Surgical instrument for minimally invasive surgical robot

Abstract

The invention discloses a surgical instrument for a minimally invasive surgical robot, and the surgical instrument comprises a tail gripper arm part which comprises a left gripper arm and a right gripper arm, and the left gripper arm and the right gripper arm can be opened or closed relatively; a horizontal rotation adjusting mechanism which is used for driving the tail gripper arm part to rotate in the horizontal plane; a pitching adjusting mechanism which is used for driving the tail gripper arm part to overturn upwards or downwards; a connecting pipe part is connected with the tail gripper arm part, and the connecting pipe part is used for driving the tail gripper arm part to rotate around the axis of the connecting pipe part; and a driving interface part is respectively connected with the horizontal rotation adjusting mechanism, the pitching adjusting mechanism and the connecting pipe part, and the driving interface part is used for driving the horizontal rotation adjusting mechanism, the pitching adjusting mechanism and the connecting pipe part to operate. The surgical instrument is high in rigidity and small in size and mass, meanwhile, wiring simplification and light weight are achieved, and the accuracy and reliability of surgical instruments in the minimally invasive environment are guaranteed.

Description

technical field [0001] The invention relates to the technical field of minimally invasive surgical instruments, in particular to a surgical instrument for a minimally invasive surgical robot. Background technique [0002] Minimally invasive surgery is a method of performing surgery through small wounds. Compared with open surgery, it has the advantages of less trauma, less bleeding, fewer complications, faster recovery and shorter hospital stay. The development of minimally invasive surgery has a great impact on human medical technology Development and health security have had a huge impact. In particular, in recent years, with the development of robotics and the development of the medical field, minimally invasive robots that integrate functions such as visual feedback, master-slave teleoperation, and surgical planning have emerged and developed rapidly. The patent application number is CN200910073301.6, the publication number is CN101732093A, and the publication date is J...

AI Technical Summary

Problems solved by technology

The patent application number is CN200910073301.6, the publication number is CN101732093A, and the publication date is June 16, 2010. The invention patent application discloses a "miniature manipulator for abdominal minimally invasive surgery". The movement of the wrist and left / right claws, this patented device has the characteristics of flexible movement and small mass and volume; but the nonlinear friction between the steel wire and the wire wheel in the multi-set steel wire transmission brings a large hysteresis characteristic to the system, Affects the instrument force and motion control accuracy; at the same time, the wiring of the wire drive is complicated and the rigidity is insufficient

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