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 problems such as errors in data acquisition, complex algorithms, and increase the complexity of system control programs, and achieve the effects of stable operation and reduced program algorithms.
Pending Publication Date: 2021-02-26
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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[0047] 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.
[0048] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can also be an intervening element. When an element is said to be "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 one element ...
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The invention provides a surgical instrument, slave operation equipment which uses the surgical instrument, and a surgical robot with the slave operation equipment. The surgical instrument comprises afirst driving unit and a first pair of cables, wherein the first pair of cables is used for manipulating the yawing movement of an end effector; a second pair of cables is used for manipulating the pitching movement of the end effector; and since the yawing movement and the pitching movement are orthogonal, the first pair of cables and the second pair of cables have a coupling relationship on theend effector. The driving device of the surgical instrument also comprises a decoupling mechanism, wherein the decoupling mechanism is used for canceling the coupling relationship. In the invention,a mechanical structure is used for canceling the coupling relationship between a driving cable used for manipulating the pitching movement of the end effector and a driving cable used for manipulatingthe yawing movement of the end effector, and can accurately cancel the coupling relationship between the driving cables to enable the surgical robot to more stably operate.
Description
technical field [0001] The invention relates to the field of medical instruments, in particular to a surgical instrument, a slave operating device with 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 laparoscope and thoracoscope 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 cont...
Claims
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IPC IPC(8): A61B34/37A61B17/00
CPCA61B34/37A61B34/71A61B34/74A61B17/00234A61B2034/301A61B2034/302A61B2034/715
Inventor 上官希坤吴仲兵王建辰
Owner SHENZHEN JINGFENG MEDICAL TECH CO LTD