Surgical instrument and surgical robot adopting same

A technique for surgical instruments and guiding mechanisms, applied in the field of medical instruments, can solve the problems of difficult parts processing, poor operation accuracy, complex structure, etc., and achieve the effects of low processing cost, easy assembly, and simple structural relationship.

Active Publication Date: 2016-10-26
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is to provide a surgical instrument and a surgical robot thereof, which can solve one or

Method used

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  • Surgical instrument and surgical robot adopting same
  • Surgical instrument and surgical robot adopting same
  • Surgical instrument and surgical robot adopting same

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0045]

[0046] The first embodiment provides a surgical instrument that can realize multiple degrees of freedom movement, such as figure 1 As shown, it is a schematic diagram of the structure of the surgical instrument according to the first embodiment of the present invention. In the figure, in order to show the structure of the surgical instrument more clearly, some of the elements are shown in dotted lines.

[0047] The surgical instrument includes a front end 1, a wrist 2, a base 3, a guide mechanism and a traction unit; the front end 1 is rotatably connected with the wrist 2 and formed with a first rotation axis, and the wrist 2 is rotatably connected with the base 3 and formed with a first rotation axis. Two rotation axes, the first rotation axis and the second rotation axis are not coplanar and perpendicular.

[0048] The traction unit includes four traction bodies, which are a first traction body 4, a second traction body 5, a third traction body 6 and a fourth traction bod...

Example Embodiment

[0065]

[0066] The difference from the first embodiment is: the front end 1 of this embodiment is a part structure for realizing deflection and opening and closing movement, specifically as Image 6 As shown, Image 6 It is a schematic diagram of the structure of the surgical instrument according to the second embodiment of the present invention.

[0067] The front end 1 includes a relatively movable first clamping portion 111 and a second clamping portion 112. The first clamping portion 111 includes a first front end and a first rear end opposite to each other; the second clamping portion 112 includes a second opposite A front end and a second rear end, the first front end and the second front end are matched for clamping objects; the first rear end and the second rear end are respectively connected to the wrist 2 and share the first rotation axis .

[0068] Both the first traction body 4 and the second traction body 5 are connected to the second rear end of the second clamping p...

Example Embodiment

[0076]

[0077] The difference between this embodiment and the second embodiment is that in addition to the four main guiding wheels mentioned above, the guiding mechanism also has four additional guiding wheels. For details, please refer to Figure 8 , Figure 8 It is a schematic structural diagram of a surgical instrument according to the third embodiment of the present invention. However, it should be noted that the guiding mechanism and the connection between the guiding mechanism and the traction body in this embodiment are also applicable to the first embodiment.

[0078] Specifically, in addition to the first main guiding wheel 8, the second main guiding wheel 9, the third main guiding wheel 10, and the fourth main guiding wheel 11, the guiding mechanism of this embodiment also includes four guiding wheels, which are the first A coaching wheel 14, the second coaching wheel 15, the third coaching wheel 16, and the fourth coaching wheel 17. At the same time, the surgical inst...

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Abstract

The invention provides a surgical instrument and a surgical robot adopting the surgical instrument. The surgical instrument comprises a front end, a wrist part, a foundation base, a guide mechanism and a traction unit, wherein the front end is rotatably connected with the wrist part and a first rotation axis is formed, the wrist part is rotatably connected with the foundation base and a second rotation axis is formed, and the first rotation axis and the second rotation axis are non-coplanar and are vertical to each other; the traction unit comprises a first traction body, a second traction body, a third traction body and a fourth traction body; the four traction bodies surround and are partially fixedly connected with the front end, extend, are restrained by the guide mechanism, and then are connected with an external mechanism; the second traction body surrounds the front end in the direction opposite to that of the first traction body, and the fourth traction body surrounds the front end in the direction opposite to that of the third traction body; the first traction body and the second traction body are distributed on one side of the second rotation axis, and the third traction body and the fourth traction body are distributed on the other side of the second rotation axis.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a surgical instrument for a surgical robot. Background technique [0002] Compared with traditional surgery, surgical robots have many advantages, such as: increased field of view, reduced hand tremor, surgical operations in limited and narrow spaces, operations that can concentrate in a relaxed environment, and reduced fatigue. It is widely used in surgical procedures. Surgical instruments are the parts that directly perform surgical operations in surgical robots. Their performance affects and determines the operation and performance of the entire surgical robot, and affects the success of a surgery. [0003] US Patent US9078684B2 discloses a pair of scissors made of different materials, which are driven by six steel wires. However, this kind of scissors is complicated to operate, takes up a lot of space, and is easy to cause a large area of ​​trauma. Moreover, whe...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B17/00
CPCA61B17/00234
Inventor 何超王常春袁帅李涛成浩
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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