation.

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