A Dexterous Wrist Mechanism for Single-hole Minimally Invasive Robot

A robot and wrist technology, applied in the field of minimally invasive surgical instrument wrist mechanism, to reduce the size of the structure, simplify the transmission process, and improve the flexibility

Active Publication Date: 2018-06-22
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Currently, there are no relevant dedicated instruments for single-port surgery

Method used

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  • A Dexterous Wrist Mechanism for Single-hole Minimally Invasive Robot
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  • A Dexterous Wrist Mechanism for Single-hole Minimally Invasive Robot

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Embodiment Construction

[0023] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0024] A dexterous wrist mechanism for a single-hole minimally invasive robot of the present invention as shown in the accompanying drawings, it includes a one-degree-of-freedom rotation joint 1-1 and a two-degree-of-freedom wrist joint 1-2, and the two-degree-of-freedom The wrist joint 1-2 includes a Hooke hinge structure, an upper main rod connector 2-2 and a lower main rod connector, and the upper main rod connector 2-2 and the lower main rod connector both include a main body, and the The outer wall of one end of the main body is provided with a spiral, the top surface of the main body provided with one end of the spiral is provided with a connecting projection, and a through groove is opened in the middle of the main body. The Hooke hinge structure Including a spherical block 2-5, the spherical block 2-5 is a spherical stru...

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Abstract

The invention discloses a single-hole minimally invasive robot smart wrist mechanism comprising a one-degree of freedom rotation joint and a two-degree of freedom wrist joint; the two-degree-of-freedom wrist joint comprises a hook hinge structure, an upper main pole connector and a lower main pole connector; the hook hinge structure, the upper main pole connector and the lower main pole connector are wrapped by a locking spring; the middle of an end wrist base is provided with a bearing locating hole; the one-degree of freedom rotation joint comprises an end support, wherein the end support comprises a cylindrical support rod arranged in the bearing locating hole through a bearing. The single-hole minimally invasive robot smart wrist mechanism can improve wrist flexibility, thus realizing highly difficult motions like stitching and knotting.

Description

technical field [0001] The invention relates to a minimally invasive surgical instrument wrist mechanism, in particular to an instrument wrist mechanism for a single-hole minimally invasive surgical robot. Background technique [0002] Single-hole surgery refers to a small incision of 15mm-40mm on the outer skin of the human body, and multiple puncture devices or multi-channel puncture devices are placed on the incision, and then surgical instruments are inserted into the new minimally invasive surgery. . Compared with traditional multi-hole minimally invasive surgery, single-hole minimally invasive surgery has fewer incisions, better postoperative cosmetic effect, and further reduces iatrogenic harm to patients. In recent years, with the development of robotic science and technology and the improvement of medical needs, robot-assisted single-port surgery has been gradually applied to clinical practice. This is a modern medical device integrating image system, control syst...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30B25J17/02
CPCB25J17/0283
Inventor 王树新王建辰
Owner TIANJIN UNIV
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