Compact endoscope surgical robot end driving structure

Abstract

The invention relates to a compact endoscope surgical robot end driving structure. The compact endoscope surgical robot end driving structure comprises surgical end driving mechanisms; the surgical end driving mechanisms are installed on driving mechanism bases; the driving mechanism bases are installed at the tail ends of mechanical arms; the mechanical arms are arranged above a bed board; the surgical end driving mechanisms are connected with surgical instruments; slender rods of the surgical instruments pass through middle channels of the surgical end driving mechanisms; each surgical end driving mechanism comprises a linear motion mechanism and a rotary motion mechanism; the slender rods of the surgical instruments are driven by the linear motion mechanisms and the rotary motion mechanisms to do linear motion and rotary motion; the mechanical arms are connected to a movable frame; the movable frame is arranged above the bed board in a striding mode; translation guide rails are installed on the left and right sides of the bed board; and the movable frame moves horizontally along the translation guide rails. According to the invention, the structural space of the surgical ends ofthe mechanical arms can be greatly reduced, the possibility of mutual interference of the tail ends of the mechanical arms is reduced, and more possible operation space is provided for clinicians.

Description

[technical field] [0001] The invention relates to the technical field of medical instruments, in particular to a compact endoscopic surgical robot terminal driving structure. [Background technique] [0002] At present, the end drive structure of the existing endoscopic minimally invasive robot system is a linear drive structure. This structure is generally composed of actuators that are longer than the motion stroke, such as guide rails and corresponding screw rods or belts. Therefore, its own The length is generally greater than the movement stroke of the end. This structure needs to occupy more space, and in the process of multi-arm cooperation, it often occurs that the drive structures at the end interfere with each other, so the operating space of the robot arm will be reduced. It is restricted, which is not conducive to realizing the requirements of various motion postures in the complex operation process, and often affects the normal operation speed and auxiliary opera...

AI Technical Summary

Problems solved by technology

[0002] At present, the end drive structure of the existing endoscopic minimally invasive robot system is a linear drive structure. This structure is generally composed of actuators that are longer than the motion stroke, such as guide rails and corresponding screw rods or belts. Therefore, its own The length is generally greater than the movement stroke of the end. This structure needs to occupy more space, and in the process of multi-arm cooperation, it often occurs that the drive structures at the end interfere with each other, so the operating space of the robot arm will be reduced. Restricted, it is not conducive to realizing the requirements of various motion postures in the complex operation process, and often affects the normal operation speed and auxiliary operation effect of the doctor's auxiliary operation

Images