Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure

A minimally invasive surgery, degree of freedom technology, used in surgery, medical science, diagnosis, etc., can solve the problems of system reliability, safety, and operability that cannot meet the requirements of surgery, and achieve strong intuitive movement and accurate positioning. , the effect of a large working range

Inactive Publication Date: 2014-07-16
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, many medical and surgical robots directly use industrial robots, and the reliability, safety, and operability of their systems cannot meet the requirements of surgery.

Method used

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  • Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure
  • Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure
  • Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure

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Experimental program
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Embodiment Construction

[0021] Hereinafter, the present invention will be described in more detail with examples in conjunction with the accompanying drawings:

[0022] Combine Figure 1~6 , The present invention is mainly composed of a moving support mechanism 1, an arm rotating joint 2, a wrist rotating joint 3, and a sliding rail mechanism 4.

[0023] The mobile support mechanism 1 is composed of shaft end stop plate 1-1, drive wheel 1-2, bottom plate 1-3, brake universal wheel 1-4, bearing bottom cover 1-5, wheel shaft 1-6, bearing end cover 1- 7. Big gear 1-8, gear fixing sleeve 1-9, small gear 1-10, sleeve 1-11, motor bracket 1-12, column 1-13, screw 1-14, top cover 1-15, Bearing end cover 1-16, deep groove ball bearing 1-17, screw 1-18, motor 1-19, gear fixed sleeve 1-20, large gear 1-21, bearing seat 1-22, tapered roller bearing 1-23. Motor 1-24, sleeve 1-25, motor bracket 1-26, pinion 1-27; arm rotation joint 2 is composed of slider 2-1, synchronous belt wheel 2-2, motor bracket 2- 3. Motor 2-4...

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Abstract

The invention provides a multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure. A braking universal wheel and a driving wheel are arranged on a bottom plate in a mobile support mechanism. By driving of two motors and meshing transmission of gears, rotating of a base and rotating of a lead screw are achieved respectively, and by thread transmission at the upper end of the lead screw, a sliding block of an arm rotating joint achieves sliding motion along the lead screw and a sliding groove track of a stand column. Small arm rotating is achieved through the motors by belt transmission. The motors achieve the rotating freedom degree of a wrist around a main shaft by belt transmission. One motor achieves swinging of a sliding track mechanism along an arc rack by inner meshing of the gears and the rack, the other motor is connected with the sliding lead screw through a coupler, and the sliding lead screw rotates to drive a finger connecting plate to move front and back. The multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure has the advantages of being stable in state, accurate in locating, good in dexterity, large in working range and the like, and the mobile support mechanism has the overall rotating freedom degree similar to the human waist and the lifting freedom degree of a lead screw part.

Description

Technical field [0001] The invention relates to a surgical mechanism, specifically a mechanism for clamping surgical instruments. Background technique [0002] Minimally invasive surgery means that the doctor uses various visual images to guide the surgical instruments into the patient through a small incision along a pre-planned surgical path for observation or treatment, thereby minimizing trauma and pain Wait. The use of minimally invasive surgical robots solves the shortcomings of doctors’ high labor intensity, low surgical accuracy, and poor safety in the traditional surgical process, improves the quality of the operation, can overcome the shortcomings of traditional minimally invasive surgery, and can broaden minimally invasive surgery. The scope of surgery can be simulated by surgery, and remote surgery can also be performed using network technology. However, many medical surgical robots directly use industrial robots, and the reliability, safety, and operability of thei...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00
Inventor 于凌涛张宝玉杨景王文杰王正雨李宏伟李洪洋庄忠平孙立强王丽霞
Owner HARBIN ENG UNIV
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