A flexible robot for minimally invasive abdominal surgery

Abstract

A flexible robot for abdominal minimally invasive surgery, which relates to the technical field of abdominal minimally invasive surgical medical equipment, which includes a drive system, a soft robot body and an end surgical forceps mechanism; the drive system includes a linear feed system, a wire drive system And the air drive system; the line drive system is connected with the linear feeding system, the main body of the soft robot is installed on the line drive system, the air drive system supplies air to the main body of the soft robot through the air pipe passing through the line drive system, and the front end of the end forceps mechanism clamps The gripper is installed on the front end of the main body of the soft robot, and the end hand grip of the end forceps mechanism is installed on the line drive system, and the front end gripper is connected to the end hand grip through the wire rope passing through the line drive system and the main body of the soft robot. The invention has a compact structure, adopts flexible materials, and multi-module design can realize multi-morphological changes and self-variable rigidity effects, improves the space 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[0002] With the continuous development and progress of science and technology, more and more industrial operations have been replaced by robots.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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