Cavity endoscopic surgical robot

Abstract

The invention discloses a cavity endoscopic surgical robot, which mainly includes four systems: a rotation system, a vertical lifting system, a propulsion system and a stretching system. The snakelikemechanism of a movable pulley group in the invention improves defects of a traditional snakelike mechanism. By separating a driving motor from a mechanical structure and adopting a movable pulley driving mode, independent control is achieved without connecting a driving device to a joint module, thereby increasing the size and number of internal channels but without increasing the maximum outer diameter of the snakelike mechanism so as to form a snakelike mechanism with multiple degrees of freedom and flexible movement. In addition, a small driving force is input and converted to output a nearly nine-fold support force, which is great enough to hold and position a surgical tool inserted into the internal channel. The snakelike mechanism of the movable pulley group in the invention has theadvantages of multiple degrees of freedom, flexible operation and good maneuverability. The realization of the mechanism can have a certain auxiliary effect on natural cavity surgery.

Description

technical field [0001] The present invention relates to the field of medical robots for endoscopic surgery, in particular to a cavity endoscopic surgery, which is suitable for internal incisions of the throat, stomach, large intestine, vagina and anus and is inserted into the surgical site far away, and the surgical equipment can be Endoscopic surgery is performed by positioning the designated part of the patient's body through the natural orifice of the human body. Background technique [0002] Traditionally, flexible endoscopes are only used for diagnosis and treatment of hollow viscera, and it has always been considered an absolute taboo to enter the abdominal cavity through the walls of hollow viscera, which may lead to perforation of the digestive tract, intraperitoneal Serious consequences such as infection, peritonitis, retroperitoneal infection and even death. In recent years, with the development and update of endoscopic technology and the continuous exploration of...

AI Technical Summary

Problems solved by technology

[0005] The present invention proposes a cavity endoscopic surgery robot. The movable pulley group serpentine mechanism solves the problem that there is not enough force to support the surgical tool and allow the surgical tool to be inserted into the patient's target site from the natural cavity endoscopic surgery. , has advantages in operating force, size and controllability

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