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Four-freedom-degree series-parallel minimally invasive surgery manipulator

A minimally invasive surgery and manipulator technology, applied in the field of robotics, can solve the problems of large volume, cumbersome control, and complex structure of surgical robots, and achieve the effect of improving surgical accuracy, high safety, and high rigidity

Active Publication Date: 2016-10-12
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] There are already published patents for the invention of minimally invasive surgical robots with similar configurations (such as CN104644267A, CN104323861A, CN203619682U), but surgical robots are large in size, complex in structure, cumbersome in control, high in cost, and are subject to many limitations in popularization and application. problem, so it is necessary to propose a new hybrid mechanism with compact structure, easy operation and low price

Method used

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  • Four-freedom-degree series-parallel minimally invasive surgery manipulator
  • Four-freedom-degree series-parallel minimally invasive surgery manipulator
  • Four-freedom-degree series-parallel minimally invasive surgery manipulator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0019] Such as figure 1 As shown, a hybrid manipulator for minimally invasive surgery includes a moving platform 3, a base 5, a surgical module and two branches of the driving surgical module.

[0020] The surgical module is rotatably positioned on the moving platform, including a surgical tool 4 and a motor 41 for driving the surgical tool to rotate, and the surgical tool is rotatably positioned on the moving platform through a sleeve 40; the surgical tool is generally a laparoscope Apparatus (referring to incisor, separating forceps, flusher, endoscope specifically); Described motor is fixed on the moving platform by support 42, and the rotation axis of motor is the operation module rotation axis, simultaneously, the rotation axis of motor and operation The longitudinal axis of the tool is coaxial; the base is an arc-shaped base located under the moving platform, and the lower end of the surgical tool passes through the semi-enclosed area 51 in the middle of the base and the...

Embodiment 2

[0025] Such as figure 1 As shown, a hybrid manipulator for minimally invasive surgery includes a moving platform 3, a base 5, a surgical module and two branches of the driving surgical module.

[0026] The surgical module is rotatably positioned on the moving platform, including a surgical tool 4 and a motor 41 for driving the surgical tool to rotate, and the surgical tool is rotatably positioned on the moving platform through a sleeve (omitted in the figure); the surgical tool Generally, it is a laparoscopic instrument (specifically referring to an incision knife, a separating forceps, a flushing device, and an endoscope); the motor is fixed on the moving platform by a support 42, and the rotation axis of the motor is the rotation axis of the operation module. The rotation axis is coaxial with the longitudinal axis of the surgical tool; the base is an arc-shaped base located below the moving platform, and the lower end of the surgical tool passes through the semi-enclosed are...

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Abstract

The invention relates to a four-freedom-degree series-parallel minimally invasive surgery manipulator, and aims at providing a manipulator which has the advantages of being compact in structure, small in size and reliable in work. According to the technical scheme, the four-freedom-degree series-parallel minimally invasive surgery manipulator is characterized by comprising a surgery module rotatably positioned on a movable platform, a base located under the movable platform and two branch mechanisms which are connected between the movable platform and the base in parallel to drive the surgery module to move.

Description

technical field [0001] The invention relates to a robot, in particular to a four-degree-of-freedom hybrid minimally invasive surgical manipulator. Background technique [0002] Compared with traditional open surgery, minimally invasive surgery has the following advantages: small incision, light damage, safe and effective, can avoid the exposure of organs to the air to reduce infection; can reduce the pain of patients after surgery, patients recover faster and can Return to normal activities in a short period of time after surgery, and the therapeutic effect is equal to or higher than that of traditional surgical methods; postoperative wounds are more beautiful than traditional surgical methods, and the scars after healing are smaller. With the continuous application and development of minimally invasive surgery in clinical operations, minimally invasive surgical robots with higher surgical precision and ease of operation have emerged as the times require. In 1994, Computer ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30B25J9/08B25J9/00G09B23/28
CPCG09B23/28B25J9/00B25J9/0036B25J9/0048
Inventor 李秦川戴波柴馨雪黄鹏成
Owner ZHEJIANG SCI-TECH UNIV
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