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A surgical robot based on universal joint

A surgical robot and universal joint technology, applied in the field of surgical robots based on universal joints, can solve the problems of large size, complex control and huge weight of the robot, and achieve the effects of simple debugging, simple system and small size

Pending Publication Date: 2019-01-11
SIHONG ZHENGXING MEDICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a surgical robot, six degrees of freedom can already meet the needs of surgery. The current surgical robot uses six single-degree-of-freedom joints to simulate the six-degree-of-freedom achieved by the three joints of the arm, resulting in the robot's bulky size, huge weight and cost. Expensive and more complicated to control

Method used

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  • A surgical robot based on universal joint
  • A surgical robot based on universal joint
  • A surgical robot based on universal joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0061] The structure of the universal joint robot of the present invention is as follows: figure 1 As shown, the joint movable frame 31 is fixed above the patient, the channel tube 2 used to pass through the surgical instrument passes through the spherical part 11 in the center of the first universal joint 1 and enters the abdominal cavity, and the execution instrument arm 4 of the robot passes through the channel tube 2 into the abdominal cavity. The first universal joint 1 is fixed in the joint movable frame 31 through the support spring 32 , and the joint movable frame 31 is fixed on the fixed frame 35 next to the operating bed by the support rod 33 and the support frame 34 . The holder 35 is installed on the floor of the operating room. Other installation forms can also be used, including being composed of horizontal bars, vertical bars and fixed sliders along the operating bed, installed on the operating bed, and installed on the ceiling above the patient in the form of...

Embodiment 2

[0107] Such as Figure 18 and Figure 19 As shown, this embodiment is an improvement on the basis of Embodiment 1. The improvement is that there are a drive assembly 5, an induction assembly 6, and a transition tube 26 for driving rotation in the spherical member 11, which has the function of the drive seat 27 and cancels A driving seat 27 for driving rotation, a channel pipe 21 and a driving seat fixing member 36 in the first embodiment. Other structures are the same as Embodiment 1.

Embodiment 3

[0109] Such as Figure 20 As shown, this embodiment is similar in structure to Embodiment 1, the difference is that the first universal joint is a universal joint composed of an inner ring 112, an outer ring 111 and a joint shell 13, and the inner ring 112 is suspended on the outer ring 111, The outer ring 111 is suspended on the joint shell 13; the rotation shafts of the inner ring 112 and the outer ring 111 are perpendicular to each other, and the angle between the axis lines is 90 degrees; the inner ring rotation shaft 115 is connected to the drive assembly 5, and the outer ring rotation shaft 114 is connected to the The driving assembly 5 is connected, and the driving assembly is used to drive the rotating shaft to rotate; the inner ring 112 can pass through the actuator arm 4 .

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PUM

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Abstract

The invention provides a surgical robot based on a universal joint and tactile feedback, which has six degrees of freedom. The surgical robot includes at least two universal joints, a driving assemblyin the universal joints drives the universal joints to move; adjacent universal joints are connected through channel tubes, on which a drive assembly drives the channel tubes to move. The center of the universal joint is provided with a rotating channel tube, an advancing and retreating channel tube and a surgical instrument in sequence. The invention also provides a control device based on the same structural principle. The invention simplifies the structure of the surgical robot and the control device by utilizing the three-dimensional rotation ability of the universal joint, and the structure of the control device and the execution device is the same, and the tactile feedback is provided to the operator, thereby improving the portability and the operability of the surgical robot.

Description

technical field [0001] The invention relates to a surgical robot system, in particular to a universal joint-based surgical robot. Background technique [0002] With the advancement of science and technology, surgical instruments in minimally invasive surgery enter the body through small fixed incisions on the body surface to complete the operation, and more and more minimally invasive surgeries begin to use surgical robots. At present, the da Vinci robot is the most successful minimally invasive robot commercialized and clinically used in the world. The open-loop parallelogram telecentric positioning mechanism adopted by the robot relies on the synchronous constraints of the steel belt to realize the parallelogram mechanism. The disadvantage of this mechanism is that When assembling, it is necessary to find the telecentric positioning point with the help of the device. The passive arm is integrated with a mechanical arm based on a mobile platform. The disadvantage of this m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/00
CPCA61B17/00234A61B34/30A61B34/70A61B34/71A61B34/73A61B34/76A61B2034/302
Inventor 郑杨郑兴
Owner SIHONG ZHENGXING MEDICAL TECH CO LTD