Assistive Robot for Passive Nasal Endoscopic Surgery

Abstract

The invention provides a passive type nasal endoscopic surgery assisting robot. The passive type nasal endoscopic surgery assisting robot comprises a guide rail adapter which can be appropriately matched to different guide rails, a lifting mechanism which is connected to the guider rail adapter and a flexible joint structure, a tail end feeding fine adjusting mechanism and a clamping mechanism which are sequentially connected to the lifting mechanism; the lifting mechanism supports the flexible joint mechanism, the tail end feeding fine adjusting mechanism and the clamping mechanism to simultaneously move in the lifting direction. The passive type nasal endoscopic surgery assisting robot also comprises air circuits which are in in serial connection to the flexible joint mechanism; when the air circuits exhaust air, positions of all joints are kept fixed and the joints are in braking states; when at least a part of air circuits are inflated, the corresponding joints can move and in loosening states. According to the passive type nasal endoscopic surgery assisting robot, an anti-phase braking control mode is adopted, all joints of a robot can well keep an original position and posture when various incidents occur during an operation, and accordingly patients and doctors are protected from being damaged and potential risks through a driving control mode due to the fact that the joints are out of control because of power failure, motor invalidation and the like.

Description

technical field [0001] The invention belongs to the field of medical devices, in particular to a passive auxiliary robot for nasal endoscopic surgery. Background technique [0002] The main purpose of endoscopic sinus surgery is to remove nasal lesions and restore nasal filling. Traditional nasal endoscopic surgery is mainly a surgical mode in which the doctor holds the mirror in his left hand and operates with his right hand. This mode has the following problems: [0003] 1. Almost all surgical operations are performed with the right hand of the doctor. Holding the mirror with the left hand for a long time will cause muscle soreness for the surgeon, and it will be difficult to maintain the stability of the operation for a long time, which will cause the shaking of the visual field, which is not conducive to the operation. The smooth progress of the treatment will cause additional trauma to the patient in severe cases. [0004] 2. For some complex operations (such as resec...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a passive auxiliary robot for nasal endoscopic surgery, which aims to solve the adverse effects of noise and electromagnetic radiation on the operating environment in the prior art, and the cumbersome adjustment caused by the support frame being directly fixed on the patient's head. And the problem of low stability and the problem that the active control method has a certain delay and potential danger in sudden situations such as power failure and motor failure

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