In-vivo additional material repair system and in-vivo repair device

Abstract

The invention provides an in-vivo additional material repair system and an in-vivo repair device. The in-vivo repair device comprises a driving mechanism, a transmission mechanism and a printing device. The printing device prints a biological material; the driving mechanism drives the transmission mechanism to rotate; the transmission mechanism comprises a revolute pair assembly, and the revolutepair assembly comprises at least two revolute pairs; the printing device is connected to the transmission mechanism through the revolute pair assembly, and the revolute pair assembly is provided withat least two revolute axes perpendicular to each other. Each of the at least two revolute pairs has the following structures: two rigid bodies and a flexible film clamped between the two rigid bodies;the two rigid bodies are missing at corresponding positions so that each rigid body can form two discrete segments, the two discrete segments are connected together through the flexible film, and therevolute axes of the revolute pairs are formed at the missing positions of the rigid bodies. At least two revolute pairs with orthogonal revolute axes are adopted to replace spherical hinge revolutepairs, so that the processing difficulty of the in-vivo repair device is reduced, and the space required by operation is reduced.

Description

technical field [0001] The present invention relates to the field of medical technology, and in particular to an in vivo additive repair system and an in vivo repair device. Background technique [0002] Endoscopic surgery through the natural orifice refers to the integration of surgical instruments in the endoscope, such as biopsy forceps, scalpels, etc., to perform biopsy or excision of the lesion tissue. In endoscopic surgery through the natural orifice, endoscopic robots are commonly used to take tissue from the lesion, which belongs to the category of subtractive operation. [0003] In order to perform additive repair in the body, the endoscopic robot can be used to send the absorbable clip into the body through the natural cavity, and suture the defect under the endoscope. However, this method is difficult to operate, and the large absorbable clip cannot be sent into the body due to its size, so only small wounds can be repaired. [0004] CN108969149A provides a skin...

AI Technical Summary

Problems solved by technology

[0005] Although the skin in situ printing repair system can achieve in situ repair, it uses universal joints to realize the movement of the moving platform in multiple directions, the overall size is large and the structure is complex, and it is not suitable for in vivo operation.

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