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Surgical robot based on ball and socket joint and tactile feedback and control device thereof

A surgical robot and ball and socket joint technology, applied in surgical manipulators, surgical robots, surgery, etc., can solve problems such as high processing accuracy requirements, difficult to solve driving problems, unfavorable surgical operations, etc., and achieve simple debugging, easy portability and assembly , good economical effect

Active Publication Date: 2019-01-11
南京迈科视医疗科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 2. Mechanical structure: The fixed-point movement is realized through the movement characteristics of the mechanical structure. The mechanisms that can ensure the fixed-point movement include: 1. The arc track mechanism, as long as the patient The fixed-point movement of the surgical instrument can be ensured if the table cutout is located at the center of the arc track, but the driving problem of this mechanism is not easy to solve
[0005]2. Shaft direct drive mechanism, as long as the incision on the body surface is located on the drive axis, fixed-point movement can be realized, but fixed-point movement can only be realized in one swing direction
[0006]3. Composite parallel four-bar mechanism, using the superimposed motion of two parallel four-bars to realize fixed-point movement, this kind of mechanism requires high machining accuracy and is difficult to realize. And the volume is large, which is not conducive to surgical operation
Repeated switching is a waste of time, and the assistant cannot flexibly control the direction and angle of the lens like in conventional laparoscopic surgery

Method used

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  • Surgical robot based on ball and socket joint and tactile feedback and control device thereof
  • Surgical robot based on ball and socket joint and tactile feedback and control device thereof
  • Surgical robot based on ball and socket joint and tactile feedback and control device thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0057] The structure of the ball 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 ball joint 1 and enters the abdominal cavity, and the execution instrument arm 4 of the robot enters through the channel tube 2 abdominal cavity. The ball joint 1 is fixed in the joint movable frame 31 through the supporting spring 32, and the joint movable frame 31 is fixed on the fixed frame 35 next to the operating bed by the supporting rod 33 and the supporting 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 a suspended ceiling. The ab...

Embodiment 2

[0080] This example Figure 12 and Figure 13 As shown, it is an improvement on the basis of Embodiment 1. The improvement is that there is 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 a drive seat 27, and Embodiment 1 is cancelled. One of them drives a rotating drive seat 27, a channel pipe 21 and a drive seat fixture 36. Other structures are the same as Embodiment 1.

Embodiment 3

[0082] This embodiment is similar in structure to the first embodiment, the difference is that there is only the driving component 5 in the actuator, and the sensing component 6 in the control device 7, so that the operator does not feel force feedback when operating. But more driving assemblies 5 can be installed in the actuator to strengthen the driving force.

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Abstract

The invention provides a surgical robot based on ball socket joint and tactile feedback, which has a ball socket joint composed of a ball member and a joint seat, wherein the joint seat has a first roller shaft and a second roller shaft for driving the ball member to rotate three-dimensionally therein, and a sensor for collecting the three-dimensional rotation of the ball member relative thereto.The center of the spherical part is provided with a rotating channel tube, an advancing and retreating channel tube and a surgical instrument in a penetrating manner 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 abilityof the ball and socket 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 andthe operability of the surgical robot.

Description

technical field [0001] The invention relates to a surgical robot system, in particular to a surgical robot based on ball joints and tactile feedback and a control device thereof. Background technique [0002] With the advancement of science and technology, more and more minimally invasive surgeries begin to use surgical robots. In minimally invasive surgery, surgical instruments enter the body through small fixed incisions on the body surface to complete the operation. In view of the constraints of the incision on the body surface and the surgical safety of the patient, the surgical instruments are required to move at fixed points at the incision. At present, the following three schemes are adopted to realize the fixed-point movement of surgical instruments. [0003] 1. Passive joints: The movement of surgical instruments around the incision is indirectly achieved through the joint movement of the front end of the kinematic chain, and the fixed-point movement is guaranteed ...

Claims

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Application Information

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IPC IPC(8): A61B34/37A61B17/00
CPCA61B17/00234A61B34/37A61B34/70A61B34/73A61B34/74A61B34/76A61B2034/742A61B2034/302
Inventor 郑杨郑兴
Owner 南京迈科视医疗科技有限公司