Flexible surgical instrument, operating arm system and minimally invasive surgical robotic slave manipulator system

Abstract

A flexible surgical instrument, an operating arm system and a minimally invasive surgical robotic slave manipulator system are provided. The flexible surgical instrument includes an instrument drive mechanism, a flexible instrument arm, an active actuator of the flexible instrument arm and an operating forceps. The flexible instrument arm has the first end connected to the instrument drive mechanism and the second end connected to the first end of the active actuator of the flexible instrument arm. The operating forceps is connected to the second end of the active actuator of the flexible instrument arm. The instrument drive mechanism drives the active actuator of the flexible instrument arm to move. The flexible instrument arm moves along with the active actuator of the flexible instrument arm. The instrument drive mechanism also drives the operating forceps to move. The systems are small in size and flexible in layout, a supporting arm and an instrument guide arm can be regulated passively with a large regulation range, the space occupied in an operating room is small, and the systems can be laid out freely according to the environment of the operating room.

Description

technical field [0001] The present disclosure relates to the field of minimally invasive surgical robots, in particular to a flexible surgical instrument, an operating arm system and a minimally invasive surgical robot slave hand system. Background technique [0002] Minimally invasive surgery tools have many advantages such as small wounds, less bleeding, fast recovery time and good cosmetic effects. Traditional minimally invasive surgical tools are mostly long straight rods, which are held by doctors and inserted through tiny wounds in the chest cavity, abdominal cavity or other parts. In this mode, with the help of a medical endoscope, the surgical operation is completed under the screen of the monitor. In this mode of operation, the surgical operation needs to be carried out by the cooperation of the chief surgeon, the doctor holding the mirror and other auxiliary doctors. During the operation, there are often mutual Due to a variety of reasons, such as incoordination or...

AI Technical Summary

Problems solved by technology

[0005] In view of the wide variety of minimally invasive surgery, different lesion parts, different environmental requirements, and complex operating space constraints in the body, a certain type of minimally invasive surgical robot cannot fully adapt to the surgical field it targets. Hospitals need to be equipped with various types of surgical robots to be able to Meet the surgical needs of different patients

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