A mirror-holding robot for minimally invasive laparotomy

Abstract

The invention discloses a mirror-holding robot for abdominal minimally invasive surgery, which includes a horizontal movement mechanism, a vertical movement mechanism, an endoscope posture adjustment mechanism and an endoscope holder; wherein, the horizontal movement mechanism is a horizontally arranged double guide rail single screw rod The screw slide table, the vertical moving mechanism is a double-rail double-screw lead screw slide table arranged in the vertical direction, which is installed on the slider of the horizontal moving mechanism as a whole, and is driven by the slider to move in the left and right directions; the endoscope The attitude adjustment mechanism is a link mechanism and a cross rotation base; the endoscope is clamped by the clamp on the endoscope holder; the endoscope is arranged in the vertical direction, and the extension line of the central axis passes through the center of the cross rotation base point. The present invention has the characteristics of simple overall structure, compact and reasonable layout, large movement space, good movement coordination among moving parts, flexible control, especially, high precision, good sensitivity and good coordination of movement execution during its operation.

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 ...

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

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