Multi-degree-of-freedom instrument assembly of single-hole surgical robot

Abstract

The invention relates to the field of medical instruments, and discloses amulti-degree-of-freedom instrument assembly of a single-port surgical robot. The assembly comprises: a catheter; a plurality of operation tail ends, wherein the operation tail ends are formed by sequentially connecting the following structures: a first rigid pipeline, a first flexible pipeline, a second rigid pipeline, a second flexible pipeline and an operation instrument, the first rigid pipeline is arranged in the catheter in a penetrating mode, a hollow channel is formed in the first rigid pipeline and the second rigid pipeline, a plurality of partition plates are arranged in the first soft pipeline and the second soft pipeline, a plurality of through holes are formed in the partition plates, and steel wires penetrate through the hollow channel and the through holes; and an opening mechanism which comprises a main push rod and a plurality of supporting rods. According to the multi-degree-of-freedom instrumentassembly of the single-hole surgical robot, various surgical instruments can be placed only through one opening, a plurality of openings do not need to be formed, surgical wounds and the size of equipment are greatly reduced, and operations of the surgical instruments is independent, accurate and reliable.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a single-hole surgical robot multi-degree-of-freedom instrument assembly. Background technique [0002] Surgical robots are used for the treatment of various surgical diseases, but in the implementation process, in order to enter the surgical instruments, it is necessary to open 3-5 holes in the abdomen. It not only increases trauma, but also leaves scars for patients after operation, and the cosmetic effect is poor. With the use of single-hole surgical robots, it was proven to have the same effect as multi-hole surgical robots. However, the control technology of the surgical instruments at the end of the existing single-hole surgical robot is still immature, and the independence and sensitivity between the surgical instruments need to be improved. Contents of the invention [0003] In view of the technical problems of independence and low sensitivity in the control of surg...

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Problems solved by technology

[0003] In view of the technical problems of independence and low sensitivity in the control of surgical instruments at the end of single-hole surgical robots in the prior art, the purpose of the present invention is to provide a multi-degree-of-freedom instrument assembly for single-hole surgical robots to solve the above technical problems

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