Continuum robot for minimally invasive surgery

Abstract

The invention provides a continuum robot for minimally invasive surgery. The robot comprises a line driving module, a suspension carrier plate module, a robot flexible arm module, a linear driving module and a robot support module, the suspension carrier plate module is installed on the robot support module, the linear driving module and a line driving module are respectively mounted on the suspension carrier plate module, the line driving module is connected to the robot flexible arm module and drives the robot flexible arm module to perform bending motion, the suspension carrier plate moduleis connected to the robot flexible arm module, the linear driving module drives the suspension carrier plate module to perform front-back motion, and the robot flexible arm module performs front-backmotion along with the suspension carrier plate module. The robot has the beneficial effects that: the flexible arm module is smaller in appearance and higher in flexibility, the limitation that the initial curvature of each concentric tube of a traditional concentric tube robot is constant is effectively avoided, and meanwhile the defect that a traditional line drive robot is large in size is overcome.

Description

technical field [0001] The invention relates to medical equipment, in particular to a continuum robot for minimally invasive surgery. Background technique [0002] With the rapid development of technology in medical related fields, minimally invasive surgery has become an important development stage in clinical surgery. Surgical robots are increasingly used in minimally invasive surgery of human cavity and organs. [0003] Traditional surgical robots are mostly rigid structures, large in size and unable to track the location of non-linear lesions. They are prone to damage when they come into contact with body cavities, organs, blood vessels, and sensitive tissues. Compared with traditional rigid surgical instruments and surgical robots, flexible surgical robots are more and more used in minimally invasive surgery because of their compact size, flexibility and flexibility, and active control. Concentric tube robots and wire-driven robots are typical representatives of flexib...

AI Technical Summary

Problems solved by technology

[0004] However, the concentric tube robot needs to be formed by nesting multiple pre-bent concentric tubes, and the pre-bending curvature of the concentric tubes will change due to time and use, and the rotational freedom of the concentric tubes has the disadvantage of instability.

Wire-driven robots have the defects of single shape change, poor curve adaptability, and relatively large size.

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