Single-arm and double-arm auxiliary minimally invasive surgical operation robot and cooperative combined robot system

A surgical robot and minimally invasive surgery technology, applied in surgical robots, surgical manipulators, etc., to optimize the overall force balance and prevent bending moments

Pending Publication Date: 2019-07-12
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 flexibility of the layout of the auxiliary minimally invasive surgical robot in the working state and the balance of the overall structure of the auxiliary minimally invasive surgical robot in the non-working state, the rationality of the force of the parts and the protection of surgical instruments, and the auxiliary minimally invasive surgical robot To solve the op...

Method used

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  • Single-arm and double-arm auxiliary minimally invasive surgical operation robot and cooperative combined robot system
  • Single-arm and double-arm auxiliary minimally invasive surgical operation robot and cooperative combined robot system
  • Single-arm and double-arm auxiliary minimally invasive surgical operation robot and cooperative combined robot system

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Embodiment 1

[0069] Such as Figure 1 to Figure 18 As shown, in order to solve the flexibility of the layout of the auxiliary minimally invasive surgical robot in the working state and the balance of the overall structure of the auxiliary minimally invasive surgical robot in the non-working state, the rationality of the force of the parts and the protection of surgical instruments and To assist the optimization of the overall space occupation of minimally invasive surgical robots, the present invention proposes a single arm 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 collaborative auxiliary minimally invasive surgical robot, through the optimized structural layout, enables the auxiliary minimally invasive surgical robot to coordinate the layout in the working state so that the operating arm can reach the target position of the pati...

Embodiment 2

[0085] The specific structure is as Figure 19 Shown:

[0086] On the basis of Example 1, the figure 1 The arm section one 3, the arm section two 4, the swivel joint 2-3, and the swivel joint 3-4 between the arm section three 5 and the column 2 described in the above are replaced by Figure 15 Middle arm section 1 3-1, arm section 2 3-2, arm section 3 3-3, arm section 4 3-4 and moving joint 2-3-1, rotating joint 3-1-3-2, rotating joint 3 -1-3-3, revolving joint 3-1-3-4, while removing the revolving joint 1-2 between the column 2 and the base 1 in embodiment 1, the rest of the structure remains unchanged, The function of the operating arm for positioning the surgical instrument for surgical operations can also be realized.

[0087] In the working state, the arm section one 3-1 can move the joint 2-3- 1. Move to a suitable height in the vertical direction, the first arm segment 3-1, the second arm segment 3-2, and the third arm segment 3-3 can pass through the rotating joint...

Embodiment 3

[0089] This embodiment provides a collaborative combined robot system, including at least two single-arm assisted minimally invasive surgical robots described in Embodiment 1 and Embodiment 2. For example, four or more single-arm combined cooperative minimally invasive surgical robots can be used to cooperate in surgical operations according to surgical requirements. Taking four single-arm combined collaborative minimally invasive surgical robots as an example, the described The single-arm combined collaborative minimally invasive surgical robot can be flexibly arranged according to the surgical needs, and can be placed on one side of the operating bed; two can be placed on one side of the operating bed, and the other two can be placed on the other side of the operating bed; Three can be placed on one side of the operating table, and the other can be placed on the other side of the operating table.

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Abstract

The invention discloses a single-arm and double-arm auxiliary minimally invasive surgical operation robot and a cooperative combined robot system, which comprise a base, an upright post and an operating arm, wherein the base supports and fixes the whole auxiliary minimally invasive surgical operation robot; the upright post is vertically fixed on the base and supports and fixes the operating arm of the auxiliary minimally invasive surgical operation robot; a connecting seat of the operating arm is connected with a quick joint; an endoscope or a surgical instrument is arranged on the quick joint; the surgical instrument performs spherical rotating motion around a cutting point of a human body surgical site; four or more single-arm combined cooperative minimally invasive surgical robots areadopted to cooperate for surgical operation; the upright post and an arm section I are in a hollow structure; and adjacent arm sections of the upright post, the operating arm and the connecting seat can rotate relatively and be nested through rotating joints between the arm sections, so that each arm section of the operating arm, the connecting seat and the surgical instrument are nested at the inner side of the upright post.

Description

technical field [0001] The invention relates to a medical device in the field of minimally invasive surgery, in particular to a single-arm and double-arm auxiliary minimally invasive surgical robot and a collaborative combined robot system suitable for minimally invasive surgical operations in the thoracic and abdominal cavities. 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 cl...

Claims

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Application Information

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IPC IPC(8): A61B34/30
CPCA61B34/30A61B34/70A61B2034/305
Inventor 胡三元冯红光程晓林田兆辉姜秀新
Owner SHANDONG UNIV QILU HOSPITAL
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