Surgical instrument, slave operation equipment and surgical robot
A technology for surgical instruments and operating equipment, applied in the field of surgical robots, can solve the problems of data acquisition errors, complex algorithms, and inaccurate decoupling relationships, etc., to achieve stable operation and reduce program algorithms.
Pending Publication Date: 2020-12-08
SHENZHEN JINGFENG MEDICAL TECH CO LTD
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Problems solved by technology
The existing technology adopts the method of software decoupling, but the algorithm of the method of software decoupling is relatively complicated, which increases the complexity of the system control program, and the method of software decoupling will have errors in data collection, so it is not accurate The decoupling relationship between the two
Method used
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[0067] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.
[0068] It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. When an element is considered to be "coupled" to another element, it indicates that the change of at least on...
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The invention provides a surgical instrument, slave operation equipment applying the surgical instrument and a surgical robot with the slave operation equipment. The surgical instrument comprises an end effector, a driving device and cables, wherein the driving device is configured to drive the end effector to move through the cables; the cables comprise a first pair of cables used for driving theend effector to do yawing motion and a second pair of cables used for driving the end effector to do pitching motion, and the pitching motion executed by the end effector is orthogonal to the yawingmotion executed by the end effector, so that the first pair of cables and the second pair of cables have a coupling relation; and the driving device further comprises a mechanical decoupling mechanism, the decoupling mechanism is used for releasing the coupling relation, the coupling relation between the driving cable for controlling the pitching motion of the end effector and the driving cable for controlling the yawing motion of the end effector is mechanically released, the coupling relation between the driving cable and the driving cable can be accurately released, and the operation of thesurgical robot is more stable.
Description
technical field [0001] The invention relates to the field of medical instruments, in particular to a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot with the slave operating device. Background technique [0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. [0003] With the advancement of science and technology, robotic technology for minimally invasive surgery has gradually matured and been widely used. A minimally invasive surgical robot usually includes a main operation console and a slave operation device. The master operation console is used to send control commands to the slave operation device according to the doctor's operation to con...
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IPC IPC(8): A61B34/37A61B17/00
CPCA61B17/00234A61B34/37A61B34/71A61B34/74A61B2034/301A61B2034/302A61B2034/715
Inventor 吴仲兵周芳坚上官希坤王建辰
Owner SHENZHEN JINGFENG MEDICAL TECH CO LTD