Convergent-divergent minimally invasive surgical robot driven arm system
A minimally invasive surgery and robotic technology, applied in the field of robotics, can solve the problems of low operational flexibility, complex operation, and large space occupation, and achieve the effects of convenient pose calibration, high operational flexibility, and good adaptability
Active Publication Date: 2020-02-14
杭州唯精医疗机器人有限公司
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Problems solved by technology
[0003] The existing slave arm systems are basically divided into integrated and decentralized, but the integrated type is inconvenient for some surgical operations and has low operational flexibility; the decentralized slave arm system is flexible in positioning, but the basic position of each slave arm is The seat is also large, and position calibration is required between each arm, which is complicated to operate and takes up a lot of space
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[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0020] combine figure 1 and figure 2 As shown, a slave arm system of a convergent minimally invasive surgery robot, which includes a holding arm part A and a mirror holding arm part B;
[0021] The holding arm part A includes the holding base 0-1-1 and two holding mechanical arms 1, and the two holding mechanical arms 1 are mirrored on the holding base 0-1-1, and the holding mirror arm part B It includes a mirror-holding base 0-2-1 and a mirror-holding mec...
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The invention relates to a convergent-divergent minimally invasive surgical robot driven arm system, which comprises an instrument holding arm part and a mirror holding arm part. The instrument holding arm part comprises an instrument holding base and two instrument holding mechanical arms, the two instrument holding mechanical arms are arranged on the instrument holding base in a mirror image mode, and the mirror holding arm part comprises a mirror holding base and a mirror holding mechanical arm; the mirror holding mechanical arm is mounted on the mirror holding base; when the instrument holding arm part and the mirror holding arm part are in a connected state, the instrument holding base and the mirror holding base are connected together through a connecting mechanism; or when the instrument holding arm part and the mirror holding arm part are in a separated state, the poses of the instrument holding arm part and the mirror holding arm part are determined by a pose calibration system to interact with each other. According to the invention, the two bases of the mirror holding arm part and the instrument holding arm part can be connected or disconnected according to the requirements of doctors and the optimization result, and the operation flexibility is good.
Description
technical field [0001] The invention relates to a robot, in particular to a slave arm system of a convergent minimally invasive surgery robot. Background technique [0002] The minimally invasive surgery currently being studied has the advantages of less trauma, faster recovery, fewer complications, and shorter hospital stay. It is a research hotspot in medical technology and is also the development trend of surgery in the future. However, the shortcomings of traditional endoscopic surgery are low precision, small field of view, small degree of freedom of operation, and easy fatigue and trembling of doctors, which seriously affect the quality of surgery; with the advancement of technology, robotic medical assistance technology can solve these problems well. With the assistance of the robot, it can provide a high-definition 3D field of view for doctors to operate. Micro operating instruments greatly increase the flexibility of surgical operations, and the operating accuracy ...
Claims
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IPC IPC(8): A61B34/37
CPCA61B34/37A61B34/70A61B2034/305
Inventor 付宜利潘博
Owner 杭州唯精医疗机器人有限公司