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Novel series-parallel mechanical hand for minimally invasive operation

A minimally invasive surgery and manipulator technology, applied in the field of robotics, can solve the problems of cumbersome control, complex structure, and high cost, and achieve the effects of improving surgical accuracy, high safety, and reducing injuries

Active Publication Date: 2015-02-11
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, due to the large size, complex structure, cumbersome control and high cost of the existing minimally invasive surgical robots, there are still many limitations in the promotion and application, and further improvement is needed

Method used

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  • Novel series-parallel mechanical hand for minimally invasive operation
  • Novel series-parallel mechanical hand for minimally invasive operation
  • Novel series-parallel mechanical hand for minimally invasive operation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] Such as figure 1 As shown, a new hybrid manipulator for minimally invasive surgery, including a circular base 3, a surgical module and three branches.

[0021] The surgical module is positioned above the base and includes a surgical tool 4 and a motor 6 for driving the surgical tool to rotate; the surgical tool is generally a laparoscopic instrument (specifically refers to an incision knife, separating forceps, irrigator, and endoscope) , and the lower end of the surgical tool goes down through the middle cavity 31 of the base and then extends under the base.

[0022] The three branches are connected in parallel between the base and the surgical module, and can be used to drive the movement of the surgical module; each branch is a five-degree-of-freedom mechanical arm, including a robot arm that is sequentially connected between the surgical module and the base from top to bottom. The first turning pair 21, the first connecting rod 11, the second turning pair 22, the s...

Embodiment 2

[0028] Such as image 3 As shown, a new hybrid manipulator for minimally invasive surgery, including a circular base 3, a surgical module and three branches.

[0029] The surgical module is positioned above the base and includes a surgical tool 4 and a motor 6 for driving the surgical tool to rotate; the surgical tool is generally a laparoscopic instrument, and the lower end of the surgical tool extends downward through the middle cavity 31 of the base into the bottom of the base.

[0030] The three branches are connected in parallel between the base and the surgical module, and can be used to drive the movement of the surgical module; each branch is a five-degree-of-freedom mechanical arm, including a robot arm that is sequentially connected between the surgical module and the base from top to bottom. The first turning pair 21, the first connecting rod 11, the second turning pair 22, the second connecting rod 12, the third turning pair 23, the third connecting rod 13, the fo...

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Abstract

The invention relates to a novel series-parallel mechanical hand for a minimally invasive operation and aims to provide the mechanical hand, which has the characteristics of compact structure, higher flexibility and high safety. According to the technical scheme, the novel series-parallel mechanical hand for the minimally invasive operation is characterized by comprising an annular base, an operation module and three branch mechanisms, wherein the operation module is positioned on the base, and downwards penetrates through the base; the three branch mechanisms are connected in parallel between the base and the operation module, and are used for driving the operation module to move; each branch mechanism comprises a first rotation pair, a first connecting rod, a second rotation pair, a second connecting rod, a third rotation pair, a third connecting rod, a fourth rotation pair, a fourth connecting rod and a fifth rotation pair, which are sequentially connected between the operation module and the base; the axial lines of the second and third rotation pairs of each branch mechanism are parallel to each other, and are perpendicular to those of the first and fifth rotation pairs.

Description

technical field [0001] The invention relates to a robot for minimally invasive surgery, in particular to a hybrid manipulator. Background technique [0002] Compared with traditional open surgery, minimally invasive surgery has the following advantages: small incision, light damage, safe and effective, can avoid the exposure of organs to the air to reduce infection; can reduce the pain of patients after surgery, patients recover faster and can Return to normal activities in a short period of time after surgery, and the therapeutic effect is equal to or higher than that of traditional surgical methods; postoperative wounds are more beautiful than traditional surgical methods, and the scars after healing are smaller. With the continuous application and development of minimally invasive surgery in clinical operations, minimally invasive surgical robots with higher surgical precision and ease of operation have emerged as the times require. In 1994, Computer Motion of the United...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00
Inventor 李秦川黄鹏成柴馨雪陈巧红
Owner ZHEJIANG SCI-TECH UNIV
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