Telesurgery multi-shaft manipulator and telesurgery device

Abstract

The invention discloses a multi-axis manipulator for remote surgery and a remote surgery device. The multi-axis manipulator for remote surgery is used to make surgical actuators perform surgical actions. The multi-axis manipulator for remote surgery includes a mounting body, a rotatable The first rotating shaft connected to the mounting body, the second rotating shaft rotatably connected to the first rotating shaft, and the telescopic rod capable of telescopic expansion and contraction along the axial direction of the second rotating shaft, wherein the first rotating shaft is vertically The second rotating shaft is arranged vertically and rotates around itself, and the second rotating shaft rotates in a vertical plane relative to the first rotating shaft. The multi-axis manipulator of the present invention only has two rotating shafts and a telescopic rod, so that the surgical implement can perform three degrees of freedom, thereby satisfying various actions required by the surgical implement. It is easy to determine the spatial form and movement of the parts.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a multi-axis manipulator for remote surgery and a remote surgery device. Background technique [0002] Surgery with the help of electronic equipment or high-precision manipulators is not new. The participation of electronic equipment and new mechanical auxiliary devices can not only reduce the difficulty of surgery, improve the efficiency of surgery, but also reduce risks to a greater extent and increase the success rate of surgery. With the help of remote operation equipment, even if the doctor is not in the operating room, the doctor can perform surgery as usual. From the operation to the needle, the doctor uses the remote control "robot" (or surgical execution device) to complete the operation. The operation is more accurate and the risk is lower. [0003] Generally, a surgical device for performing surgery remotely includes a surgical executive device and a surgical o...

AI Technical Summary

Problems solved by technology

[0004] On the one hand, the surgical implement needs to have multiple degrees of freedom to meet the surgical action. In the prior art, the manipulator used to drive the surgical implement to perform its multiple degrees of freedom has many transmission chains, and the spatial shape of the surgical implement is different. Easy to control, or the spatial form of surgical implements is not easy to determine

[0005] On the other hand, there is a problem with the surgical device for performing surgery remotely: although the operating rod can control the surgical implement so that the surgical implement can perform surgery, the doctor cannot feel the impact on the surgical implement when operating the operating rod. (that is, the operating rod has no force feedback), that is to say, when the surgical actuator is acting on the human body, the surgical actuator is inevitably subject to the reaction f

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