Parallel brain surgery minimally-invasive-surgery robot capable of being fixed to skull

Abstract

The invention provides a parallel minimally-invasive-surgery robot capable of being fixed to a skull. The parallel minimally-invasive-surgery robot comprises a base, a frame, a first sliding connecting piece, a second sliding connecting piece, a first sliding block, a second sliding block, four driving pieces and clamping devices; the first driving piece and the second driving piece sequentially penetrate through two second through holes in the first ends of the first sliding connecting piece and the second sliding connecting piece, sixth through holes and seventh through holes in the first sliding block and the second sliding block, and two third through holes in the second ends of the first sliding connecting piece and the second sliding connecting piece correspondingly; the third driving piece and the fourth driving piece sequentially penetrate through paired first through holes in one end of the frame, fourth through holes and fifth through holes in the first sliding connecting piece and the second sliding connecting piece, and paired first through holes in the other end of the frame correspondingly; the fourth through holes and the sixth through holes are fixedly connected with the driving pieces, and the remaining through holes are movably connected with the driving pieces, so that the driving pieces can drive the first sliding connecting piece and the second sliding connecting piece to move along a first sliding track and drive the first sliding block and the second sliding block to move along a second sliding track; and the clamping devices are rotatably connected to the first sliding block and the second sliding block correspondingly.

Description

technical field [0001] The invention relates to surgical medical instruments, in particular to a small parallel brain surgery minimally invasive robot that can be fixed on the skull. Background technique [0002] Stroke and head tumors are high-incidence and high-risk diseases in brain surgery diseases. In order to reduce the damage to patients during surgery, minimally invasive surgery is usually used. The main surgical method is to use surgical instruments to drill holes on the surface of the skull, combined with medical image information, and rely on the experience of surgeons to find out the gap between the human anatomical structure and medical equipment. By adjusting the position of surgical instruments, probes or other surgical instruments are introduced into the patient's head to perform biopsy, radiotherapy, resection and other operations on the lesion area. [0003] At present, the equipment used for brain surgery mainly includes two types: the first is passive su...

AI Technical Summary

Problems solved by technology

[0003] At present, the equipment used for brain surgery mainly includes two types: the first is passive surgical equipment, such as the "fixed bracket for surgical navigation" proposed by Shen Guofang et al. (Patent No.: 200910179682.6). It is completely operated by the doctor, and it is fixed to the skull by fixing screws to improve the accuracy of surgical navigation. This type of surgical instrument has high safety and low cost, but there are problems such as cumbersome operation and poor flexibility; another It is a surgical instrument that can move autonomously. For example, the "Closed-loop Controlled Brain Surgery Robot System and Implementation Method Based on Optical Tracking" proposed by Chen Guodong et al. (Patent No.: 200510122586.X). Surgical planning, improve surgical accuracy, reduce the probability of doctors making mistakes, the main disadvantage is the complex structure, inconvenient installation and operation

In terms of structure, the frame structure is the mainstream structure currently used, but this structure is relatively large, which will make patients feel uncomfortable.

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