Restricted continuum for single-hole surgical robot

Abstract

The invention discloses a restricted continuum for a single-hole surgical robot. The problem that the working space of a surgical robot is limited in the prior art is solved, and the restricted continuum has the advantages that the working space of the robot is ensured, and interference with other instruments is avoided. According to the specific scheme, the restricted continuum for the single-hole surgical robot comprises at least two sections, a driving mechanism and a wire tightening mechanism, wherein each section comprises a plurality of structural bodies which are movably connected in sequence, the end of one flexible arm section is fixedly connected with a fixing table, a set of driving wires penetrate through the interior of each flexible arm section, each set of driving wires are connected with the structural bodies of the corresponding section, and the flexible arms are driven to act through the action of the driving wires; the driving mechanism is connected with at least one set of driving wires and used for driving at least one flexible arm section to act; and the wire tightening mechanism is connected with the driving wires in at least one flexible arm section close to the fixing table and used for driving the corresponding flexible arm section close to the fixing table to act.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a constrained continuum that can be used for a single-hole surgical robot. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] In the process of doctors operating on patients, the use of surgical robots is becoming more and more widespread. Surgical robots have high efficiency, small incisions, and stable operation. It is difficult for ordinary conventional surgery to meet these requirements. [0004] Since the traditional surgical robot is composed of rigid joint connecting rods, which has poor mobility and a large space ratio, it cannot freely and flexibly perform surgical operations in the natural orifice of the human body or in minimally invasive incisions. The continuous surgical robot with good bending ability has become a important resea...

AI Technical Summary

Problems solved by technology

Surgical robots have high efficiency, small incisions, and stable operation, but it is difficult for ordinary conventional surgery to meet these requirements

[0004] Since the traditional surgical robot is composed of rigid joint connecting rods, the movement flexibility is poor, the space ratio is large, and it is impossible to freely and flexibly perform surgical operations in the natural orifice of the human body or minimally invasive incisions. The continuous surgical robot with good bending ability has become a important research direction

Due to the narrow and complex structure of the natural orifice of the human body or the minimally invasive incision, the traditional rigid linkage actuator has limited movement capacity in space, and it is difficult to effectively enter the target lesion of the patient, and it is difficult to meet the requirements of the surgical robot system in a narrow nonlinear environment. Possibility of performing surgery

Because the traditional surgical robot cannot expand enough operating space, it is also prone to mutual interference between instruments during work, unable to deploy normally and collide with each other, and the traditional surgical robot system needs to adopt multi-segment continuum or complex rigid structure in series, with complex structure , which increases the size of the surgical robot, which is not conducive to miniaturization

[0005] Therefore, the inventors found that the problem of the limited operating space of the traditional surgical robot system has not been well resolved, and there is still a phenomenon of insufficient operating space during surgery.

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