Mechanical decoupling single-hole surgery robot rapid replacement mechanism with prismatic joint

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

Pending Publication Date: 2018-09-14
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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  • Mechanical decoupling single-hole surgery robot rapid replacement mechanism with prismatic joint
  • Mechanical decoupling single-hole surgery robot rapid replacement mechanism with prismatic joint
  • Mechanical decoupling single-hole surgery robot rapid replacement mechanism with prismatic joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0061] combine Figure 1 ~ Figure 3 , Figure 6 ~ Figure 9 , Figure 14 ~ Figure 18 To illustrate this embodiment, the mechanical decoupling quick-change mechanism with moving joints for minimally invasive surgery single-hole surgery robot includes a fixed base 1_1, and the 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.

[0062]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 mechanism 8 ...

Embodiment 2

[0120] combine Figure 10 ~ Figure 13 To illustrate this embodiment, on the basis of the technical solution of Example 1, the layout of the quick-change mechanism with mechanical decoupling of moving joints used in minimally invasive surgical single-hole surgical robots can be changed to an additional Figure 10 ~ Figure 13 in the structure. That is to say, the layout of the mechanically decoupled quick-change mechanism for the minimally invasive surgery single-hole surgical robot with moving joints 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 be correctly driven and mechanically decoupled.

[0121] The above-mentioned quick-change mechanism N with mechanical decoupling of moving joints for minimally invasive surgical single-hol...

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PUM

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Abstract

The invention discloses a mechanical decoupling single-hole surgery robot rapid replacement mechanism with a prismatic joint. The mechanism comprises 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, an eighth jointdriving mechanism, a base shell, a base outer cover, a connector and a locking mechanism. A surgical instrument rapid replacement mechanism is provided with a mechanical decoupling mechanism and completely solves the problem of mutual motion coupling generated when joints of surgical instrument executing mechanisms swing and rotate, the mechanical decoupling mechanism is mounted on the base, structure design of the surgical instrument executing mechanisms can be simplified, and mass production of the surgical instrument executing mechanisms is facilitated. The mechanical decoupling rapid replacement mechanism with the prismatic joint for a single-hole surgery robot has the advantages of convenience in disassembly and assembly, easiness in adjustment, accuracy in positioning, high stiffness, reasonable layout, small size and light 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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