Surgically assisted equipment

Abstract

Surgically assisted equipment includes a base, an RCM mechanism, a driving mechanism and an end effector. The base is movably provided with a rotary shaft, and the RCM mechanism comprises a front supporting rod, a rear supporting rod and an upper horizontal cross rod; the lower end of the front supporting rod is rotatably connected with the front end of the rotary shaft through a hinge pin, the upper end of the front supporting rod is rotatably connected with the upper horizontal cross rod through a hinge pin, the lower end of the rear supporting rod is rotatably connected with the rotary shaft through a hinge pin, the upper end of the rear supporting rod is rotatably connected with the upper horizontal cross rod through a hinge pin, the rear end of the rotary shaft is provided with a manual operating handle, the upper end of the manual operating handle extends upward and is rotatably connected with the upper horizontal cross rod, the driving mechanism is rotatably connected with the upper horizontal cross rod through a hinge pin, the end effector is installed on the driving mechanism, and the driving mechanism drives the end effector to rotate and move in the axis direction of the end effector. The surgically assisted equipment is mainly used for microsurgery and minimally invasive surgery, rigidity is good, operation is simple, the cost is low, and the success rate of the surgery is significantly improved.

Description

technical field [0001] The invention belongs to the field of medical devices, in particular to an RCM mechanism-based surgical auxiliary device, which is mainly used for microsurgery and minimally invasive surgery. Background technique [0002] In minimally invasive surgical robot technology, an extremely important key part is its Remote Center of Motion (RCM) mechanism. The role of the RCM mechanism is to provide a distal motion center point, which coincides with the minimally invasive surgical incision, so as to ensure that the end effector and the patient’s surgical incision are not pulled during the minimally invasive operation, ensuring surgical safety . The current mainstream minimally invasive surgical robot RCM mechanism is a double parallelogram mechanism. This kind of RCM mechanism has very high processing accuracy and assembly requirements for each of its components. The driving force requirement of the driving module is relatively high. [0003] The Preceyces ...

AI Technical Summary

Problems solved by technology

The whole mechanism is completely suspended, and the overall rigidity is poor

During operation, the force of the hand is directly applied to the end effector, which reduces the rigidity and stability of the structure

At the same time, when puncturing tiny blood vessels, there is also the problem that the success rate is low due to the great toughness of the blood vessels.

Images