Novel minimally invasive surgical tool for minimally invasive surgical robot system
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A robotic system, minimally invasive surgery technology, used in surgical robotics, surgery, medical science, etc.
Inactive Publication Date: 2016-08-31
HENAN UNIVERSITY OF TECHNOLOGY
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The miniaturization of the surgical robot system can save operating space and facilitate installation and operation, but it also puts forward higher requirements for the miniaturization of the robotic arm of the surgical robot system
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[0035] The lower end of the rod III7 and the upper end of the rod 7 9 via a shaft III45 hinge, and the joint IV8 is formed after hinged.Hive, joint ⅶ14 after hinged, the shaft ⅵ47 is connected to the fixed connection with a shaft -drive wheel 48, the shaft III driver 46 with the axis ⅵ drive wheel 48 through the keyThe axis 47 axis is parallel set, the axis III45 axis is parallel to the axis of the axis Ⅱ 36, and the wire rope ⅴ49 realizes the linkage between the joint IV 8 and the joint ⅶ14, and the mirror of the handle 1 and the actuator 21 move to X.
[0036] The lower end of the rod 与 9 and the upper end of the rod 9 11 via a shaft IV 50 hinge, forming an joint ⅴ10 after hinged, and a shaft ⅳ drive wheel 51 on the fixed connection on the fixed connection through the key.After the formation of joint ,12, the axis ⅴ52 is connected to the fixed connection with a fixed connection through the key, the axis IV driver 51 is connected to the cross -steel wire rope ⅵ 31 through the cro...
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Abstract
The invention provides a novel minimally invasive surgical tool for a minimally invasive surgical robot system. The novel minimally invasive surgical tool comprises a handle, a joint I, a rod I, a joint II, a rod II, a joint III, a rod III, a joint IV, a rod IV, a joint V, a rod V, a joint VI, a rod VI, a joint VII, a rod VII, a joint VIIII, a rod VIII, a joint IX, a rod IX, a joint X and an actuator, all of which are sequentially connected from top to bottom. The joint I and the joint X are linked, and the same-direction pitching action and the synchronous opening and closing action of the handle and the actuator are achieved; the joint II and the joint IX are linked, and same-direction transverse rolling motion of the handle and the actuator is achieved; the joint III and the joint VIII are linked, and same-direction deflection motion of the handle and the actuator is achieved; the joint IV and the joint VII are linked, and mirroring X-direction motion of the handle and the actuator is achieved; the joint V and the joint VI are linked, and mirroring Y-direction motion of the handle and the actuator is achieved. The novel minimally invasive surgical tool is high in flexibility and operating capacity, multiple kinds of operation of minimally invasive surgery are achieved, the surgical operating capacity of a minimally invasive surgical robot is improved, and the surgical effect is improved.
Description
Technical field: [0001] The invention is a minimally invasive surgical robot technology field, which involves a minimally invasive surgical tool for a new minimally invasive surgical robot system. Background technique: [0002] The minimally invasive surgical robot system can help doctors to complete more fine surgical moves to reduce damage caused by fatigue or hand tremor during surgery.At the same time, the surgical damage is small, and the healing is fast to bring the patient's more ideal surgical results.At present, Da Vinci's minimally invasive surgical robot system has been widely used in clinical.Small and low -cost minimally invasive surgical robot systems are the future development trend, and at the same time, tactile feedback played an extremely important role in minimally invasive surgery.The miniaturization of the surgical robot system can save operating space and easy to install, but it also puts forward higher requirements for the miniaturization of the robotic a...
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Application Information
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