Robot-assisted multifunctional instrument arm for minimally invasive surgery

Abstract

The invention aims to provide a robot-assisted multifunctional instrument arm for minimally invasive surgery. The robot-assisted multifunctional instrument arm for minimally invasive surgery is composed of a master control case, a tail end position adjusting mechanism and a tail end posture adjusting mechanism, wherein a case body, an industrial control computer, a host and other equipment are installed in the master control case and used for controlling a whole movement system; the tail end position adjusting mechanism is composed of an active lifting joint and three passive rotating joints and mainly used for adjusting the position of a tail end control point; the tail end posture adjusting mechanism is composed of two active rotating joints and used for adjusting the posture of the point after the position of the tail end control point is determined. The robot-assisted multifunctional instrument arm for minimally invasive surgery has the advantages of having active and passive freedom degree and being capable of positioning a tail end surgical instrument and adjusting the posture of the tail end surgical instrument, the mechanism is good in movement stability and flexibility, and accuracy of tail end movement is high; a mounting platform at the tail end of the mechanism can be provided with a laparoscope or other micro surgery instruments such as surgical manipulator, and therefore an image acquisition system or a surgery operation executing system is formed.

Description

technical field [0001] The present invention relates to a robot, specifically a surgical robot. Background technique [0002] During traditional minimally invasive abdominal surgery, an assistant is required to hold a laparoscope and cooperate with a doctor to collect images inside the abdominal cavity. Usually minimally invasive surgery takes a long time, and the work intensity of doctors and assistants is very high. Relying on manual manipulation of laparoscopes and surgical instruments will make the operator prone to fatigue, and assistants will cause image instability due to hand shaking, which will affect the doctor's judgment. During the operation, the doctor will also affect the accuracy of the operation due to the instability of hand movements, and reduce the efficiency of the operation. The use of surgical robots to clamp laparoscopes or surgical instruments to perform surgical actions can reduce the work intensity of doctors and assistants and improve the efficien...

AI Technical Summary

Problems solved by technology

Usually minimally invasive surgery takes a long time, and the work intensity of doctors and assistants is very high. Relying on manual manipulation of laparoscopes and surgical instruments will make the operator prone to fatigue, and assistants will cause image instability due to hand shaking, which will affect the doctor's judgment. During the operation, the doctor will also affect the accuracy of the operation and reduce the efficiency of the operation due to the instability of the hand movement.

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