Cable-driven six-degree-of-freedom minimally invasive surgery robot clamping device

Abstract

The invention provides a cable-driven six-degree-of-freedom minimally invasive surgery robot clamping device. The cable-driven six-degree-of-freedom minimally invasive surgery robot clamping device comprises a driving assembly (1), a motion control assembly (2) and an end executor assembly (3), wherein the driving assembly comprises a driving rod, a handle, a cable, reversing rollers and a rubber hose; the motion control assembly comprises a hand ring, a middle ring, an outer ring shell, a handle, a hinge, a driving pulley, a reversing pulley, a cable, a framework, a tool rod and a cross universal joint; the end executor assembly comprises a fixed gripper, a movable gripper, a torsion spring, a pulley and a cable. The end executor has six degrees of freedom and is driven by the cable, so that the movements of a doctor obtain real-time response. According to the cable-driven six-degree-of-freedom minimally invasive surgery robot clamping device, the arms and wrists can be flexibly controlled, the rotation of any angle in the human body can be realized, in addition, the structure is simple and unique, the cost is low, the practicability is strong, the safety is high, and the requirement for a minimally invasive surgical instrument by a surgical doctor can be met.

Description

technical field [0001] The invention belongs to the technical field of minimally invasive surgery auxiliary equipment, in particular to a novel clamping device for a minimally invasive surgery robot. Background technique [0002] Minimally invasive surgery, as the name suggests, is a minimally invasive surgery. Because this surgical treatment method has the advantages of less bleeding, less trauma, less complications, safety and reliability, and quick postoperative recovery, it greatly reduces the damage to the human body caused by traditional surgery, and reduces the inconvenience and pain caused by the disease to patients. , which has made it the treatment of choice for related diseases. [0003] For surgical quality and patient safety considerations, minimally invasive surgical instruments must meet high requirements. However, the current minimally invasive surgical instruments are bulky, complicated to operate, and costly. As far as the well-known Da Vinci medical sur...

AI Technical Summary

Problems solved by technology

However, the current minimally invasive surgical instruments are bulky, complicated to operate, and costly

As far as the well-known Da Vinci medical surgical robot system is concerned, it is very troublesome to operate, and the operation time is long, which directly affects the efficiency of the operation. Moreover, the entire surgical auxiliary system is very expensive, making it very expensive in the hospital. greatly reduced popularity

Secondly, the reliability of the operation is often difficult to guarantee for cheaper instruments, which pose a serious threat to the life safety of patients.

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