Stiffness-variable surgical manipulator, surgical instrument and operation method of surgical instrument

Abstract

The invention relates to a stiffness-variable surgical manipulator, a surgical instrument and an operation method of the surgical instrument. The stiffness-variable surgical manipulator comprises multiple joints, the adjacent joints are in spherical contact, all the joints pass through a flexible pipe arranged concentrically with the joints, a flexible temperature control pipe wrapped outside theflexible pipe, a stiffness-variable pipe wrapped outside the flexible temperature control pipe, and at least one set of rope lines, the number of each set of rope lines is two, the rope lines are evenly distributed around the circle set concentrically with the joints, the diameter of the circumference is larger than the outer diameter of the stiffness-variable pipe, the two rope lines in the sameset are located at both ends of the circumferential diameter, and the flexible temperature control pipe can heat or cool the stiffness-variable pipe to change the stiffness state of the stiffness-variable pipe.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a surgical robot arm with variable stiffness, a surgical device and a method. Background technique [0002] In endoscopic interventional surgery, the flexible surgical manipulator can flexibly adapt to the tortuous path of the human body in a narrow space without harming human tissue; however, when the end surgical instrument is working, the surgical manipulator needs to have sufficient rigidity to resist external loads. The stiffness in these two cases is quite different, and the inventors have found that existing surgical robots fail to fully meet these two conflicting requirements, which limits the performance and use of surgical robots. [0003] Current surgical manipulators adjust stiffness by reassembling or reconnecting components using attachable and detachable links within the structure. Consistency is obtained when parts are disassembled and high stiffness...

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Problems solved by technology

Such as using a locking mechanism based on sliders and stoppers to switch the state of the cannula system (compliance or rigidity), but the inventors found that the structural design of this method is quite complicated, and the overall structure is bulky, which cannot be narrowed during the operation. Use of space; apply the reversible interference of granular media (sand or coffee powder) and vacuum pressure to adjust the stiffness of the system, the inventors found that high stiffness requires a large number of particles, which will lead to a structure that is too bulky; by increasing the tension of the cables to To improve the rigidity of the surgical manipulator, the inventor found that this method requires high-strength and wear-resistant cable materials and the wiring arrangement is relatively complicated; a cylindrical silicone catheter is used and a mesh-shaped plastic tube is embedded inside to form a variable rigidity The inventors found that this method needs to use air pressure to control the stiffness, and the noise and structural size are relatively large, so it is not suitable for application in surgery. Therefore, there is no stiffness adjustment of multi-section continuum surgical robots that can meet clinical applications. technology

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