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Surgical Instruments and Surgical Robots

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

Active Publication Date: 2019-04-12
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 more of the problems existing in the prior art such as complex structure, poor operation precision, and difficult parts processing.

Method used

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  • Surgical Instruments and Surgical Robots
  • Surgical Instruments and Surgical Robots
  • Surgical Instruments and Surgical Robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] Embodiment 1 provides a surgical instrument capable of moving with multiple degrees of freedom, such as figure 1 As shown, it is a schematic structural diagram of the surgical instrument according to Embodiment 1 of the present invention. In order to show the structure of the surgical instrument more clearly, some 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 to the wrist 2 and forms a first axis of rotation, and the wrist 2 is rotatably connected to the base 3 and forms a second axis of rotation. Two rotation axes, the first rotation axis and the second rotation axis are non-coplanar and perpendicular.

[0048] The traction unit includes four traction bodies, which are respectively the first traction body 4, the second traction body 5, the third traction body 6 and the fourth traction body 7; the first traction body 4 and the...

Embodiment 2

[0066] The difference from Embodiment 1 is that the front end 1 of this embodiment is a part structure for realizing deflection and opening and closing movement, specifically as Figure 6 as shown, Figure 6 It is a structural schematic diagram of the surgical instrument of 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 relative first front end and a first rear end; the second clamping portion 112 includes an opposite second clamping portion 112. The front end and the second rear end, the first front end and the second front end cooperate to clamp objects; the first rear end and the second rear end respectively rotate and connect 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 portion 112 ...

Embodiment 3

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

[0078] Specifically, in addition to the first main guide wheel 8, the second main guide wheel 9, the third main guide wheel 10, and the fourth main guide wheel 11, the guiding mechanism of this embodiment also includes four guiding guide wheels, which are respectively the first One counseling wheel 14, the second counseling wheel 15, the third counseling wheel 16 and the fourth counseling wheel 17, me...

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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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Patent Type & Authority Patents(China)
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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