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Handheld surgical robot and working method thereof

A surgical robot and hand-held technology, applied in the field of medical equipment, can solve problems such as inconsistent movement, violation, and equipment interference, and achieve the effects of avoiding interference, light weight, reasonable mechanical structure and electronic control scheme

Active Publication Date: 2022-05-20
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] During traditional laparoscopic minimally invasive surgery, hand-held surgical instruments are inserted into the patient’s abdominal cavity through the incision on the patient’s abdominal cavity, so due to the fulcrum effect at the incision, the movement of the doctor’s hand and the abdominal cavity displayed on the screen are transmitted through the laparoscope. The inconsistency of the movement of the surgical instruments causes movement errors between the surgical instruments and the operation of the doctor, which affects the surgical effect, and the simultaneous use of multiple hand-held surgical instruments may easily cause interference between the instruments
At the same time, in order to obtain the corresponding angle or perform the relevant rotation operation in the operation, it is often necessary to move the surgical instrument to achieve it, which is easy to cause secondary damage to the patient, such as tissue blood vessel tearing and bleeding, surrounding tissue damage, etc., thus violating the original micro purpose of surgery

Method used

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  • Handheld surgical robot and working method thereof
  • Handheld surgical robot and working method thereof
  • Handheld surgical robot and working method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0042] as Figure 1 -6, a handheld surgical robot, comprising a handheld end housing 1, a handheld end housing 1 internal mounting line drive operating device 2 and a gear transmission operation device 3, one end of the handheld end housing 1 is connected to the end actuator 4 through a rigid tube 3-8, the end actuator 4 far away from the handheld end shell 1 has a bias mechanism 4-2 and a clamping mechanism 4-3.

[0043] The handheld end shell 1 is divided into two parts: the symmetrically connected left housing and the right housing, and the left housing and the right housing are loaded into the space of the line drive operation device 2 and the gear transmission operation device 3.

[0044] The handheld end housing 1 includes a grip 1-1, housing 1-2 and a boss 1-3, grip 1-1 and housing 1-2 connection is provided with a groove for placing the flexible wheel 1-1-1, the bottom end of the grip is provided with a line hole 1-1-2, the left housing is provided with a motor frame 1-2-1,...

Embodiment 2

[0069] A working method of a handheld surgical robot, the robot working process in the above embodiment is as follows:

[0070] Thumb press the deflection control button 2-1-1, the external controller obtains the signal, controls the deflection to drive the motor 2-1-3 rotation, and drives the deflection winding axis 2-1-5 retraction and release through the coupling. The deflection drive line is fixed with the crescent groove on the deflection mechanism 4-2, driving the deflection mechanism 4-2 to rotate around the shaft to achieve the deflection of the end effector 4. The end effector continues to deflect to one side when pressing the left button, stops deflecting when released, and deflects to the contralateral side when the right button is pressed.

[0071] The index finger dials the rotation control flexible wheel 3-1, transmits the signal to the flexible wheel angle sensor 3-3 through the worm gear mechanism 3-2, and then transmits it to the external controller, controls the ...

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PUM

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Abstract

The invention relates to a hand-held surgical robot and a method thereof, comprising a hand-held end shell, a wire-driven operating device and a gear transmission operating device are installed inside the hand-held end shell, one end of the hand-held end shell is connected to an end effector through a rigid tube, and the end effector is far away from the hand-held One end of the end shell has a yaw mechanism and a clamping mechanism; the wire-driven operating device includes a yaw operating device and a clamping operating device. The degree of integration is high, the master-slave is integrated, the weight is light, and the realization of the function can be completed by the doctor with one hand; the mechanical structure and electronic control scheme are reasonable, and the interference between the devices is avoided. The user can perform difficult operations according to the surgical needs operate.

Description

Technical field [0001] The present invention relates to the field of medical devices, specifically a handheld surgical robot and working method. Background [0002] Minimally invasive surgery refers to the surgeon incision of 2-4 small incisions of 5-10 mm on the surface of the patient's body, the surgical instrument through the patient's tiny incision into the human body, with the help of visual monitoring equipment and dexterous surgical instruments, so that the surgical instruments as a direct execution tool to diagnose or treat the lesion site. Compared with open surgery, minimally invasive surgery has the advantages of less trauma, less pain, faster recovery, shorter hospital stay and fewer postoperative complications. [0003] Compared with the traditional artificial minimally invasive surgery, the minimally invasive surgical robot as one of many medical robots, it can assist the doctor to complete the precise positioning of the surgical site, reduce the labor intensity of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61B34/00A61B17/00
CPCA61B34/30A61B34/74A61B17/00234A61B2034/302A61B2034/742
Inventor 杜付鑫魏礼艳汤小龙王淦董志超蒋博曾汉
Owner SHANDONG UNIV