A three-axis intersecting active-passive hybrid surgical mirror arm

Abstract

The invention discloses a three-axis intersection-type endoscope-holding arm for an active-passive hybrid surgery. In the traditional laparoscopic surgery, an endoscope is often supported by medical personnel, when the human body is fatigued or shakes, an endoscope image is easily blurred and unclear, and thereby the doctor's surgical operation is directly affected. The endoscope-holding arm comprises a machine frame, a first kinematic chain, a second kinematic chain and an end effector, wherein the first kinematic chain comprises an active moving joint and three passive rotating joints, and thereby the preoperative localization of the end effector can be realized; and the second kinematic chain comprises a three-axis intersection-type telecentric mechanism, and thereby the four-degree-of-freedom motion with three rotations and one movement of the end effector can be realized. The endoscope-holding arm has simple structure and convenient installation, can replace the manual support forthe endoscope, can reduce the workload of the medical personnel, ensures the clarity of images, and increases the safety of surgeries.

Description

technical field [0001] The invention relates to a mirror arm for minimally invasive surgery, in particular to a three-axis intersection active and passive mixed surgery mirror arm. Background technique [0002] Minimally invasive surgery is a new type of surgical treatment that uses slender surgical tools to complete surgery through tiny incisions on the patient's body surface. Compared with ordinary open surgery, minimally invasive surgery has the advantages of less trauma, less pain, less bleeding, lower risk of surgical infection, and faster recovery time. Therefore, minimally invasive surgery is widely used in clinical operations. However, in traditional laparoscopic minimally invasive surgery, doctors tend to shake their hands due to fatigue or emotion, which affects the surgical accuracy. The robotic arm has the advantages of high precision, high motion resolution, and flexible motion, and is not affected by factors such as emotions and fatigue, which is conducive to ...

AI Technical Summary

Problems solved by technology

The composite parallelogram mechanism is a widely used mechanism. Many medical robot mechanisms use this mechanism to achieve telecentric motion. However, the mechanism has a large number of joints and connecting rods, occupies a large space, and has redundancy. Constraints require high machining accuracy; the arc guide mechanism has only two joints, the structure is simple, but the volume is large, and the drive design is difficult; the far-center point of the spherical motion mechanism is the center of the sphere, and the rigidity and stability of this mechanism low, and the kinematic analysis is relatively complicated; the advantage of the shaft drive mechanism is that it has a simple structure, high rigidity and stability, and the power source can be set at the rear end of the mechanism, but the disadvantage is that the mechanism can only achieve one-dimensional telecentric motion

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