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Surgical instrument clamping mechanism, end effector and surgical robot arm using same

A technology of end effectors and surgical instruments, applied in the field of surgical robotic arms, can solve problems such as limited puncture range, skin tearing, and inability to move with breathing, and achieve the effect of eliminating puncture point damage and trajectory offset

Active Publication Date: 2021-05-18
SINOSURGICAL HEALTHCARE TECH BEIJING CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, the existing puncture needle is rigidly connected to the mechanical arm, cannot move with breathing and the puncture posture can only be adjusted to one degree of freedom. Equipment costs remain high

Method used

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  • Surgical instrument clamping mechanism, end effector and surgical robot arm using same
  • Surgical instrument clamping mechanism, end effector and surgical robot arm using same
  • Surgical instrument clamping mechanism, end effector and surgical robot arm using same

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Embodiment Construction

[0051] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0052]The invention discloses the structure and application of a slave end mechanical arm in a master-slave control medical robot system, which can realize various related percutaneous puncture actions, such as directional ablation, biopsy and the like. Under the guidance of real-time CT images, the robotic arm can be remotely controlled to adjust the puncture trajectory of surgical instruments (such as puncture needles and ablation needles), and guide the surgical instruments to advance along the target puncture trajectory to the target depth. At the same time, the surgical instrument feeding device at the end of the robotic arm can be disengaged from the robotic arm and can be re-engaged with the robotic arm. The detach...

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Abstract

A surgical instrument clamping mechanism, an end effector and a surgical robot arm using the same. Under the guidance of real-time CT images, the surgical robotic arm can be remotely controlled to adjust the puncture trajectory of surgical instruments, and guide the surgical instruments to advance along the target puncture trajectory to the target depth. At the same time, the surgical instrument feeding device at the end of the robotic arm can be disengaged from the robotic arm and can be re-engaged with the robotic arm. The detachment of the surgical instrument from the mechanical arm can make the surgical instrument follow the breathing movement to eliminate the trajectory deviation and puncture point damage caused by the rigid fixation of the mechanical arm to the end of the surgical instrument. It can also meet the needs of emergency situations. Release; the re-engagement with the surgical manipulator can restore the relative position of the surgical instrument to the surgical manipulator, so as to adjust the puncture trajectory again.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to a surgical instrument clamping mechanism, an end effector and a surgical robot arm using the same. Background technique [0002] Needle aspiration is a relatively common technique in modern surgery, especially in the field of minimally invasive surgery. Under the guidance of images and other sensors, the puncture needle penetrates into the soft tissue lesion target to complete operations such as prevention of drugs, biopsy, local anesthesia, radiation and ablation therapy. Needle puncture is widely used in the diagnosis and treatment of organs and tissues such as prostate, lung, liver, kidney and spine. [0003] There are mainly two types of puncture path guidance for puncture needles: ultrasound guidance and CT guidance. Although the real-time and efficiency of CT guidance are not as good as those of ultrasound guidance, ultrasound diagnosis is only effective for solid organs,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/35A61B34/20
CPCA61B34/20A61B34/35A61B34/70A61B2034/2046
Inventor 孙志伟
Owner SINOSURGICAL HEALTHCARE TECH BEIJING CO LTD