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Snake-shaped surgical robot applied to minimally invasive surgery

A technique of surgical robot and minimally invasive surgery, applied in the direction of surgical robot, etc., can solve the problems of insufficient rigidity of the mechanical arm and low precision of motion control, and achieve the effect of improving the precision of motion control, increasing the rigidity, and strong operability

Active Publication Date: 2020-07-24
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the embodiment of the present invention is to provide a serpentine surgical robot applied to minimally invasive surgery to solve the technical problems of insufficient rigidity and low motion control precision of the mechanical arm in the existing surgical robot

Method used

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  • Snake-shaped surgical robot applied to minimally invasive surgery
  • Snake-shaped surgical robot applied to minimally invasive surgery
  • Snake-shaped surgical robot applied to minimally invasive surgery

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Embodiment Construction

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0032] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0033] It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations...

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Abstract

The invention provides a snake-shaped surgical robot applied to minimally invasive surgery. The snake-shaped surgical robot comprises a sliding table module, a pulley module connected to the sliding table module in a sliding manner, a driving module arranged on the pulley module and a mechanical arm connected with the pulley module, wherein the driving module provides power for the mechanical armthrough the pulley module; the mechanical arm comprises an operation actuator, a first joint which is connected with the operation actuator and can do bending motion, and a second joint which is connected with the first joint and can do swinging motion, wherein the first joint is of a continuum structure, and the second joint is of a gear meshing structure. The mechanical arm is formed by matchingthe continuum structure and the gear meshing structure; the rigidity of the mechanical arm is effectively improved in the premise that the flexible movement and the deformation capability of the tailend of the mechanical arm can be ensured; and moreover, the coupling effect of the mechanical arm of an existing surgical robot can be achieved or improved, and the motion control precision of the mechanical arm is improved. Compared with the existing surgical robot, the snake-shaped surgical robot is high in operability.

Description

technical field [0001] The invention belongs to the technical field of surgical robots, and more specifically relates to a snake-shaped surgical robot applied to minimally invasive surgery. Background technique [0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope, thoracoscope, laryngoscope and related equipment to perform surgery in the human cavity. Compared with traditional surgery, it has the advantages of less trauma, less pain, and faster recovery. In order to meet the flexibility required by the operation and at the same time minimize the end-effector, the robot generally adopts a rope-driven form, placing the bulky driving part outside the body, and driving the end structure in the body through the rope. When performing single-hole minimally invasive surgery and natural orifice surgery, multiple surgical instruments need to enter the body cavity from a single entrance, and the doctor operates the ins...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B2034/305A61B2034/306
Inventor 赵保亮胡颖张朋王腾雷隆
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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