A modular flexible instrument arm for a minimally invasive surgical robot

Abstract

The invention discloses a modular flexible instrument arm for a minimally invasive surgical robot, and relates to the technical field of medical equipment for a minimally invasive surgical robot, including: a driving part, a first guide rod part, a first connecting part, and a second guide rod part, the second connecting part, the third connecting part, the surgical tool part and the rope. The first connecting part includes: a first driven gear, a first driving gear, a first connecting rod part, a first screw shaft and a second screw shaft, and the second connecting part includes: a second driven gear, a second driving gear, The second link part, the third link part and the third driven gear, the third screw shaft, the fourth screw shaft, the fifth screw shaft and the sixth screw shaft. The present invention can solve the problem of low flexibility and low degree of freedom of the current surgical instrument arm by adding or replacing the single / double module joints. At the same time, because the modular joints of the surgical arm can be disassembled and increased, the surgical arm can meet the requirements of various surgical instruments. functional needs of the arm.

Description

technical field [0001] The invention relates to the technical field of a minimally invasive surgical robot medical device, in particular to a modular flexible instrument arm for a minimally invasive surgical robot. Background technique [0002] Since the 1990s, laparoscopic minimally invasive surgical robots represented by DVinci surgical robots have been used more and more widely, with core features such as multiple degrees of freedom, high flexibility, and fewer surgical wounds. Surgical robots are used for minimally invasive surgery. The terminal surgical tool enters the inside of the human body through the catheter, and reaches the lesion through the long-rod robotic arm, and performs a series of operations such as cutting, suturing, and knotting on tumors on human organs or lymph nodes. operate. [0003] However, there are still some problems to be solved in the minimally invasive surgical robots currently used in clinical practice. The flexibility of the existing inst...

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Problems solved by technology

[0003] However, there are still some problems to be solved in the minimally invasive surgical robots currently used in clinical practice. The flexibility of the existing instrument arms is low, and the "leverage effect" during the operation of the instruments may cause errors during the operation and harm the patient. , since the surgical robot has few degrees of freedom when entering the human body, it is necessary to have an external mechanism to provide additional posture and degrees of freedom to meet the surgical operation, because the robotic arm cannot directly map the doctor's hand movements to complete the operation, and it is necessary to arrange 2-3 instruments outside the body Arm and 1 imaging arm, it is necessary to use different specifications and sizes of instrument arms at the same time to meet different functions

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