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Minimally invasive surgery system adopting self-unfolding flexible micro-operation arm and control method of minimally invasive surgery system

A technology of minimally invasive surgery and manipulators, which is applied in the direction of surgery, surgical forceps, surgical manipulators, etc., can solve the problems of large instruments that cannot work in the urethra, nasal cavity, rigid structure flexibility and small activity space, etc., to achieve The effect of reducing complexity, reducing length, and improving efficiency

Active Publication Date: 2019-11-29
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing surgical robots such as Da Vinci, Zeus and other surgical instruments are mostly rigid multi-joint structures, the diameter of the instrument shaft is relatively thick, and the instrument volume is too large to work in narrow spaces such as the urethra and nasal cavity
Rigid structures have less flexibility and less room for movement, which cannot meet the needs of minimally invasive surgery in complex and narrow environments

Method used

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  • Minimally invasive surgery system adopting self-unfolding flexible micro-operation arm and control method of minimally invasive surgery system
  • Minimally invasive surgery system adopting self-unfolding flexible micro-operation arm and control method of minimally invasive surgery system
  • Minimally invasive surgery system adopting self-unfolding flexible micro-operation arm and control method of minimally invasive surgery system

Examples

Experimental program
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Effect test

Embodiment 1

[0044] see figure 1 As shown, a robot minimally invasive surgery system is provided, taking bladder surgery as an example, a flexible micro-manipulator arm mechanism 1; a drive rope quick connection mechanism 2; a rope connector and a rope drive control mechanism connecting stud 3; a rope drive control mechanism 4 ; Driving rope 5; Rope driver and rope drive control mechanism connecting nut 6; Bladder 7.

[0045] see figure 2 Shown is a schematic diagram of the rope-driven control mechanism. The mechanism includes two motor support frames; the first support frame 19 of the drive motor group and the second support frame 20 of the drive motor group are connected with the second support frame connecting stud 12 by the first support frame, and the motor 14 passes through Motor bracing frame and motor connecting screw 15 are connected on the bracing frame, and three groups of motors are conically distributed on the bracing frame, and the traction rope is concentrated at the end,...

Embodiment 2

[0052] see Figure 8 Shown is the principle block diagram of minimally invasive surgical robot system. The operator controls the rope-driven controller through the visual feedback of the camera, the force feedback of the surgical forceps and the stress feedback on the operating arm, adjusts the posture and stiffness of the operating arm, and completes the operation.

[0053] Specifically, the control method of the above-mentioned minimally invasive surgery system includes a control method of a micro-manipulator, and the method includes the following steps:

[0054] Step 1: Install a miniature camera at the end of the micromanipulator arm to find lesions, adjust the posture of the camera and other actuators according to the visual feedback signal of the miniature camera, and provide a better viewing angle to ensure that the clamp and laser probe are close to the lesion;

[0055] Step 2. If the visual feedback has a blind spot in the field of vision and cannot fully feedback the ...

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Abstract

The invention provides a minimally invasive surgery system adopting a self-unfolding flexible micro-operation arm and a control method of the minimally invasive surgery system. The surgery system comprises a self-unfolding flexible micro-operation arm structure, a driving rope quick connecting mechanism and a rope driving control mechanism. Wherein the flexible micro-operation arm structure comprises a folding-type flexible micro-operation arm and a folding-type operating forceps; a flexible micro-operation arm is located at the end of the whole operation system and extends deeply into an operation object, and the interior of the flexible micro-operation arm is connected to the rope driving control mechanism through a rope structure, the rope driving control mechanism enables a rope in thesystem to extend or shorten through a motor so as to drive the flexible micro-operation arm structure to deform, so that the folding-type operating forceps complete the operation action. The surgicalsystem structure provided by the invention is convenient to miniaturize, and has the functions of driving, sensing, rigidity changing and the like. The problems that a traditional surgical robot is difficult to miniaturize and lacks sensing feedback are solved. The operation arm is self-unfolded after passing through a narrow wound, so that the requirement of the minimally invasive surgery in a narrow space is met.

Description

technical field [0001] The invention relates to a robot minimally invasive surgery system and a control method thereof, in particular to a microscopic surgical robot using a flexible micromanipulation arm made of multi-layer materials, a tapered distribution rope drive controller and a quick connection mechanism and a control method thereof . Background technique [0002] With the continuous development of medical technology in recent years, minimally invasive technology, as an emerging medical technology, can effectively reduce surgical trauma, shorten postoperative time, and improve the success rate of surgery. With the above advantages, minimally invasive technology is favored by the industry and is considered to be one of the most promising medical technology development directions. However, smaller surgical incisions also bring higher technical challenges for doctors. In order to perform surgical tasks, instruments need to pass through narrow passages to reach the tar...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B34/00A61B18/22A61B90/00
CPCA61B34/30A61B34/00A61B34/72A61B34/76A61B18/22A61B90/37A61B2018/00577A61B17/29A61B2090/373
Inventor 鞠锋张贤网员亚辉王亚明郭昊白东明齐飞姚佳烽陈柏吴洪涛
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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