Rigid-Soft Coupling Design Single-hole Surgical Robot Oriented to Surgical Emergency

Abstract

The invention provides a rigid-soft coupling design of a single-hole surgical robot designed for emergent operation, and the single-hole surgical robot comprises a soft mechanism module, a soft mechanism inflating and venting tube, a soft mechanism deformation controlling inflating equipment module, a rigid micro-operation manipulator, a rigid micro-edoscope clamping arm, a soft transmission mechanism, as well as a rigid manipulator external driver module. The rigid micro-operation manipulator and the rigid micro-edoscope clamping arm are connected to the soft mechanism module which is transformable; the rigid manipulator external driver module drives the rigid micro-operation manipulator and the rigid micro-edoscope to clamp a manipulator through the soft transmission mechanism; the soft mechanism deformation controlling inflating equipment module is communicated with the soft mechanism module through the soft mechanism inflating and venting tube. According to the rigid-soft coupling design of single-hole surgical robot designed for emergent operation, all parts accumulated together covers a small size, and is easy to enter patients' body through a micro invasive wound.

Description

Technical field [0001] The present invention relates to a robot, in particular, to a single-hole surgical robot with rigid-software coupling design for surgical first aid. Background technique [0002] In sudden and dangerous environments such as natural disasters, battlefields, explosions, and accidents, a large number of wounded will suffer from crises such as tissue and organ damage and bleeding in the thoracic and abdominal cavity. At this time, there is an urgent need for effective first aid on the scene or in ambulances, such as Enter the chest and abdomen cavity to stop bleeding and coagulation of damaged tissues and organs in a timely manner, move or even excise the deformed and compressed tissues and organs; and first aid measures often require some brief and timely treatment in order to save the lives of the wounded. The rescue process strives for precious life support time. Applying first aid directly to the wounded often leads to greater risks. Therefore, minimally i...

AI Technical Summary

Problems solved by technology

[0004] The research and development of the single-hole surgical robot system is severely limited by the miniaturization design of the robot structure, which is required to be able to shrink into the body through a single hole with a diameter of less than 30mm, and to be able to expand to form a triangular distribution of surgical operation space; The requirements are very high and the difficulty is very high, and the miniaturization design of the rigid structure greatly increases the difficulty of processing

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