Small-scale telecentric fixed-point mechanism for minimally invasive surgery
A minimally invasive surgery, small-scale technology, applied in the field of medical devices, can solve the problems of difficult to achieve miniaturization of robots, difficult to reduce the size of the configuration, etc., to achieve stable positioning, reduce the size of the mechanism, and avoid interference.
Active Publication Date: 2021-11-16
TIANJIN UNIV
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Problems solved by technology
[0003] The existing telecentric fixed point mechanisms can be roughly divided into two categories, arc guideway mechanism (stereo) and double parallelogram mechanism (plane), both of which have problems such as difficulty in reducing the configuration scale, and it is difficult to realize the miniaturization of the robot
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[0049] The present disclosure provides a small-scale telecentric fixed point mechanism for minimally invasive surgical operations, including: a first transmission shaft, a second transmission shaft, a third transmission shaft, and a lens arm; the first transmission shaft drive assembly and The first end of the first transmission shaft is connected, and the first end of the first transmission shaft is sleeved with a first gear; the first end of the second transmission shaft is sleeved with a second gear, and the first gear is connected to the first gear. The two gears are meshed; the third transmission shaft is connected to the second end of the first transmission shaft through a transmission wire, and the axis of the third transmission shaft coincides with the axis of the second transmission shaft; the first end of the mirror arm passes through The connecting piece is respectively connected with the third transmission shaft and the second transmission shaft; the second end of t...
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The present disclosure provides a small-scale telecentric fixed point mechanism for minimally invasive surgical operations, including: a first transmission shaft, a second transmission shaft, a third transmission shaft, and a lens arm; the first transmission shaft drive assembly and The first end of the first transmission shaft is connected, and the first end of the first transmission shaft is sleeved with a first gear; the first end of the second transmission shaft is sleeved with a second gear, and the first gear is connected to the first gear. The two gears are meshed; the third transmission shaft is connected to the second end of the first transmission shaft through a transmission wire, and the axis of the third transmission shaft coincides with the axis of the second transmission shaft; the first end of the mirror arm passes through The connecting piece is respectively connected with the third transmission shaft and the second transmission shaft; the second end of the mirror holding arm is connected with the surgical instrument. Under the premise of ensuring the realization of the telecentric fixed point, the present disclosure reduces the overall size, which is beneficial to the miniaturization of minimally invasive surgical robots.
Description
technical field [0001] The present disclosure relates to the field of medical devices, in particular to a small-scale telecentric fixed point mechanism for minimally invasive surgical operations. Background technique [0002] Minimally invasive surgery is performed using modern medical instruments and related equipment. In minimally invasive surgery, it is often necessary to use various instruments to complete the operation, but all of them need to pass through the fixed incision (poke card), so the telecentric fixed point mechanism is an important part of the minimally invasive surgical instrument . [0003] Existing telecentric fixed point mechanisms can be roughly divided into two categories, arc guideway mechanism (three-dimensional) and double parallelogram mechanism (plane), both of which have problems such as difficult to reduce the configuration scale, and it is difficult to realize the miniaturization of the robot. Contents of the invention [0004] (1) Technica...
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IPC IPC(8): A61B17/00A61B1/00
CPCA61B1/00149A61B1/0016A61B17/00234
Inventor 王树新张子江李建民赵建厂李进华
Owner TIANJIN UNIV