A flexible multi-joint surgical instrument for robot-assisted minimally invasive surgery

Abstract

The invention discloses a flexible multi-joint surgical instrument for robot assisted minimally invasive surgery, and relates to the technical field of enterocoelia minimally invasive surgery department medical facilities. The instrument can achieve spatial displacement and positioning of tail end operating forceps by itself inside a patient, the tail end gesture adjusting capability of the surgical instrument is enhanced, the good flexibility is achieved, and the tissue surgical operation is completed inside the small space; by means of a self-rotation joint designed between the wrist of the surgical instrument and the tail end operating forceps, and the problem that joint restoration is needed during autorotation is avoided; the instrument comprises the tail end operating forceps mechanism, the autorotation joint, the wrist flexible joint and a power driving box; the power driving box comprises a wiring pipe, a shell, an upper base plate, a lower base plate, five sets of motor rope sheave devices, a rope guiding wheel set and a rope guiding column set; one end of the wiring pipe is connected with the tail end ball hinge structure of the wrist flexible joint, and the other end of the wiring pipe is fixed to the lower base plate. The instrument is used for the robot assisted minimally invasive surgery.

Description

technical field [0001] The invention relates to the technical field of medical equipment for abdominal minimally invasive surgery. In robot-assisted minimally invasive surgery, it assists in pulling tissue, and is a surgical instrument with flexible multi-joint ends. Background technique [0002] With the development of robotic technology, robot-assisted minimally invasive surgery developed by combining robotic technology and minimally invasive surgery technology improves the accuracy and flexibility of surgical operations on the basis of realizing the advantages of traditional minimally invasive surgery, and expands the scope of surgery. type category. Minimally invasive surgical robots use surgical instruments as the execution tools at the end of the robot to complete surgical operations such as cutting, clamping, suturing, lifting, and freeing organs and tissues. Their working performance has a direct impact on robotic surgery. Therefore, the development of surgical inst...

AI Technical Summary

Problems solved by technology

The invention patent with the patent number 201310414968.4, the publication number CN103431913A, and the publication date is December 11, 2013 discloses a "micro-instrument for minimally invasive surgical robotic surgery". The surgical instrument described in the patent has 7 degrees of freedom, Its flexible wrist joint includes two active joints and two driven joints, which are connected to each other by a rotatable connecting rod, which can complete the swing and pitch motion of the wrist; however, the surgical instrument cannot be positioned and moved in the patient's body. , so that its working scope and flexibility are limited

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