Robotic surgical instrument arm and minimally invasive surgical robot suitable for various hole numbers

Abstract

The invention relates to a robotic surgical instrument arm and a minimally invasive surgical robot suitable for various numbers of holes. The transmission device of the robotic surgical instrument arm and the flexible arm are driven by silk ropes, and the flexible arm is equipped with a force sensor to sense the force at the execution end; The multi-degree-of-freedom setting of the flexible arm improves flexibility; the configuration and layout design of the transmission device, the driving device and the flexible arm can make the surgical incision smaller and the operation more minimally invasive in the combination of double holes and multiple holes; it is suitable for various numbers of holes Minimally invasive surgical robots can be composed of single-hole, double-hole and multi-hole minimally invasive surgical robots according to clinical needs; there are many indications, wide coverage, and flexible changes in the number of holes and branches. Through the multi-degree-of-freedom movement of the flexible arm, the endoscope and end-operated instruments can realize a full range of poses in space, expand the surgical field, and avoid blind spots. The mechanical arm outside the body has more than 6 degrees of freedom, which is conducive to bedside deployment, and can easily form a remote motion center without interfering with the human body.

Description

technical field [0001] The invention relates to the technical field of surgical robots, in particular to a robotic surgical instrument arm and a minimally invasive surgical robot suitable for various numbers of holes. Background technique [0002] With the development of minimally invasive surgery, robots have been widely used in the medical field. Traditionally, doctors use endoscopes to perform minimally invasive surgery because they use anti-leverage instruments, which are not intuitive and difficult to operate. Robotic minimally invasive surgery has many advantages. For patients, robotic surgery has less trauma, faster postoperative recovery, and less postoperative pain; Surgical precision, eliminate tremors and increase the surgical field. In order to further reduce the number and size of minimally invasive surgical incisions, reduce the possibility of infection, and improve the quality of postoperative recovery. Minimally invasive surgical robots have been widely us...

AI Technical Summary

Problems solved by technology

Although the porous surgical robot can enter the body through an incision in some operations, the gap between multiple surgical instrument arms is still large, which is not conducive to the implementation of surgery with narrow surgical cavities. For example, in minimally invasive surgery for thyroid tumors, four The surgical instrument arm can enter the surgical site from a single armpit or mouth, but due to the large gap between the four surgical instrument arms, the trauma of a single incision is very large

The single-hole surgical robot can reduce trauma, but due to the limited range of operation and few indications, it is not conducive to popularization and application.

As a result, existing surgical robots have narrow adaptability, bulky size, and high price, and cannot be flexibly deployed in different hospital departments

At the same time, the current end surgical instrument arm of the surgical robot does not have the function of force measurement, and cannot realize force feedback, resulting in a lack of force sense for doctors during operation.

In addition, most endoscopes are rigid rods, which are not flexible enough, resulting in blind spots in the surgical field.

In addition, the bedside robotic arm of most surgical robots uses the far-field motion center of the linkage mechanism to form a fixed point at the contact point between the surgical instrument and the patient. The mechanical arm outside the body usually has less than 6 degrees of freedom, and the mechanism design is complex and easy to implement. Interfering with the human body, it is cumbersome to place beside the bed

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