Robotic surgery micro-device for minimally invasive surgery

Abstract

The invention discloses a robotic surgery micro-device for minimally invasive surgery and relates to a surgery micro-device. The invention aims at solving the problem of the existing robotic surgery of inflexible operation. The robotic surgery micro-device for minimally invasive surgery comprises a quick change joint (1), as well as a micro-device driving mechanism (2), a guide rod (3), a wrist mechanism (4) and an end effector (5), wherein the quick change joint (1), the micro-device driving mechanism (2), the guide rod (3), the wrist mechanism (4) and the end effector (5) are connected in sequence from right to left. The robotic surgery micro-device for minimally invasive surgery disclosed by the invention is especially suitable for being applied in a robot auxiliary system and is controlled by a doctor to clamp, cut and separate nidus in the abdominal cavity of a patient and finish such surgical operations after the operation as sewing and knotting through the end effector by means of the control and drive of the micro-device driving mechanism. The robotic surgery micro-device for minimally invasive surgery disclosed by the invention is applied in abdominal surgeries.

Description

technical field

[0001] The invention relates to a surgical micro-device, in particular to a minimally invasive surgical robotic surgical micro-device, which belongs to the field of medical devices. Background technique

[0002] Laparoscopic surgical instruments are the key instruments for completing laparoscopic surgery. In conventional laparoscopic surgery, doctors directly operate micro-instruments by hand. Doctors are prone to fatigue, which affects the quality of surgery. At the same time, micro-instruments for conventional laparoscopic surgery are The simple imitation of traditional open surgical instruments has few degrees of freedom, low flexibility, and high internal friction of the instrument, which leads to attenuation of mechanical information and fatigue of doctors, and has disadvantages such as leverage effect in operation, which is not convenient for smooth operation. At present, robot-assisted laparoscopic minimally invasive surgery has been applied to actual ...

Examples

specific Embodiment approach 1

[0014] Specific implementation mode one: combine Figure 1-Figure 7 This embodiment is described. This embodiment includes a quick-change joint 1. The micro-instrument for surgical robotic surgery also includes a micro-instrument drive mechanism 2, a guide rod 3, a wrist mechanism 4, and an end effector 5. The quick-change joint 1, micro-instrument The driving mechanism 2, the guide rod 3, the wrist mechanism 4 and the end effector 5 are sequentially connected from right to left,

[0015] The micro-device drive mechanism 2 includes a base 6, an upper cover 7, a yaw drive wheel 8, a pitch drive wheel 9, a guide wheel bracket 10, a rotation drive wheel 12, a separation forceps drive wheel 13, a guide rod bracket 14, and a thin-walled bearing 15. The button 16 and a plurality of guide wheels 11, the yaw drive wheel 8 and the pitch drive wheel 9 are arranged side by side on the left side of the base 6, and the rotation drive wheel 12 and the separation clamp drive wheel 13 are arr...

specific Embodiment approach 2

[0022] Specific implementation mode two: combination figure 2 and Figure 5 Describe this embodiment, the joint 18 of this embodiment includes the active joint 25, the driven joint 26 and the connecting rod 27, the active joint 25 and the driven joint 26 are arranged oppositely, the connecting rod 27 is arranged between the active joint 25 and the driven joint 26 between. In this way, adjacent active joints 25 and driven joints 26 are connected together by four peripheral threaded holes. There are square bosses and grooves on the opposite surfaces of the driven joint 26 and the active joint 25 respectively. The boss on the active joint 25 is embedded in the square groove of the driven joint 26, and the boss on the driven joint 26 is embedded in the square groove. Into the groove of the active joint 25, the active joint 25 and the driven joint 26 are screwed together by bolts to complete the assembly of the joint. Other compositions and connections are the same as in the fi...

specific Embodiment approach 3

[0023] Specific implementation mode three: combination figure 2 and Figure 5 Describe this embodiment, the joint 18 of this embodiment includes a connecting rod 27 rotatably disposed between the active joint 25 and the driven joint 26 . Such setting enables multiple joints 18 to move quickly and flexibly, which is convenient for operation and saves operation time. Other compositions and connections are the same as those in the second embodiment.

technical field

[0001] The invention relates to a surgical micro-device, in particular to a minimally invasive surgical robotic surgical micro-device, which belongs to the field of medical devices. Background technique

[0002] Laparoscopic surgical instruments are the key instruments for completing laparoscopic surgery. In conventional laparoscopic surgery, doctors directly operate micro-instruments by hand. Doctors are prone to fatigue, which affects the quality of surgery. At the same time, micro-instruments for conventional laparoscopic surgery are The simple imitation of traditional open surgical instruments has few degrees of freedom, low flexibility, and high internal friction of the instrument, which leads to attenuation of mechanical information and fatigue of doctors, and has disadvantages such as leverage effect in operation, which is not convenient for smooth operation. At present, robot-assisted laparoscopic minimally invasive surgery has been applied to actual ...

Examples

specific Embodiment approach 1

[0014] Specific implementation mode one: combine Figure 1-Figure 7 This embodiment is described. This embodiment includes a quick-change joint 1. The micro-instrument for surgical robotic surgery also includes a micro-instrument drive mechanism 2, a guide rod 3, a wrist mechanism 4, and an end effector 5. The quick-change joint 1, micro-instrument The driving mechanism 2, the guide rod 3, the wrist mechanism 4 and the end effector 5 are sequentially connected from right to left,

[0015] The micro-device drive mechanism 2 includes a base 6, an upper cover 7, a yaw drive wheel 8, a pitch drive wheel 9, a guide wheel bracket 10, a rotation drive wheel 12, a separation forceps drive wheel 13, a guide rod bracket 14, and a thin-walled bearing 15. The button 16 and a plurality of guide wheels 11, the yaw drive wheel 8 and the pitch drive wheel 9 are arranged side by side on the left side of the base 6, and the rotation drive wheel 12 and the separation clamp drive wheel 13 are arr...

specific Embodiment approach 2

[0022] Specific implementation mode two: combination figure 2 and Figure 5 Describe this embodiment, the joint 18 of this embodiment includes the active joint 25, the driven joint 26 and the connecting rod 27, the active joint 25 and the driven joint 26 are arranged oppositely, the connecting rod 27 is arranged between the active joint 25 and the driven joint 26 between. In this way, adjacent active joints 25 and driven joints 26 are connected together by four peripheral threaded holes. There are square bosses and grooves on the opposite surfaces of the driven joint 26 and the active joint 25 respectively. The boss on the active joint 25 is embedded in the square groove of the driven joint 26, and the boss on the driven joint 26 is embedded in the square groove. Into the groove of the active joint 25, the active joint 25 and the driven joint 26 are screwed together by bolts to complete the assembly of the joint. Other compositions and connections are the same as in the fi...

specific Embodiment approach 3

[0023] Specific implementation mode three: combination figure 2 and Figure 5 Describe this embodiment, the joint 18 of this embodiment includes a connecting rod 27 rotatably disposed between the active joint 25 and the driven joint 26 . Such setting enables multiple joints 18 to move quickly and flexibly, which is convenient for operation and saves operation time. Other compositions and connections are the same as those in the second embodiment.

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