Minimally invasive surgical instrument based on flexible cable traction series elastic driving and use method thereof

Abstract

The invention discloses a minimally invasive surgical instrument based on flexible cable traction series elastic driving and a use method thereof. Existing minimally invasive surgical instruments are poor in flexibility, and hand-eye coordination of doctor operation is poor. A first stepping motor drives a first finger clamp through a first wire wheel and a steel wire rope transmission assembly, a second stepping motor drives a second finger clamp through a second wire wheel and a steel wire rope transmission assembly, and a third stepping motor drives a swing joint through a third wire wheel and a steel wire rope transmission assembly; and a reset push rod is connected with a reset spring fixing block fixed to a motor installation base through a reset spring, and output shafts of the first stepping motor, the second stepping motor and the third stepping motor are manually pushed to reset. According to the invention, three-degree-of-freedom actions of deflection of the swing joint, same-direction swing of the first finger clamp and the second finger clamp and opening and closing can be completed, the one-key reset function is achieved through a mechanical structure, the high reset precision of the swing joint, the first finger clamp and the second finger clamp before an operation is guaranteed, and the high precision requirement during medical use is met.

Description

technical field [0001] The invention belongs to the field of mechanical engineering, and in particular relates to a minimally invasive surgical instrument based on flexible cable traction series elastic drive and its use method, which can complete swing joint deflection, finger forceps one and finger forceps two swing in the same direction, and opening and closing three fingers. Actions with multiple degrees of freedom can be reset with one button after use. Background technique [0002] The study of minimally invasive surgery is an emerging research direction in the field of clinical medicine. Compared with traditional open surgery, minimally invasive surgery has the characteristics of less surgical trauma, less pain, and faster recovery. However, the less freedom of minimally invasive surgical instruments results in poor flexibility of surgical instruments and the "leverage" effect of surgical instruments at the incision. Problems such as poor hand-eye coordination of doc...

AI Technical Summary

Problems solved by technology

Compared with traditional open surgery, minimally invasive surgery has the characteristics of less surgical trauma, less pain, and faster recovery. However, the less freedom of minimally invasive surgical instruments results in poor flexibility of surgical instruments and the "leverage" effect of surgical instruments at the incision. Problems such as poor hand-eye coordination of doctors greatly limit the development of minimally invasive surgical techniques

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