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Robot body structure for supporting minimally-invasive surgery instrument

A technology of robot body and surgical instruments, applied in the fields of surgery, application, medical science, etc., can solve problems such as the change of remote motion center, achieve the effect of small occupied space, good reliability and stability, and avoid interference

Inactive Publication Date: 2014-12-24
TIANJIN POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The double parallelogram is composed of connecting rods, which has a simple structure and is widely used to realize the remote center of motion. However, due to the installation of minimally invasive surgical instruments, this remote center of motion is usually changed

Method used

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  • Robot body structure for supporting minimally-invasive surgery instrument
  • Robot body structure for supporting minimally-invasive surgery instrument
  • Robot body structure for supporting minimally-invasive surgery instrument

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Embodiment Construction

[0025] A robot body structure for supporting minimally invasive surgical instruments of the present invention will be described in detail below with reference to the drawings and specific embodiments.

[0026] Such as figure 1 Shown is a schematic diagram of the overall structure of the robot body for supporting minimally invasive surgical instruments. Through the reasonable layout of the four-bar mechanism, the intersection point P of the rotation center of the four-bar support rod unit 1 and the rotation center of the minimally invasive surgical instrument 4 is the remote motion center, leaving an installation space for the installation of the surgical instrument 4, and avoiding remote movement. The center of motion changes, and the mechanism can provide three degrees of freedom: the rotational degree of freedom R around the X axis 1 , the rotational degree of freedom R around the Y axis 2 and the degree of freedom of movement T along the Z direction.

[0027] Such as f...

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Abstract

The invention discloses a robot body structure for supporting a minimally-invasive surgery instrument. The robot body structure is mainly composed of a parallel four-rod mechanism, a telescopic body and a four-rod supporting rod unit. The parallel four-rod mechanism, the telescopic body and the four-rod supporting rod can jointly form three parallelogram shapes, and the three parallelogram shapes can be transformation of double parallelogram shapes and can provide the constant remote motion center like the double parallelogram shapes. The body structure is reasonably designed through the four-rod shape in the four-rod mechanism to provide the remote motion center serving as the cross point between the axis of the surgery instrument and the rotating axis of the four-rod supporting rod. Thus, sufficient space for installing the surgery instrument is reversed, and the problem that the remote motion center is changed due to installation of the surgery instrument in a traditional double-parallelogram-shaped mechanism is solved. Furthermore, the robot body structure can provide two rotating freedoms and a moving freedom for the surgery instrument.

Description

technical field [0001] The invention relates to a medical robot device, in particular to a robot body structure for supporting minimally invasive surgical instruments. Background technique [0002] Compared with traditional open surgery, minimally invasive surgery has the advantages of smaller incision, less bleeding, less scarring and faster recovery time. However, there are also many shortcomings. Due to the constraints of the incision on the body surface, the operation space is small and the operation is difficult. During the operation, the movement of the doctor's hand is opposite to the movement of the end of the surgical instrument, resulting in incoordination of the eyes and hands, which greatly reduces the flexibility of the operation. In addition, the shaking of the doctor's hand will be amplified by the slender surgical instruments, increasing the risk of surgery. [0003] The robot-assisted surgical system can effectively use the experience of the surgeon, and at...

Claims

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Application Information

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IPC IPC(8): A61B19/02
Inventor 桑宏强陈发许丽萍杨铖浩贠今天张克丁北乘
Owner TIANJIN POLYTECHNIC UNIV
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