Minimally-invasive surgical robot

Abstract

The invention discloses a minimally-invasive surgical robot. The minimally-invasive surgical robot comprises a master hand, a slave hand and a controller, wherein the master hand comprises an operation part, a pressure detecting member for detecting pressure of a finger is built in the operation part, the slave hand is provided with a detection part, and the controller is connected with the slavehand, the detection part, the operation part and the pressure detecting member separately. When the operation part is operated to forwardly act by the finger, the controller controls the slave hand toclamp a foreign object according to signals fed back by the pressure detecting member; when the foreign object is clamped by the slave hand, the controller controls the operation part to backwardly act according to signals fed back by the detection part so as to apply a feedback force to the finger; and the master hand and the slave hand achieves force feedback separately by dint of the pressuredetecting member and the detection part to form closed-loop control, thus, the master hand and the slave hand can perform interactive force perception, the risk of misoperation is lowered, accidentalinjury to tissue or organs caused by lack of force perception feedback is avoided, and the safety of surgical operation is improved.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a minimally invasive surgical robot. Background technique [0002] The minimally invasive surgical robot implants laparoscope and other instruments into the patient's body along the preset surgical path through a small incision by adjusting the posture of its end effector, and guides the doctor to perform surgical treatment on the patient by providing visual images, which has good surgical effect and high operation accuracy , low working intensity and other advantages, suitable for a wide range of applications. [0003] Existing minimally invasive surgical robots lack interactive force perception, so that doctors can only adjust the pose and clamping force of the end effector based on the feedback image information and their own work experience, and there is a large deviation in the image information due to the need for visual judgment Moreover, the doctor's work experience va...

AI Technical Summary

Problems solved by technology

[0003] Existing minimally invasive surgical robots lack interactive force perception, so doctors can only adjust the pose and clamping force of the end effector based on the feedback image information and their own work experience, and there are large deviations in the image information due to the need for visual judgment The working experience of the doctor varies from person to person, which makes it impossible for the doctor to accurately adjust the posture and clamping force of the end effector, so that the end effector has the risk of pinching or stabbing tissue, and there is a safety risk in the operation.

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