A speculum surgical robot through natural orifice

Abstract

The invention discloses a speculum surgery robot through a natural cavity, which comprises a bracket, a position adjustment mechanism, a pitch mechanism, a feed mechanism, a rotation mechanism, a drive mechanism and a quick change mechanism; the position adjustment mechanism is installed on the bracket and connected with the pitch mechanism. connected; the feed mechanism includes two sets, which are symmetrically installed on the pitch mechanism, and the feed mechanism drives the silk sheath tube to move relatively along the silk sheath catheter, so that the flexible arm and the surgical instrument can be fed back and forth relative to the endoscope. Degree of freedom; the rotating mechanism is installed on the pitching mechanism, which is configured to enable the actuator to have the rotational degree of freedom around the axis of the wire sheath; the driving mechanism and the quick-change mechanism are installed on the pitching mechanism, and the driving mechanism can be connected with the quick-change mechanism ;The quick-change mechanism is equipped with multiple driving wires, and the driving mechanism is set to pull multiple driving wires. Some of the driving wires are used to drive the first segment of the wire-driven flexible arm, and some of the driving wires are used to drive the second segment of the flexible arm. The rest of the driving wires Can drive surgical instruments.

Description

technical field [0001] The invention relates to the field of medical surgical robots, in particular to a speculum surgical robot system through a natural orifice. Background technique [0002] Endoscopic surgery through the natural orifice refers to a surgical operation that enters the abdominal or thoracic cavity through a natural orifice (mouth, anus, vaginal opening, urethral opening, etc.). Endoscopic surgery through the natural orifice is a further extension of the concept of minimally invasive surgery. Compared with traditional open surgery and minimally invasive surgery, endoscopic surgery through the natural orifice has obvious advantages. The patient has no incision on the outside and less postoperative pain. , faster recovery, more aesthetic appearance, shorter hospital stay, and can effectively reduce the chance of postoperative infection. It can minimize iatrogenic trauma while completing the operation. [0003] The existing natural orifice surgery usually adop...

AI Technical Summary

Problems solved by technology

Most of the surgical instruments in this method are relatively simple and have poor flexibility. Operations such as set-up, clamping, and marking can only be completed under the operation of a single surgical instrument, which greatly restricts the flexibility of the operation, and the doctor needs a long time during the operation. Holding a mirror can easily cause fatigue for doctors and bring surgical risks

The second way is to use the existing minimally invasive surgical robot to perform endoscopic surgery. The minimally invasive surgical robot uses rigid surgical rods, resulting in many lesions that cannot be reached through the natural cavity, which greatly restricts the scope of application of the surgical robot, and Increased risk of damage to other tissues

The Anubis project developed by Karl Storz is currently a relatively complete natural orifice endoscopic surgical robot system, which can only drive a single segment of flexible arm. It is currently in the experimental stage and has not yet been clinically applied.

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