Snake-shaped joint used for single-hole minimally invasive robot and mechanism thereof

Abstract

The invention discloses a snake-shaped joint mechanism used for a single-hole minimally invasive robot. The snake-shaped joint mechanism comprises a snake-shaped joint and a snake-shaped framework structure; the snake-shaped joint comprises elastic thin sheets; the elastic thin sheets comprise an upper-layer elastic thin sheet; the upper-layer elastic thin sheet and a lower-layer elastic thin sheet are buckled and connected to form a middle channel; a conjugate curve structure is formed by the upper-layer elastic thin sheet and the lower-layer elastic thin sheet; a middle-layer elastic thin sheet is slidingly connected into the middle channel; the rear part of the middle-layer elastic thin sheet is connected with a linear motion driving source through a middle-layer connection block; the snake-shaped framework structure comprises a plurality of snake-shaped units with the same structure; hollow channels of the plurality of snake-shaped units jointly form a snake-shaped channel; the elastic thin sheets of the snake-shaped joint are mounted in the snake-shaped channel; the linear motion driving source controls relative sliding of the middle-layer elastic thin sheet so as to control the motion of the snake-shaped framework. The structure is more compact and the assembly is more convenient; a collision problem of tools in an operation process can be more effectively avoided.

Description

technical field [0001] The invention relates to a minimally invasive surgical robot joint and its mechanism, in particular to a minimally invasive surgical single-hole surgical robot joint and its mechanism. Background technique [0002] With the development of science and technology, especially imaging technology and control technology, modern medicine has entered the era of robot-assisted minimally invasive surgery. The so-called robot-assisted minimally invasive surgery is to use robot technology to assist doctors to complete a series of surgical operations during the operation, making the operation more precise and less traumatic. The DaVinci surgical robot system produced by Da Vinci Company of the United States and the Miaoshou robot system independently developed by Tianjin University in China are the most typical. With the development of medical technology, single-port surgery has gradually come out, and it has also brought the emergence of single-port surgical robo...

AI Technical Summary

Problems solved by technology

In the existing single-hole surgical operation, since most of the instruments are hard-rod tools and they all enter through one channel, the "chopstick effect" is likely to occur and cause the instruments to collide in the body, affecting the operation time and operation quality

And although the existing serpentine tool can solve the above problems, its own structure is complex and difficult to assemble.

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