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Embedded auxiliary single-pore surgical robot for minimally invasive surgery department

A minimally invasive surgery, single-port surgery technology, applied in surgical robots, surgical manipulators and other directions, can solve the problems of extending the service life of the assisted minimally invasive surgery single-port surgical robot, avoid the decline in use accuracy, optimize the overall force balance, The effect of improving accuracy

Pending Publication Date: 2019-03-08
SHANDONG UNIV QILU HOSPITAL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of the flexibility of the layout of the auxiliary minimally invasive surgery single-hole surgery robot in the working state and the balance of the overall structure of the auxiliary minimally invasive surgery single-hole surgery robot in the non-working state, the rationality of the force of the parts and the protection of surgical instruments In order to solve the problem of optimizing the overall space occupation of minimally invasive surgical single-hole surgical robots, the present invention proposes a robot that is easy to disassemble, flexible to adjust, accurate in positioning, relatively large in rigidity, reasonable in force, optimized in layout, convenient in transportation, and long in service life. The nested assisted minimally invasive surgery single-hole surgery robot, through the optimized structural layout, enables the assisted minimally invasive surgery single-hole surgery robot to make the operating arm reach the target position of the patient's surgical site at the best angle in the working state , to facilitate surgical operations, optimize the flexibility of the auxiliary minimally invasive surgery single-hole surgery robot in the working state layout, and also optimize the overall structural force balance and The stress state of each component effectively prevents the bending moment deformation of the auxiliary minimally invasive surgery single-hole surgery robot due to gravity, and avoids the problem of the use of the auxiliary minimally invasive surgery single-hole surgery robot due to deformation. Adopting this arrangement structure is beneficial to the long-term maintenance of the robot for assisting minimally invasive surgery single-hole surgery, and can prolong the service life of the robot for assisting minimally invasive surgery for single-hole surgery

Method used

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  • Embedded auxiliary single-pore surgical robot for minimally invasive surgery department
  • Embedded auxiliary single-pore surgical robot for minimally invasive surgery department
  • Embedded auxiliary single-pore surgical robot for minimally invasive surgery department

Examples

Experimental program
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Effect test

Embodiment 1

[0040] Such as figure 1 , figure 2 , image 3 As shown, in order to solve the layout flexibility of the assisting minimally invasive surgery single-hole surgery robot in the working state and the balance of the overall structure of the assisting minimally invasive surgery single-hole surgery robot in the non-working state, the rationality of the stress on the parts and the surgical instruments In order to solve the problem of protection and the optimization of the overall space occupation of the single-hole surgical robot for assisting minimally invasive surgery, the present invention proposes a robot that is easy to assemble and disassemble, flexible to adjust, accurate in positioning, relatively rigid, reasonable in force, optimized in layout, and convenient in transportation. The layout structure of the nested auxiliary minimally invasive surgery single-hole surgery robot with long service life, through the optimized structural layout, the auxiliary minimally invasive sur...

Embodiment 2

[0052] The specific structure is as Figure 4 , Figure 5 , Figure 6 Shown:

[0053] On the basis of Embodiment 1, the operating arm 5, the operating arm 6 and the moving joint 5-6 are replaced with the operating arm 5, the operating arm 11, the operating arm 6, the rotating joint 5-11, and the rotating joint 11-6; An operating arm 11 is added between the operating arm 5 and the operating arm 6. One end of the operating arm 11 is connected to the operating arm 5 through a rotary joint 5-11, and the other end of the operating arm 11 is connected to the operating arm 6 through a rotary joint 11-6. Connected, the moving joint 5-6 in Embodiment 1 is removed; in this embodiment, the expansion and contraction of the operating arm 6 is realized through the operating arm 5, the operating arm 11 and the rotating joint 11-6.

[0054] The operating arm 7 is connected to the connecting base 8 through a rotary joint 7-8, and the connecting base 8 is connected to a quick-connect joint, ...

Embodiment 3

[0056] The specific structure is as Figure 7 , Figure 8 , Figure 9 As shown, this embodiment is on the basis of embodiment 1, and the cross-section of each arm section is designed as an L-shaped structure; the rest of the structure is the same as embodiment 1; The section of each arm section adopts an "L-shaped" structure. Compared with the rectangular arm section structure, the size of the "section" of the multiple arm sections connected in series of the column and the operating arm is reduced at the same time. The "weight" of multiple arm segments connected in series of the column and the operating arm is increased, and the "precision" of the single-hole surgical robot for assisting minimally invasive surgery is improved.

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Abstract

The invention discloses an embedded auxiliary single-pore surgical robot for the minimally invasive surgery department. The robot comprises a base, a column and an operating arm; the base supports andfixes the whole auxiliary single-pore surgical robot for the minimally invasive surgery department; the column is perpendicularly fixed to the base, and supports and fixes the operating arm of the auxiliary single-pore surgical robot for the minimally invasive surgery department; connection between the base and the adjacent arm sections of the operating arm, connection between the column and thearm sections adjacent to the column, connection between the adjacent arm sections of the operating arm and connection between the connecting base and the arm sections adjacent to the connecting base are achieved through rotary joints or movable joints, the connecting base is connected with a quick joint, and an endoscope or a surgical apparatus is installed on the quick joint. Multiple arm sections of the column and the operating arm are of a hollow structure, embedding between the column and the arm sections adjacent to the column, embedding between the adjacent arm sections of the operatingarm and embedding between the connecting base and the arm sections adjacent to the connecting base can be achieved through rotary joints among the arm sections, and thus all the arm sections of the operating arm, the connecting base and the surgical apparatus are embedded in the inner side of the column.

Description

technical field [0001] The invention relates to a medical device in the field of minimally invasive surgery single-hole surgery, in particular to a minimally invasive surgery single-hole surgery robot suitable for minimally invasive surgery operations on the chest cavity and abdominal cavity. Background technique [0002] Minimally invasive surgery represented by laparoscopic surgery is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of long and thin surgical instruments inserted into the body through tiny incisions on the surface of the human body. Surgical operation. Compared with traditional open surgery, it has the advantages of small surgical incision, less blood loss, small postoperative scar, and faster recovery time, which greatly reduces the suffering of patients; for this reason, minimally invasive surgery is widely used in clinical operations. Minimally invasive...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B34/70A61B2034/305A61B2034/302A61B2034/301
Inventor 胡三元冯红光程晓林田兆辉姜秀新樊炳辉
Owner SHANDONG UNIV QILU HOSPITAL