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Control-decoupling single-hole surgical robot quick changing mechanism with movable joints

A single-hole surgery and robot technology, applied in surgical manipulators, surgical robots, surgery, etc., can solve the problems of scattered structure layout and large size, and achieve the effect of reasonable layout, easy adjustment, and accurate positioning

Pending Publication Date: 2018-06-15
SHANDONG UNIV QILU HOSPITAL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The two existing commercial minimally invasive surgical robots are four-degree-of-freedom surgical tool systems driven by wires. However, these surgical tool systems still have shortcomings such as scattered structure layout and large external dimensions. Development potential

Method used

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  • Control-decoupling single-hole surgical robot quick changing mechanism with movable joints
  • Control-decoupling single-hole surgical robot quick changing mechanism with movable joints
  • Control-decoupling single-hole surgical robot quick changing mechanism with movable joints

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] combine Figure 1 ~ Figure 3 , Figure 5 ~ Figure 8 , Figure 11 to Figure 15 To illustrate this embodiment, the quick-change mechanism with control decoupling of moving joints for a minimally invasive surgical single-hole surgical robot includes a fixed base 1_1, and a first joint drive installed on the fixed base 1_1 Mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, fourth joint driving mechanism 4, fifth joint driving mechanism 5, sixth joint driving mechanism 6, seventh joint driving mechanism 7 and eighth joint driving mechanism 8 and so on.

[0047] The first joint driving mechanism 1 is fixedly connected to the fixed seat 1_1 through a ball screw mechanism 1_2, and the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, and the fifth joint The driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanis...

Embodiment 2

[0083] combine Figure 9 ~ Figure 10 To illustrate this embodiment, on the basis of the technical solution in Example 1, the layout of the quick-change mechanism with mobile joint control decoupling for a minimally invasive surgical single-hole surgical robot can be changed to an additional Figure 9 ~ Figure 10 in the structure. That is to say, the layout of the quick-change mechanism for the control decoupling of the mobile joints used in the minimally invasive surgical single-hole surgical robot in the technical solution of the first embodiment is adjusted to the technical solution of the second embodiment, and at the same time, the transmission of the surgical instrument actuator M The layout of the box is also adjusted to the technical solution of the second embodiment, which can also correctly drive and control the decoupling.

[0084] The above-mentioned quick-change mechanism N with control decoupling of moving joints for minimally invasive surgical single-hole surger...

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Abstract

The invention discloses a control-decoupling single-hole surgical robot quick changing mechanism with movable joints. The quick changing mechanism is composed of a first joint driving mechanism, a second joint driving mechanism, a third joint driving mechanism, a fourth joint driving mechanism, a fifth joint driving mechanism, a sixth joint driving mechanism, a seventh joint driving mechanism, aneighth joint driving mechanism, a base shell, a base outer cover, a connector, a locking mechanism and the like. Control decoupling is adopted for a surgical instrument driving mechanism, and the mutual movement coupling problem generated during swing rotation of all joints of a surgical instrument executing mechanism is completely solved; decoupling is conducted according to a control principle,the structural design of the surgical instrument executing mechanism can be simplified, and the mass production of the surgical instrument executing mechanism is facilitated. The control-decoupling single-hole surgical robot quick changing mechanism with the movable joints has the advantages of being convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity,reasonable in layout, small in size and light in weight.

Description

technical field [0001] The invention relates to a medical device in the field of minimally invasive surgery, in particular to a quick-change mechanism of a minimally invasive surgery single-hole surgical robot suitable for minimally invasive surgical operations of the chest cavity and abdominal cavity. Background technique [0002] Minimally invasive surgery, represented by laparoscopy, is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of long and thin surgical instruments to penetrate into the body through tiny incisions on the surface of the human body to perform surgery. operational. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scar, and faster recovery time, and achieves the same curative effect as traditional open surgery. Manually operated minimally invasive surgical instruments are pass...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/00
CPCA61B17/00234A61B34/30A61B34/70A61B2034/305
Inventor 胡三元冯红光程晓林田兆辉姜秀新樊炳辉
Owner SHANDONG UNIV QILU HOSPITAL
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