Auxiliary endoscope holding robot for nasal cavity operation

Abstract

The invention discloses an auxiliary endoscope holding robot for nasal cavity operation. The auxiliary endoscope holding robot comprises three parts including a machine frame, a robot body and an endoscope, wherein in a direction from top to bottom, the robot body comprises an endoscope horizontal moving mechanism, an endoscope rotating mechanism, an endoscope swinging mechanism and an endoscope vertical moving mechanism in sequential connection; and four freedom degrees in the horizontal plane and vertical direction of the robot body are formed. The four moving mechanisms of the robot body are respectively driven by independent servo motors; the movement among all mechanisms does not have mutual interference; and each servo motor controls the endoscope moving track and realizes the positioning and aerial posture control by an externally connected computer control system by using a three-dimension image navigation technology. The auxiliary endoscope holding robot has the advantages that the movement harmony and synchronism of each moving part are good; the four freedom degrees are realized; the auxiliary operation requirements of a nasal cavity operation endoscope can be sufficiently met; the integral structure is simple and compact; the layout is reasonable; the positioning is accurate; the precision is high; and the aerial posture regulation is flexible.

Description

technical field [0001] The invention relates to a medical robot, in particular to an auxiliary mirror-holding robot for nasal surgery. Background technique [0002] As we all know, nasal polyps and sinusitis are common and frequently-occurring diseases in the Department of Otorhinolaryngology. Among the various operations in the Department of Otorhinolaryngology, the number of nasal cavity operations accounts for a relatively large proportion. [0003] During nasal cavity surgery, doctors need to observe the condition with the help of an endoscope. Traditional endoscopic surgical operations are all done manually by doctors, which is time-consuming and labor-intensive. The doctors work hard and the patients also need relatively more additional burden or pain. In particular, in the specific narrow and complex space of the nasal cavity, it is necessary to rely solely on pure manual operation to perform precise displacement of the endoscope, precise point finding, and stability...

AI Technical Summary

Problems solved by technology

[0005] In the prior art, general nasal surgery-assisted mirror-holding robots have certain deficiencies in operating space and movement mode, and the adjustment of the position of the endoscope requires manual operation by the doctor. In particular, the execution accuracy of complex actions is not high enough. High, unable to achieve a relatively ideal degree of automation and intelligence

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