Surgical robot system and its surgical instruments
A technology of surgical instruments and instrument rods, which is applied in the field of surgical robot systems and surgical instruments, can solve the problems of complex structure and calculation, low accuracy, etc., and achieve the effect of simple force transmission path, simple method, and easy installation
Active Publication Date: 2020-06-16
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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Problems solved by technology
[0008] The purpose of the present invention is to provide a surgical robot system and its surgical instruments to solve the problems of complex structure and calculation and low accuracy in the measurement of the contact force at the end of the surgical instrument in the prior art
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[0039] In order to make the purpose, advantages and characteristics of the present invention clearer, the following in conjunction with the attached figure 1 ~ 4 further details the surgical robot system and its surgical instruments proposed by the present invention. It should be noted that all the drawings are in a very simplified form and use imprecise scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. As stated in the specification, "end" and "distal end" refer to the end away from the product operator and close to the patient, and "proximal end" refers to the end close to the product operator and away from the patient. As used in this specification, the singular forms "a", "an" and "the" include plural referents unless the content clearly dictates otherwise.
[0040]First of all, it needs to be added that the surgical robot system provided in this embodiment can measure one or more of the radial...
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The invention provides a surgical robot system and a surgical instrument thereof, which help to simplify the structure of contact force measurement and can also improve the measurement accuracy. The surgical instrument includes a mechanical structure unit and a pressure sensor, the mechanical structure unit includes an instrument shaft and an end effector, the instrument shaft includes a body and a connecting portion extending from the distal end of the body, the connecting portion includes a radially distributed The first and second connecting parts, the first connecting part is fixedly connected with the body, and the second connecting part is fixedly connected with the end effector; the pressure sensor includes a sensitive element, and the sensitive element is arranged on the first and second Between the connecting parts, it is used to sense the action of the connecting part to obtain the Cartesian force on the end effector. The surgical robot system includes a slave device, the slave device includes a robotic arm and a surgical instrument, and the end of the robotic arm is detachably connected to the surgical instrument to drive the surgical instrument to move around a fixed point.
Description
technical field [0001] The invention relates to the technical field of medical instruments, in particular to a surgical robot system and surgical instruments. Background technique [0002] Minimal invasive surgery (minimal invasive surgical) has been accepted by more and more patients due to its advantages of small wound and quick recovery, and more and more surgical modes are replaced by traditional open surgery. [0003] (open surgical) slowly developed into minimally invasive surgery. At the same time, the continuous improvement of surgical methods has also greatly promoted the development and progress of corresponding surgical instruments. Early hand-held surgical instruments are constantly being replaced by mechanized and intelligent surgical instruments. As the most advanced surgical method in the contemporary era, surgical robot systems are constantly impacting people's medical concepts, and various minimally invasive surgical robot systems with different functions a...
Claims
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IPC IPC(8): A61B17/00A61B34/30A61B90/00
CPCA61B17/00234A61B34/30A61B34/76A61B90/06A61B2090/065A61B2090/064A61B2017/00477A61B34/37
Inventor 李涛朱祥何超
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD