Flexible robot for abdominal cavity minimally invasive surgery

Abstract

The invention relates to a flexible robot for abdominal cavity minimally invasive surgery, and relates to the technical field of medical equipment for abdominal cavity minimally invasive surgery. Theflexible robot comprises a driving system, a flexible robot main body and an end surgical forceps mechanism; the driving system comprises a linear feed system, a cable-driven system and a gas-driven system; the cable-driven system is connected with the linear feed system, and the flexible robot main body is arranged on the cable-driven system; the gas-driven system supplies gas to the flexible robot main body through a gas pipe passing through the cable-driven system, a front-end gripper of the end surgical forceps mechanism is arranged at the front end of the flexible robot main body, the endhand-held handle of the end surgical forceps mechanism is arranged on the cable-driven system, and a front-end gripper is connected with the end hand-held handle through a steel wire rope penetratingthe cable-driven system and the flexible robot main body. The flexible robot has the advantages of compact structure, adopts a flexible material, can realize polymorphic change and self variable stiffness effect with multi-module design, improves the spatial movement ability of the robot, and has the functions of realizing visual detection and biological tissue sampling.

Description

technical field [0001] The invention relates to the technical field of medical equipment for minimally invasive surgery in the abdominal cavity. It is a flexible robot system that retains the rigidity of the driving device. The main body of the robot is made of flexible materials. Soft robots for surgery. Background technique [0002] With the continuous development and progress of science and technology, more and more industrial operations have been replaced by robots. Traditional rigid robots are almost all made of rigid materials, with high strength and good movement ability in general structural environments. However, when encountering more difficult working environments, they often fail to achieve ideal working results; on the other hand, soft robots Robots, because of their soft materials, have infinite degrees of freedom, and can continue to operate in chaotic and dangerous environments, such as minimally invasive surgery, mine exploration, etc., which are obviously ...

AI Technical Summary

Problems solved by technology

However, the current implementation of robot-assisted minimally invasive surgery only uses robots to replace doctors from the operating table, and the existing surgical robots are basically rigid robots with limited degrees of freedom, making it difficult to apply to various complex environments , Surgical instruments are prone to collision interference or "chopstick" effect in the patient's body, the fault tolerance rate is low, and the robot's movement ability is not good enough; in addition, the existing flexible surgical robots similar to gastrointestinal endoscopes have single functions and can only realize Simple operations such as image acquisition, the degree of integration is not high, it is difficult to complete complex surgical operations, and there are great limitations

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