Abdominal cavity minimally invasive surgery operation robot

Abstract

The invention discloses an abdominal cavity minimally invasive surgery operation robot. The robot comprises a control device, a rack, at least three mechanical arms connected to the rack, and at leastthree end executer clamping devices connected to the mechanical arms. Each mechanical arm comprises a position adjustment mechanism and a telecentric mechanism capable of carrying out controlling through a control device. Each position adjustment mechanism comprises a first sliding block, a rotatably connected first rod piece, a rotatably connected second rod piece and a rotatably connected thirdrod piece. Each telecentric mechanism comprises a pivoting piece pivotably connected with the corresponding position adjustment mechanism, a rotatably connected first connection rod, a rotatably connected second connection rod, a rotatably connected third connection rod and a second sliding block. According to the invention, the telecentric mechanisms of the mechanical arms are single parallelogram mechanisms, so the corner range of each joint is improved; and flexibility and obstacle avoiding ability of the telecentric mechanisms of the mechanical arms are improved. The robot is simple in structure, small in size, and highly stable, stable and safe and has use values in industry.

Description

technical field [0001] The invention relates to a minimally invasive abdominal surgery robot, which is used for minimally invasive abdominal surgery and belongs to the field of medical devices. Background technique [0002] At present, minimally invasive surgical robots have become a research hotspot in the field of medical robotics. It combines traditional medical devices with information technology and robotics, making surgical diagnosis and treatment minimally invasive, miniaturized, intelligent and digital. Compared with traditional surgery, minimally invasive surgical robots have significant advantages: minimally invasive robotic surgery can improve the working mode of doctors, making doctors more dexterous, convenient and precise when performing operations, and even allowing two different fields of surgery The doctor performs two related operations at the same time; in addition, even if the operation is performed for a long time, the minimally invasive surgical robot w...

AI Technical Summary

Problems solved by technology

The double parallelogram mechanism is a widely used mechanism. Many medical robot mechanisms use this mechanism to achieve telecentric motion. However, this mechanism has multiple connecting rods and joints, so it is easy to cause the entire robot to be bulky and heavy. It may cause interference with other auxiliary equipment or personnel during the actual operation

Using the telecentric movement realized by the passive joint, the telecentric point can adapt to the change of the incision position, and will not cause additional damage to the surrounding tissue, and the safety is high, but the operation accuracy is easily disturbed by the reaction force of the incision tissue

The far center point of the arc mechanism is the center of the arc track, but this kind of mechanism has a large volume and the drive design is more complicated

The far center point of the spherical mechanism is located at the center of the spherical mechanism. This structure is relatively simple. There are only two joints. High, so the series form is generally used, although this form can make the mechanism smaller, but the reliability and stability are poor

Images