A collaborative interactive robot for surgery
A surgical and robotic technology, applied in the medical field, achieves the effect of realizing human-machine collaborative interaction, simple installation and debugging, and light weight
Active Publication Date: 2019-01-22
苏州迈迪睿博智能科技有限公司
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- Application Information
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On the other hand, the application of Renaissance from spine to neurosurgery, and ROSA from neurosurgery to spine shows that a more generalized robot design can meet more surgical situations, and the current design has a great defect in versatility
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[0040] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0041] see Figure 1 to Figure 3 , as shown in the legend therein, a collaborative interactive robot for surgery includes a base 100, a robotic arm 200, an end gripper 300 and a controller 400, and the robotic arm 200 includes a first joint module, a second joint module connected in sequence module, the third joint module, the fourth joint module, the fifth joint module and the sixth joint module, each joint module includes:
[0042] -The housing 210 is generally in the shape of a 90-degree elbow and includes two straight sections perpendicular to each other, wherein the free end of one of the straight sections constitutes the connecting end 211 of the housing;
[0043] ...
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The invention discloses a cooperative interactive robot for surgical operation. The robot comprises a pedestal, an machine arm and an end clamp. The machine arm comprises multiple joint modules. Each joint module comprises a shell body, a power device and a transmission shaft. The shell body is in the form of a 90 degree angle. The transmission shaft is rotationally installed in the shell body, and is connected with one end of the shell body through a bearing. One end of the transmission shaft is coupled with the power device. The other end of the transmission shaft is the power output connection end. A multi-dimensional force sensor is arranged between the end clamp and the joint module connected with the end clamp. The cooperative interactive robot for surgical operation is based on multiple modularized joints, the end of the robot is provided with a multi-dimensional force sensor, the output end of the sensor is connected with a surgical operation end clamp and a surgical operation clamp. During the operation, the doctor holds the robot end surgical operation tool in hand. The force exerted by the doctor to the tool is reflected on the multi-dimensional force sensor. Through the matching of force with speed of the robot, the smooth control of the robot can be achieved, and the human-machine coordination and interaction are achieved.
Description
technical field [0001] The invention relates to the medical field, in particular to a collaborative interactive robot for surgery. Background technique [0002] Since the first neurosurgery guided by an industrial robot in 1985, robotic surgery has entered almost all surgical fields such as neurosurgery, thoracoabdominal cavity, urology, orthopedics, etc. in the past 30 years. Most of the early robotic surgeries were based on industrial robots or improved versions of industrial robots, and mainly explored the technical feasibility of the application of robots in the surgical field. Considering that surgical robots not only interact with doctors, but more importantly perform surgical operations on patients, their safety is far higher than in other fields, so most of the robots used in clinical practice later need to be designed by themselves. Even so, only a few robots such as NeroMate, ROSA, Da Vinci, ROBODOC, ACROBOT, MAKO, RIO, Renaissance, etc. have entered the market. ...
Claims
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IPC IPC(8): A61B34/30B25J19/02B25J9/00
CPCB25J9/00B25J9/0009B25J19/02
Inventor 匡绍龙房银芳周瑞章丽孙立宁张峰峰郁树梅范立成
Owner 苏州迈迪睿博智能科技有限公司