Robot for assisting minimally invasive surgery of pleuroperitoneal cavity

A minimally invasive surgery and robotic technology, applied in the field of robotics, can solve the problems of unstable image display of lesions and inability to provide stability for lesion tissue, and achieve the effects of ingenious structural design, reduced collision, and reduced space volume.

Active Publication Date: 2017-09-22
吉林省金博弘智能科技有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The invention aims to overcome the instability of lesion image display caused by hand trembling and fatigue caused by assistants holding the endoscope and surgical instruments for a long time in the process of tradition...

Method used

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  • Robot for assisting minimally invasive surgery of pleuroperitoneal cavity
  • Robot for assisting minimally invasive surgery of pleuroperitoneal cavity
  • Robot for assisting minimally invasive surgery of pleuroperitoneal cavity

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Embodiment Construction

[0042] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0043] see figure 1 with figure 2 Explain that a robot for assisting minimally invasive thoracoabdominal surgery includes a base 1, a middle robotic arm 2 and a side robotic arm 3;

[0044] The intermediate mechanical arm 2 includes a positioning joint and an end effector for telecentric positioning and clamping of the endoscope;

[0045] The positioning joints include swing joint one 2-1, swing joint two 2-2, swing joint three 2-3 and swing joint four 2-4;

[0046] The swing joint 2-2 includes an upper support 2-2-1 and a locking pendulum measuring mechanism;

[0047] The swing joint three 2-3 includes an upper support three 2-3-1, a lower support three 2-3-2 and a locking pendulum measuring mechanism;

[0048] The swing joint 2-4 includes an upper support 2-4-1, a lower support 2-4-2 and a locking pendulum meas...

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Abstract

The invention provides a robot for assisting a minimally invasive surgery of the pleuroperitoneal cavity and relates to a robot for clamping an endoscope and a surgical instrument in the minimally invasive surgery of the pleuroperitoneal cavity to overcome the shortcoming that in the traditional minimally invasive surgery process, unstable focus image display is caused by hand trembling and fatigue of an assistant due to long-time endoscope and surgical instrument holding, and a stable and continuous surgical drag force cannot be provided for the focus tissue. The robot comprises a base, a middle mechanical arm and side mechanical arms. The middle mechanical arm comprises a positioning joint and an end effector for clamping the endoscope. The positioning joint comprises a swing joint I, a swing joint II, a swing joint III and a swing joint IV. Each side mechanical arm comprises a swing joint V and a rotating joint. Each of the rotating joint and the five swing joints comprises a clutch, an encoder, a rotating shaft and a locking and swing measuring mechanism of a shaft sleeve. The robot is used for the minimally invasive surgery of the pleuroperitoneal cavity.

Description

technical field [0001] The invention relates to a robot for clamping endoscopes and surgical instruments in minimally invasive abdominal surgery. In minimally invasive abdominal surgery, it replaces assistants to hold endoscopes and pull tissues, and belongs to medical equipment for minimally invasive abdominal surgery. technology field. Background technique [0002] Minimally invasive surgery has been widely used all over the world due to its advantages of no laparotomy, less trauma, less pain, and faster recovery. In traditional minimally invasive surgery, the doctor holds the surgical instrument to perform the operation, and the assistant holds the endoscope to provide visual guidance. This kind of operation method has problems such as the doctor's poor hand-eye coordination, and the doctor's fatigue is easily caused by holding the surgical instrument for a long time. , prone to defects such as positional interference between the doctor and the assistant. In order to so...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B90/50A61B17/02A61B17/00B25J18/00B25J17/00
CPCA61B17/00234A61B17/0218A61B34/30A61B34/70A61B90/50A61B2034/306B25J17/00B25J18/00
Inventor 冯美张海军莫玄郝良天李秋萌
Owner 吉林省金博弘智能科技有限责任公司
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