Multi-degree-of-freedom surgical instrument with independently moving forceps blades and end effector

A technology of end effector and instrument rod, applied in the directions of surgery, surgical forceps, transmission device, etc., can solve the problems of limiting the flexibility of the forceps and poor flexibility of the end effector.

Active Publication Date: 2021-06-08
SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention is to solve the technical problem that the flexibility of the end effector of the existing surgical instruments is poor, and the two jaws move at the same time, which limits the flexibility of the jaws opening and closing, and also limits the types of operations. Multi-degree-of-freedom surgical instrument and end effector with independent movement

Method used

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  • Multi-degree-of-freedom surgical instrument with independently moving forceps blades and end effector
  • Multi-degree-of-freedom surgical instrument with independently moving forceps blades and end effector
  • Multi-degree-of-freedom surgical instrument with independently moving forceps blades and end effector

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Embodiment Construction

[0067] Referring to the accompanying drawings, the present invention will be further described in detail with specific embodiments.

[0068] Such as figure 1 As shown, the multi-degree-of-freedom surgical instrument with independent movement of the jaws includes an end effector 1, an instrument shaft 2, and an instrument case 3. The instrument shaft 2 is connected to the instrument case 3, and the end effector 1 is connected to the instrument shaft 2. The structure of the prior art, the instrument rod 2 adopts the structure of the prior art. Such as figure 2 As shown, the end effector 1 has two jaws, the first jaw 006 and the second jaw 007 can be opened and closed, and can also be deflected.

[0069] Such as image 3 with 4 shown. The end effector 1 includes a support base 001, a pitch ring 002, a first driving wheel 003-1, a first driving gear 003-2, a second driving wheel 004-1, a second driving gear 003-3, and a first driven gear 015, the second driven gear 016, the...

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Abstract

The invention relates to a multi-degree-of-freedom surgical instrument with independently moving forceps blades and an end effector. The technical problems that an existing surgical instrument end effector is poor in flexibility, two forceps blades move at the same time, the opening and closing flexibility of the forceps blades is limited, and meanwhile the surgical types are limited are solved. The end effector comprises the first forceps blade, the second forceps blade, a supporting base, a pitching ring, a first driving wheel, a first driving gear, a second driving wheel, a second driving gear, a first driven gear, a second driven gear, a center shaft, a rotating shaft, a first wire guide wheel, a second wire guide wheel, a third wire guide wheel, a first steel wire rope, a second steel wire rope, a third steel wire rope and a fourth steel wire rope. The multi-degree-of-freedom surgical instrument is widely applied to the technical field of minimally invasive surgery robots.

Description

technical field [0001] The invention relates to the technical field of minimally invasive surgical instruments, in particular to a multi-degree-of-freedom surgical instrument and an end effector with independent movement of jaws. Background technique [0002] Reference application publication number CN109091237A, Chinese invention patent application titled Minimally Invasive Surgical Instrument Auxiliary System, minimally invasive surgery represented by laparoscopy is known as one of the important contributions of medical science to human civilization in the 20th century, minimally invasive surgical operations It means that the doctor uses the slender surgical tools to penetrate into the body through tiny incisions on the surface of the human body for surgical operations. Compared with traditional open surgery, it has the advantages of small surgical incision, less bleeding, small postoperative scar, and quick recovery time, which greatly reduces the pain suffered by patient...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/29A61B17/00F16H19/02
CPCA61B17/00234A61B17/29F16H19/06A61B2017/2926A61B2017/00367
Inventor 王炳强孙明云孙之建
Owner SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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