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Endoscope-holding robot for minimally invasive abdominal operation

A minimally invasive surgery and robot technology, applied in the field of medical robots, can solve problems such as difficult control and complex structure, and achieve the effects of flexible manipulation, large movement space and good movement coordination

Active Publication Date: 2016-03-02
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the mirror-holding robots for minimally invasive abdominal surgery in the prior art generally have the problems of complex structure and difficult control

Method used

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  • Endoscope-holding robot for minimally invasive abdominal operation
  • Endoscope-holding robot for minimally invasive abdominal operation
  • Endoscope-holding robot for minimally invasive abdominal operation

Examples

Experimental program
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Embodiment 1

[0064] Such as figure 2 As shown, the scope-holding robot for minimally invasive abdominal surgery of the present invention is composed of a horizontal movement mechanism, a vertical movement mechanism, an endoscope posture adjustment mechanism and an endoscope holder. Among them, the horizontal movement mechanism is a series degree of freedom of the robot, which realizes the horizontal movement of the whole mechanism, and the vertical mechanism is two parallel degrees of freedom of the robot, which realizes the lifting and left-right movement of the endoscope holder. The lower support plate 2-1 The horizontal movement of the vertical mechanism is realized by being fixed on the horizontal slider 1-10 by the screw 2-2.

[0065] One end of the first connecting rod 2-13 is fixed on the first slide block 2-14 of the vertical movement mechanism, the other end is connected with the mounting bracket of the endoscope attitude adjustment mechanism, and the middle is connected with one...

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Abstract

The invention discloses an endoscope-holding robot for a minimally invasive abdominal operation. The endoscope-holding robot comprises a horizontal moving mechanism, a vertical moving mechanism, an endoscope gesture adjusting mechanism and an endoscope holding rack, wherein the horizontal moving mechanism is a dual-guide-rail and single-screw lead screw sliding platform which is arranged in a horizontal direction; the vertical moving mechanism is a dual-guide-rail and single-screw lead screw sliding platform which is arranged in a vertical direction, and the vertical moving mechanism is integrally installed on a sliding block of the horizontal moving mechanism and is driven to move left and right by virtue of the sliding block; the endoscope gesture adjusting mechanism comprises a link mechanism and a cross rotary base; an endoscope is clamped by a clamp on the endoscope holding rack; the endoscope is distributed in a vertical direction; and an extension line of the axis of the endoscope passes through the central point of the cross rotary base. The robot disclosed by the invention is simple in integral structure, compact and reasonable in layout, large in motion space, good in action coordination among various moving parts and flexible to operate and control; and especially, the robot has the characteristics of being high in precision and good in sensitivity and coordination when various actions are implemented during running.

Description

technical field [0001] The invention relates to a medical robot, in particular to a mirror-holding robot for minimally invasive abdominal surgery. Background technique [0002] Compared with traditional open surgery, minimally invasive laparoscopic surgery has the advantages of smaller incision, less bleeding and faster recovery, and has been widely used in clinic. [0003] However, minimally invasive laparoscopic surgery has difficulties such as narrow observation field of view, inflexible endoscopic operation in the operating space, unstable movement, and easy fatigue of doctors. It often requires the cooperation of multiple doctors to complete the operation, but there are also difficulties in the operation that are easy to interfere and cooperate. There is no tacit understanding, and the therapeutic effect depends heavily on the doctor's experience. [0004] The mirror-holding robot for minimally invasive laparoscopic surgery can extend the ability of doctors and assist ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/00A61B10/04
CPCA61B10/04A61B17/00234A61B2017/00238
Inventor 田和强杨朋蒋佳坤朱炫炫郝友花
Owner SHANDONG UNIV OF SCI & TECH
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