Single-incision laparoscopic surgery system based on flexible arms

Abstract

The invention relates to a single-incision laparoscopic surgery system based on flexible arms. The single-incision laparoscopic surgery system comprises flexible surgery tools, an imaging tool, a catheter and a driving body. Each flexible surgery tool comprises the first flexible arm, a surgery performer and a first driving transmission unit. The imaging tool comprises the second flexible arm, an imaging lighting module and a second driving transmission unit. The catheter comprises a catheter body and a multi-cavity catheter main body. The driving body comprises a framework linked with the catheter, and a plurality of driving modules connected to the framework in a fastened mode and linked with the first driving transmission units and the second driving transmission unit. The overall feed degrees of freedom, the overall rotation degrees of freedom and the turn degrees of freedom of the first flexible arms are achieved through the driving modules via the first driving transmission units linked with the driving modules, and the overall feed degrees of freedom and the turn degrees of freedom of the second flexible arm are achieved through the driving modules via the second driving transmission unit linked with the driving modules. According to the single-incision laparoscopic surgery system, the flexible surgery tools and the imaging tool can enter the human body through the same multi-cavity catheter main body to perform surgery.

Description

technical field [0001] The invention relates to a medical device, in particular to a single-hole laparoscopic operation system based on a flexible arm body. Background technique [0002] In the modern medical field, manual porous laparoscopic minimally invasive surgery has been widely used clinically. Such minimally invasive procedures have successfully reduced patients' postoperative pain, complication rates, recovery time, and improved postoperative scarring. In recent years, in order to facilitate doctors' operation and achieve better postoperative output, robot-assisted porous laparoscopic minimally invasive surgery has been widely used. The robotic system, which can assist doctors in performing multi-hole laparoscopic minimally invasive surgery, has achieved great commercial success. [0003] In order to further reduce the surgical trauma area and recovery time, researchers proposed single-port laparoscopic minimally invasive surgery. Compared with multi-hole laparos...

AI Technical Summary

Problems solved by technology

Manual single-port laparoscopic surgery based on traditional rigid surgical tools has not yet been used in clinical practice due to the complex hand-eye coordination requirements, limited flexibility of surgical tools, and small working range.

[0004] The porous laparoscopic surgical robot, because the distal end of its surgical arm is mainly a series hinged structure of multiple rods, is driven by a wire rope to bend at each hinge joint, and the wire rope must be kept in a continuous tension state with the miniature pulley, so that Porous laparoscopic robots cannot be retrofitted into single-hole laparoscopic robots that work well in terms of miniaturization, kinematic performance, and safety

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