A flexible multi-joint surgical microinstrument for robot-assisted minimally invasive surgery

Abstract

A flexible multi-joint surgical micro-instrument for robot-assisted minimally invasive surgery, in order to solve the problem that the existing minimally invasive surgical robot surgery micro-instrument cannot be positioned, moved and other operations in the patient's body relying on the surgical micro-instrument itself. The transmission mechanism is installed on the drive box, and the six connection holes correspond to the first installation hole, the second installation hole, the third installation hole, the fourth installation hole, the fifth installation hole and the sixth installation hole respectively. A transmission part is installed in the hole, and the first bending transmission mechanism, the second bending transmission mechanism, the third bending transmission mechanism, the fourth bending transmission mechanism, the surgical forceps opening and closing transmission mechanism and the surgical forceps rotation transmission mechanism are respectively connected with the corresponding transmission parts , the lower end of each transmission part is connected with the micro-drive motor, the rear end of the catheter is connected with the catheter fixing part, the front end of the catheter is connected with the flexible bending arm mechanism, and the front end of the flexible bending arm mechanism is connected with the surgical forceps mechanism. The invention is used for abdominal surgery.

Description

technical field

[0001] The invention relates to a surgical instrument for minimally invasive surgery, in particular to a flexible multi-joint surgical microinstrument for robot-assisted minimally invasive surgery. Background technique

[0002] Minimally invasive surgery has the advantages of less bleeding, quick recovery, and low risk of wound infection, and has been recognized in clinical applications. The introduction of minimally invasive surgical robot systems makes surgical operations more precise and stable on this basis. The end effector for minimally invasive surgery is a key instrument in minimally invasive surgery. The invention patent with the Chinese patent number 201310414968.4 and the publication date of December 11, 2013 discloses a micro-instrument for minimally invasive surgical robotic surgery. Due to the design of the patent The flexible wrist mechanism 4 enables this patent to complete the swing and pitch movements of the wrist; however, the guide rod 3 o...

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