An automatic fluke support device for a flexible minimally invasive surgical manipulator

Abstract

The invention relates to an automatic anchor jaw support device for a flexible minimally invasive surgery mechanical arm. The automatic anchor jaw support device provides operation support points for a mechanical arm body which is a flexible hollow tube. The device comprises an anchor jaw, a metal heating wire, a temperature sensor, a distance sensor and a controller. The anchor jaw can open and close according to temperature and is attached to the outer surface of the tail end of the mechanical arm body. The metal heating wire is disposed in the flexible hollow tube and is attached to the anchor jaw with the tube between each other. The controller is respectively connected with the metal heating wire, the temperature sensor and the distance sensor. Compared with the prior art, the automatic anchor jaw support device has the advantages that anchor points are locked on bones by controlling automatic open and close of the anchor jaw, the tail end of the mechanical arm body can achieve high rigidity so as to allow the tail end executing parts to perform surgeries, and the device is safe, reliable, fast to adjust, high in controllability, and the like.

Description

technical field [0001] The invention relates to the field of surgical robots, in particular to an automatic fluke support device for a flexible minimally invasive surgical manipulator, which is suitable for surgical manipulators with relatively high risks of manual operation such as spine, tumor, orthopedics, and cervical spine surgery. Background technique [0002] The flexible minimally invasive surgical manipulator belongs to the executive part of the continuous robot. The flexible robot can change its shape softly and flexibly, so it can change its shape according to the conditions of environmental obstacles. It has unique characteristics for environments with narrow working spaces and non-structural environments Its adaptability can avoid the nerve tissue that is easy to cause damage in actual surgery, and it is easy to operate, easy for doctors to use, and the precision and accuracy can reach a higher level. It has great development potential in the field of minimally i...

AI Technical Summary

Problems solved by technology

However, the continuous flexible manipulator has the disadvantages of large end point deflection and small bearing capacity, which makes the spatial positioning accuracy of the flexible execution part of the manipulator not high in its application, and minimally invasive spinal surgery has relatively high requirements for the position accuracy of the surgical point. high paradox problem

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