Multi-arm concentric tube robot for minimally invasive surgery
A minimally invasive surgery and concentric tube technology, applied in the field of medical devices, can solve the problems of low precision of surgical implementation, and achieve the effects of small size, strong adaptability and high implementation precision
Pending Publication Date: 2021-07-09
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology
[0004] However, the movement between the arms of the traditional concentric tube robot is limited, and the accuracy of the operation is low.
Method used
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[0027] The present invention will be further described below in conjunction with the description of the drawings and specific embodiments.
[0028] The invention provides a multi-arm concentric tube robot for minimally invasive surgery, figure 1 It is a structural diagram of a concentric tube robot in an embodiment of the present invention, including a frame module 100 , a single tube drive module 200 , and a flexible arm module 300 .
[0029] figure 2 It is a three-dimensional structural diagram of the rack module in one embodiment of the present invention. The rack module 100 includes a rear support plate 101 , a bottom plate 102 , a front support plate 103 , a horizontal shaft clamp 104 , a ball screw 105 and an optical axis 106 . A rear support plate 101 and a front support plate 103 are installed on the bottom plate 102, a ball screw 105 and an optical axis 106 are fixed between the rear support plate 101 and the front support plate 103, both ends of the ball screw 105 ...
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The invention provides a multi-arm concentric tube robot for minimally invasive surgery, which comprises a rack module, a single tube driving module and a flexible arm module, the single tube driving module is mounted on the rack module, the single tube driving module is connected with the flexible arm module, and the flexible arm module is mounted on the rack module. The single tube driving module comprises a suspension carrier plate module, a translation driving module and a rotation driving module, the translation driving module and the rotation driving module are respectively installed on the suspension carrier plate module, the suspension carrier plate module is installed on the rack module, the flexible arm module is fixed on the suspension carrier plate module, and the flexible arm module is fixed on the rack module. The rotating driving module is connected with the flexible arm module. The robot has the beneficial effects that the boundary dimension is small, the defect that movement among arms of a traditional concentric tube robot is limited mutually is overcome, the operation implementation precision is high, and the adaptability to complex operation tasks is higher.
Description
technical field [0001] The invention relates to medical equipment, in particular to a multi-arm concentric tube robot for minimally invasive surgery. Background technique [0002] With the rapid development of technology in medical related fields, minimally invasive surgery has become an important development stage in clinical surgery. Surgical robots are increasingly used in minimally invasive surgery of human cavity and organs. Traditional surgical robots are mostly rigid structures, large in size and unable to track the location of non-linear lesions. They are prone to damage when they come into contact with body cavities, organs, blood vessels, and sensitive tissues. Compared with traditional rigid surgical instruments and surgical robots, flexible surgical robots are more and more used in minimally invasive surgery because of their compact size, flexibility and flexibility, and active control. Concentric tube robot is a typical representative of flexible surgical robot...
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Login to View More IPC IPC(8): A61B34/30
CPCA61B34/30A61B34/70
Inventor 王焦乐邓紫龙宋霜金朝喆孟庆虎
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL