Surgical instrument for minimally invasive surgery robot

A technology of surgical robots and surgical instruments, which is applied in the fields of surgical robots, surgery, medical science, etc., and can solve the problems of scattered structure layout and large external dimensions

Pending Publication Date: 2017-05-24
SHANDONG UNIV QILU HOSPITAL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The two existing commercial minimally invasive surgical robots are four-degree-of-freedom surgical tool systems driven by wires. However, these surgical tool systems still have shortcomings such as scattered structure layout and large external dimensions. Development potential

Method used

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  • Surgical instrument for minimally invasive surgery robot
  • Surgical instrument for minimally invasive surgery robot
  • Surgical instrument for minimally invasive surgery robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] combine Figure 3 to Figure 16 To illustrate this embodiment, the surgical instrument M consists of a left finger drive mechanism 1, a wrist joint drive mechanism 2, a right finger drive mechanism 3, an operation tube drive mechanism 4, a wrist actuator 5, a tool trunnion 6, and a first guide mechanism. 7. Second guiding mechanism 8, third guiding mechanism 9, fourth guiding mechanism 10, fifth guiding mechanism 11, sixth guiding mechanism 12, seventh guiding mechanism 13, eighth guiding mechanism 14 and surgical instrument housing 15 , Surgical instrument shell two 16, surgical instrument shell three 17, surgical instrument shell four 18 and so on.

[0058] Described left finger driving mechanism 1 is made up of left finger driving wire wheel shaft 1-1, left finger wire wheel 1-2, interface clutch disc 1-3, bearing 1-4, bearing 1-5 etc. The left finger reel 1-2 is set on the left finger transmission reel shaft 1-1, and the left finger reel 1-2 and the left finger reel...

Embodiment 2

[0100] combine Figure 9 To illustrate this embodiment, on the basis of the technical solution in Example 1, the wire rope layout of the surgical instrument M can be changed to an attached Figure 9 in the structure.

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PUM

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Abstract

The invention discloses a surgical instrument for a minimally invasive surgery robot; the surgical instrument comprises a left finger drive mechanism, a wrist joint drive mechanism, a right finger drive mechanism, an operation tube drive mechanism, a wrist actuator, a wire rope tension mechanism, tool lug shafts, first to eighth guide mechanisms, a surgical instrument shell and the like; the left finger drive mechanism, the wrist joint drive mechanism, the right finger drive mechanism and the wrist actuator in the surgical instrument are driven through steel wires; the operation tube drive mechanism is driven by a gear; connector clutch discs on the surgical instrument are arranged in a single row, so that arms of force between fixing points of the surgical instrument on a connector base are longer, and the fixation of the surgical instrument is more facilitated. A decoupling mechanism is mounted on the connector base, the structural design of the surgical instrument can be simplified, and mass production of the surgical instrument is benefited. The surgical instrument is convenient to demount, good in positioning accuracy, high in rigidity, reasonable in layout, small in size and light in weight.

Description

technical field [0001] The invention relates to a medical device in the field of minimally invasive surgery, in particular to a minimally invasive surgical robot surgical instrument suitable for minimally invasive surgical operations on the thorax and abdominal cavity. Background technique [0002] Minimally invasive surgery, represented by laparoscopy, is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of long and thin surgical instruments to penetrate into the body through tiny incisions on the surface of the human body to perform surgery. operational. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scar, and faster recovery time, and achieves the same curative effect as traditional open surgery. Manually operated minimally invasive surgical instruments are passively operated, and generally the ...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B17/00
CPCA61B17/00234
Inventor 胡三元冯红光程晓林张光永田兆辉姜秀新
Owner SHANDONG UNIV QILU HOSPITAL
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