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A high-degree-of-freedom manipulator for vascular surgery

A technology with high degree of freedom in surgery, applied in surgical manipulators, surgical robots, surgery, etc., can solve problems such as low degree of freedom of manipulators, contamination of surgical execution parts, residual stains on splints, etc.

Active Publication Date: 2022-03-25
SHANDONG PROVINCIAL HOSPITAL AFFILIATED TO SHANDONG FIRST MEDICAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The current vascular surgery manipulator has a low degree of freedom, and the actual use is relatively limited. After the surgical implement is fixed by the splint, stains will remain on the splint. If it is not cleaned, it will pollute the surgical implement in the next operation. To this end, we propose a high-DOF manipulator for vascular surgery

Method used

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  • A high-degree-of-freedom manipulator for vascular surgery
  • A high-degree-of-freedom manipulator for vascular surgery
  • A high-degree-of-freedom manipulator for vascular surgery

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] refer to Figure 1 to Figure 4, a high-degree-of-freedom manipulator for vascular surgery, including a base 100, a controller is provided in the base 100; a support table 200, including a table body 201 arranged on the top of the base 100, and a motor is provided on the top of the table body 201 One 202; connecting arm one 300, including connecting arm one body 301 arranged on the power end of motor one 202 top, through motor one 202, can drive connecting arm one body 301 to rotate, connecting arm one body 301 is provided with motor two 302 Connecting arm two 400, comprise connecting arm two body 401 that is arranged on motor two 302 power ends, can drive connecting arm two body 401 to rotate by motor two 302, connecting arm two body 401 is provided with motor three 402; Electric push rod One 500, the electric push rod one 500 is arranged on the power end of the motor three 402, and the electric push rod one 500 can be driven to rotate by the motor three 402; the connec...

Embodiment 2

[0036] refer to Figure 2 to Figure 3 , the bottom inner wall of the support frame 701 is provided with a guide surface 705, and the guide surface 705 gradually slopes downward from right to left, and the left side of the guide surface 705 is vertically evenly provided with a drain hole 706, which is convenient for the cleaning liquid to pass through the drain Hole 706 exits.

[0037] All the other structures are the same as in Example 1.

[0038] Working principle: after the two groups of splints 703 are driven close to each other by the electric telescopic rod 702 to fix the surgical implement, the motor 1 202 can drive the connecting arm 1 body 301 to rotate, the motor 2 302 can drive the connecting arm 2 body 401 to rotate, and the motor 3 can drive the body 401 to rotate. It can drive the electric push rod one 500 to rotate, the electric push rod one 500 can drive the connecting plate 601 to move laterally, and the motor four 602 can drive the support frame 701 to rotate...

Embodiment 3

[0040] After the cleaning operation is completed, if it is placed directly indoors, dust, germs, etc. will easily accumulate and adhere to the operating end of the robotic arm. Membrane assembly 510 .

[0041] Such as Figure 5-9 , the membrane assembly 510 is used to seal the end of the manipulator after the cleaning is completed;

[0042] The film assembly 510 includes a multi-section telescopic rod 511, an air pump 512, a hose 513, a fixing frame 514, and a heat shrinkable bag 515;

[0043] The multi-section telescopic rod 511 is fixed on the lower side of the electric push rod-500; the telescopic direction is consistent with the direction of the electric push rod-500;

[0044] The air pump 512 is fixed on the end of the multi-section telescopic rod 511;

[0045] The air outlet of the air pump 512 is connected to the hose 513;

[0046] The telescopic end of the multi-section telescopic rod 511 is fixedly connected to the fixed frame 514; the fixed frame 514 is U-shaped,...

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Abstract

The invention discloses a high-degree-of-freedom manipulator for vascular surgery in the technical field of surgical manipulators, including a base, a controller is arranged in the base; a support table, including a table body arranged on the top of the base, the The top of table body is provided with motor one; Connecting arm one, comprises the connecting arm one body that is arranged on the top power end of motor one, and described connecting arm one body is provided with motor two; Connecting arm two, includes being arranged on motor two power The body of the connecting arm two on the end is provided with a motor three; the electric push rod one can drive the electric push rod one to rotate through the motor three, and the electric push rod one can drive the connecting plate to move laterally, and the electric push rod one can drive the connecting plate to move laterally, and the electric push rod one can drive the connecting plate to move laterally. Fourth, it can drive the support frame to rotate, and then can drive the surgical actuator on the splint to rotate, which greatly improves the degree of freedom and reduces the restrictions on the use of the surgical actuator.

Description

technical field [0001] The invention relates to the technical field of surgical manipulators, in particular to a high-degree-of-freedom manipulator for vascular surgery. Background technique [0002] Vascular surgery mainly focuses on the prevention, diagnosis and treatment of peripheral vascular diseases other than cerebrovascular and cardiovascular diseases. Among them, when performing vascular surgery, high-precision manipulators are often used at present. The manipulator can not only reduce the difficulty of surgery, improve the efficiency of surgery, but also reduce risks to a greater extent and increase the success rate of surgery. [0003] The current vascular surgery manipulator has a low degree of freedom, and the actual use is relatively limited. After the surgical implement is fixed by the splint, stains will remain on the splint. If it is not cleaned, it will pollute the surgical implement in the next operation. To this end, we propose a high-DOF manipulator for...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61B90/70A61B90/00B08B1/00B08B13/00
CPCA61B34/30A61B34/70A61B90/06A61B90/70B08B13/00A61B2090/061B08B1/165
Inventor 韩宗霖
Owner SHANDONG PROVINCIAL HOSPITAL AFFILIATED TO SHANDONG FIRST MEDICAL UNIVERSITY
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