Minimally invasive surgery robot system based on endoscope

A robot system and minimally invasive surgery technology, applied in the field of medical devices, can solve problems such as unstable endoscope clamping and inaccurate endoscope calibration, and achieve the effect of solving the unstable endoscope picture

Pending Publication Date: 2021-10-22
FUDAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a minimally invasive surgical robot system based on endoscope, to alleviate the technical problems of inaccurate endoscope calibration and unstable clamping of endoscope in existing endoscopic surgery, and make surgical navigation And endoscope is more accurate, practical and convenient in clinical application

Method used

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  • Minimally invasive surgery robot system based on endoscope
  • Minimally invasive surgery robot system based on endoscope

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Embodiment Construction

[0025] The present invention will be described in further detail below in conjunction with the accompanying drawings and nasal skull base endoscopic surgery as an example.

[0026] like figure 1 As shown, the present invention provides a minimally invasive surgical robot system including: a robotic arm module and an endoscope calibration system.

[0027] The manipulator module includes: a bearing base, movable jaws, a manipulator and a control cabinet. The robotic arm module is used to hold the endoscope and adjust the spatial position of the endoscope precisely and flexibly, so that the doctor does not need to hold the endoscope for a long time, freeing the hands of the doctor, and then obtaining stable and precise endoscopy. mirror screen. The carrying base is used to carry the mechanical arm; the movable gripper is installed at the end of the mechanical arm for clamping the endoscope and surgical instruments; the mechanical arm is a 7-axis mechanical arm, and the 7-axis m...

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Abstract

The invention discloses a minimally invasive surgery robot system based on an endoscope. The minimally invasive surgery robot system comprises a surgery mechanical arm module and an endoscope calibration system. The endoscopic surgery mechanical arm is used for clamping the endoscope and accurately adjusting the spatial position of the endoscope, so that a doctor does not need to hold the endoscope by hand for a long time. According to the endoscope calibration system, a passive optical positioning method is adopted, a reflective ball is fixed to the endoscope and a medical instrument, a surgical navigation module is adopted to track the spatial position of a target in real time by capturing a reflective light source, and then real-time tracking and registration of the instrument in the operation are achieved. The disclsoed system can efficiently, conveniently and accurately perform endoscope calibration, can be used for real-time surgical navigation, is convenient for clinical application, and is beneficial to improving the flexibility and stability of endoscopic surgery.

Description

technical field [0001] The invention belongs to the technical field of medical instruments, in particular to an endoscope-based minimally invasive surgical robot system. Background technique [0002] Minimally invasive and non-invasive surgery is one of the most important development trends of contemporary clinical medicine, which can greatly improve the quality of surgery, reduce the pain of patients, and shorten the recovery time. [0003] Endoscopic sinus surgery has the advantages of less trauma, less bleeding, and faster recovery, and has been widely used clinically. However, the anatomical structure of the human nasal cavity is complex and the surgical channel is narrow and slender, making endoscopic surgery difficult and risky. In traditional nasal endoscopic surgery, the doctor usually holds the endoscope in one hand and operates the surgical instruments with the other hand. The arrival of the endoscope in the operation area is highly dependent on the doctor's exper...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B34/20A61B34/10
CPCA61B34/30A61B34/70A61B34/20A61B34/10A61B2034/301A61B2034/2055A61B2034/107
Inventor 陈欣荣王杰张子群
Owner FUDAN UNIV
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