Surgical instrument system and surgical robot

Abstract

The invention relates to a surgical instrument system and a surgical robot, the surgical robot comprises a mechanical arm and the surgical instrument system, and the surgical instrument system is connected with the tail end of the mechanical arm and comprises a surgical tool, a power system and a driving system; the surgical tool comprises a near-end flexible assembly, a connecting structure, a far-end flexible assembly and a wrist structure which are sequentially connected from the near end to the far end, the power system is arranged at the near end of the surgical tool, and the driving system is in transmission connection with the power system and comprises a driving device. A wire driving assembly of the driving device is driven by a power system to control bending of a far-end flexible assembly and a wrist structure, and a near-end flexible assembly and the far-end flexible assembly are both of a motion constraint structure. When the near-end joint of the motion constraint structure is stressed and bent, the far-end joint follows the near-end joint, and the posture of the far-end joint is kept the same as that of the near-end joint; therefore, effective working space of the front end and the tail end of the surgical tool is increased, and difficulty of surgical operation is reduced.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a surgical instrument system and a surgical robot. Background technique [0002] With the wide application and development of minimally invasive surgery in abdominal surgery, urology, gynecology, thoracic surgery and other fields, surgical robot technology has been highly valued all over the world and gradually integrated into clinical practice. Take the Da Vinci porous laparoscopic surgical robot system of Intuitive Surgical, Inc., an industry pioneer, as an example. Its stability, convenience, precision, safety and other excellent features greatly reduce the pressure and burden on patients and doctors. However, more and more clinical cases have shown that the surgical robot system involved in multi-incision surgery cannot effectively reach the surgical area during some surgical procedures. Moreover, the need to further reduce and reduce the wounds of patients to he...

AI Technical Summary

Problems solved by technology

However, both domestic and foreign surgical instrument systems have the following problems: (1) The wire transmission layout and wire pretensioning method are complex, the assembly efficiency is low, and it is not easy to productize; (2) The single distal parallel motion mechanism can reach a large space Limited, resulting in narrow effective working space at the existing execution end; (3) The structure of the flexible continuum has insufficient rigidity, and the kinematic dynamics modeling process of the flexible continuum is complicated, and the control stability is poor

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