End effector for natural orifice surgery

Abstract

The invention discloses an end effector for natural orifice surgery. The end effector comprises a wrist base, a wrist first pitch joint, a wrist first deflection joint, a rotation mechanism, first drive silk sutures and a control motor; the wrist first pitch joint includes a first upper base, a first lower base, first upper gears and first lower gears; the wrist first deflection joint includes a second upper base, a second lower base, second upper gears and second lower gears; the first drive silk sutures penetrate through the first upper base, the first lower base, the second upper base and the second lower base in sequence and are connected with the rotation mechanism; and middle-upper parts of the four first drive silk sutures are circumferentially arranged in an array, and the four first drive silk sutures are used for providing rotation torque for the rotation mechanism. According to the end effector for the natural orifice surgery provided by the invention, by utilizing the fourfirst drive silk sutures penetrating through the multiple bases and circumferentially arranged in an array, pitch rotation of the wrist first pitch joint, deflection rotation of the wrist first deflection joint and rotation motion of the rotation mechanism can be realized.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to an end effector for natural orifice surgery. Background technique [0002] With the development of science and technology, the mode of minimally invasive surgery is also constantly improving, from laparoscopic surgery to single-port surgery, and then from single-port surgery to natural orifice surgery; natural orifice surgery compared with traditional minimally invasive surgery, It has the advantages of no trauma to the body surface, less pain, and quick recovery. [0003] Natural orifice surgery is specifically to deliver the end manipulator to the lesion (body) through the natural orifice (mouth, anus, vagina, etc.) of the human body and fix it at the end of the surgical manipulator. It is outside the body and transmits the driving force to the end effector inside the patient through the driving wire. Since the flexible actuation wire can only transmit tension but n...

AI Technical Summary

Problems solved by technology

For example, to realize the rotation of the wrist of the end effector, at least one driving wire and one motor are needed to realize its left rotation, and another driving wire and another motor are needed to realize its right rotation. More motors are required, which makes the control more difficult

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