A multi-angle slave-hand tweezers for surgical robots
A surgical operation and robot technology, applied in the direction of surgical robots, surgical pliers, small surgical pliers, etc., can solve the problems of tweezers materials that do not consider biocompatibility, complicated replacement and maintenance, and inconvenient operation, etc., and achieve compact structure, The effect of simple structure and flexible action
Active Publication Date: 2016-07-06
SHANGHAI UNIV OF ENG SCI
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Problems solved by technology
At present, most of the tweezers used on surgical robots have a heavy structure and are inconvenient to operate. At the same time, their complex structure brings inconvenience to replacement and maintenance, and their cost is relatively high.
Most of the surgical tweezers on the market are opened and closed by steel wires, and most of the tweezers materials are selected without considering the requirements of biocompatibility
Method used
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[0030] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
[0031] Such as figure 1 As shown, a multi-angle slave hand tweezers for a surgical robot includes a power mechanism, a drive mechanism and a tweezers assembly, and also includes a motor support 8, a linkage mechanism 7 and a tweezers support 6. The hand tweezers are not connected to the robot body, but are multi-degree-of-freedom working tweezers with independent power. This design can facilitate the replacement of surgical instruments. At the same time, in order to simplify the structure, there are general size standards and replacement requirements.
[0032] The power mechanism com...
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The invention relates to multi-angle slave manipulator forceps for a surgical robot. The multi-angle slave manipulator forceps comprise a power mechanism, a driving mechanism, a forceps component, a motor support, a connecting rod mechanism and a forceps support, the power mechanism comprises a first driving motor and a second driving motor, the driving mechanism comprises a first steel wire pulling disc, a second steel wire pulling disc, a first steel wire and a second steel wire, the forceps component comprises a first forceps blade, a second forceps blade, a spring and a fixing shaft, both the first driving motor and the second driving motor are arranged on the motor support which is connected to one end of the connecting rod mechanism, the other end of the connecting rod mechanism is connected to the forceps support, the first steel wire pulling disc and the second steel wire pulling disc are connected on the forceps support through the fixing shaft, and the first forceps blade, the spring and the second forceps blade are sequentially arranged between the inner sides of the first and second steel wire pulling discs through the fixing shaft. Compared with the prior art, the multi-angle slave manipulator forceps have the advantages of simple structure, safety, reliability, independent power, flexible action and the like.
Description
technical field [0001] The invention relates to the field of medical machinery and equipment, in particular to a multi-angle secondary hand tweezers for surgical robots. Background technique [0002] Surgical robot is an operation performed through tiny incisions. Compared with ordinary open surgery, it has the advantages of less trauma, less blood loss, less pain, lower risk of infection, and faster postoperative recovery. Therefore, it has been able to develop rapidly in many fields of surgery. . The robot-assisted surgical system can effectively utilize the experience of the surgeon, and at the same time give full play to the characteristics of precise positioning and stable operation of the robot. It can help doctors complete complex surgical operations, reduce misoperation and damage caused by doctor fatigue or hand shaking during surgery, improve surgical safety, shorten healing time and reduce medical costs. At present, the ZEUS of ComputerMotion and the DaVinci sur...
Claims
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IPC IPC(8): A61B17/28
CPCA61B17/30A61B34/30A61B34/32A61B34/37A61B2034/305
Inventor 王朝斌邓琛丁大民费冬冬黄祖良
Owner SHANGHAI UNIV OF ENG SCI