Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery

A technology of minimally invasive surgery and degree of freedom, which is applied in the field of surgical robots, can solve the problems of low overall integration of robots, inability to fully realize the degree of freedom, and too simple equipment parts, so as to achieve enhanced operability and precision, simple structure, Pain-reducing effect

Active Publication Date: 2015-07-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-degree-of-freedom robot for minimally invasive single-hole abdominal surgery, to solve the problem that the existing single-hole abdominal surgery robot has a low overall integration level, and the instrument part is too simple to fully realize the anthropomorphic freedom. degree, and the overall size of the larger problem

Method used

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  • Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery
  • Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery
  • Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery

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specific Embodiment approach 1

[0022] Specific implementation mode one: combine Figure 1-Figure 6 Describe this embodiment, the robot of this embodiment includes a first motor 1, a second motor 2, a third motor 3, a fourth motor 4, a fifth motor 5, a sixth motor 6, a seventh motor 7, and a drive box Rear support plate 8, first motor output shaft 9, second motor output shaft 10, third motor output shaft 11, fourth motor output shaft 12, fifth motor output shaft 13, sixth motor output shaft 14, seventh motor output shaft Output shaft 15, first drive wire guide shaft 16, second drive wire guide shaft 17, third drive wire guide shaft 18, fourth drive wire guide shaft 19, drive box front end support plate 20, first flexible arm guide wheel set 21-1, the second flexible arm guide wheel set 21-2, the third flexible arm guide wheel set 21-3, the fourth flexible arm guide wheel set 21-4, the flexible arm clamping tube 22, the first incision flexible arm 23. Second incision flexible arm 24, third incision flexible ...

specific Embodiment approach 2

[0038] Specific implementation mode two: combination figure 1 and Figure 4 Describe this embodiment, the wrist threading barrel 38 of this embodiment is made into one by base 38-1 and two connecting ears 38-2, and base 38-1 is provided with first guide wheel fixing post 38-3, second Guide wheel fixed column 38-4, the 3rd guide wheel fixed column 38-5 and the 4th guide wheel fixed column 38-6, the inwall of the first guide wheel fixed column 38-3 is provided with two guide wheels one, the second The inwall of guide wheel fixed column 38-4 is provided with a guide wheel two, and the sidewall of the second guide fixed column 38-4 is provided with two guide wheels five, and the inwall of the third guide wheel fixed column 38-5 is provided with Two guide wheels three, are provided with a guide wheel four on the inwall of the 4th guide wheel fixed column 38-6, are provided with two guide wheels six on the sidewall of the 4th guide wheel fixed column 38-6, the first guide wheel Th...

specific Embodiment approach 3

[0039] Specific implementation mode three: combination figure 1 Note that the first flexible arm 23 of this embodiment is provided with several first V-shaped incisions 23-1 in the same direction, and the second flexible arm 24 is provided with several second V-shaped incisions 24-1 in the same direction. The third flexible arm 25 has several third V-shaped notches 25-1 in the same direction, the first V-shaped notch 23-1 on the first flexible arm 23 and the third V-shaped notch 25 on the third flexible arm. -1 direction is the same, the angle between the direction of the second V-shaped notch 24-1 and the first V-shaped notch 23-1 is 90°. The advantage of the above structure is that the arc-shaped bending movement of each flexible arm is realized through the cutout of each flexible arm, which enhances the movement performance of the mechanical arm in a limited working space. The multi-degree-of-freedom bending motion of the manipulator is realized through the combination of ...

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Abstract

A multi-degree-of-freedom flexible robot used for a single-port celiac minimally invasive surgery relates to a robot for a minimally invasive surgery and aims at solving the problems of an existing minimally invasive surgery robot that the whole integration level is not high, mechanical parts are too simple, the personified degree of freedom cannot be completely realized and the whole size is larger. A first motor realizes bending movement of a first flexible arm through a first arm driving screw; a second motor realizes bending movement of a second flexible arm through a second arm driving screw; a third motor realizes bending movement of a third flexible arm through a third arm driving screw; a fourth motor realizes axial rotary movement of a wrist shaft rotary joint through a fourth joint driving screw; a fifth motor realizes pitching motion of a wrist joint through a fifth joint driving screw; a sixth motor realizes opening and closing movement of a first clamping pincers joint through a sixth joint driving screw; a seventh motor realizes the opening and closing movement of a second clamping pincers joint through a seventh joint driving screw. The multi-degree-of-freedom flexible robot is used for the single-port peritoneoscope minimally invasive surgery.

Description

technical field [0001] The invention relates to a multi-freedom flexible robot for single-hole abdominal minimally invasive surgery, belonging to the technical field of surgical robots. Background technique [0002] At present, traditional surgical operations and the commonly used robotic system for minimally invasive abdominal surgery generally require large-area open incisions or 4-5 micro-incisions to perform operations. At present, in open surgery, there are generally disadvantages such as large trauma to the patient, high requirements for the doctor's operation, long postoperative recovery time, and high risk of cross-infection. At present, the equipment scale of the mainstream minimally invasive surgical robot system is relatively large, and interference and collision between the robotic arms and the equipment are prone to occur during the operation, and the operability and operability of the operation are reduced due to the large number of wounds. safety. In additio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00
Inventor 杜志江杨文龙董为
Owner HARBIN INST OF TECH
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