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Robot arm, slave operation equipment and surgical robot

A technology for operating equipment and robotic arms, applied in the field of medical devices, can solve problems such as keeping still and unable to ensure contact points, and achieve the effect of avoiding tearing

Pending Publication Date: 2022-03-01
SHENZHEN JINGFENG MEDICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, current technology does not ensure that this point of contact remains immobile across the patient's minimally invasive incision

Method used

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  • Robot arm, slave operation equipment and surgical robot
  • Robot arm, slave operation equipment and surgical robot
  • Robot arm, slave operation equipment and surgical robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0060] Embodiment 1 The pitch axis 40, the insertion axis 30, the yaw axis 20, and the first side 50 of the parallelogram intersect at point RC, while the cyclone axis 10 does not pass through point RC

[0061] When the pitch axis 40 , insertion axis 30 , yaw axis 20 and the first side 50 of the parallelogram intersect at the point RC, and the cyclone axis 10 does not pass the point RC, the relationship between the cyclone axis 10 and other lines as follows:

[0062] 1) The cyclone axis 10 may not intersect with any one of the pitch axis 40 , the insertion axis 30 , the yaw axis 20 and the first side 50 of the parallelogram;

[0063] 2) The cyclone axis 10 may only intersect the pitch axis 40;

[0064] 3) The cyclone axis 10 can also only intersect the insertion axis 30;

[0065] 4) The cyclone axis 10 can also only intersect the deflection axis 20;

[0066] 5) The cyclone axis 10 can also only intersect with the first side 50 of the parallelogram;

[0067] 6) The cyclone ...

Embodiment 2

[0080] Embodiment 2 The cyclone axis 10 (but the RC point) intersects the pitch axis 40 and the insertion axis 30 at a non-RC point

[0081] When the cyclone joint 681 rotates around the cyclone axis 10, if the cyclone axis 10 intersects the pitch axis 40, it intersects at a position other than the RC point; similarly, when the cyclone joint 681 rotates around the When the cyclone axis 10 rotates, if the cyclone axis 10 intersects the insertion axis 30, it also intersects at a position other than the RC point. It can be understood that, when the cyclone joint 681 is at the initial position, the cyclone axis 10 may be out of plane with the pitch axis 40, or may intersect at a non-RC point position; when the cyclone joint 681 is at the initial position, the The cyclone axis 10 may be out of plane with the insertion axis 30, or may intersect at a position other than the RC point.

[0082] 1. When the cyclone axis 10 is out of plane with the pitch axis 40, the relationship betwee...

Embodiment 3

[0134] Embodiment 3 Compared with Embodiment 1 or Embodiment 2, the deflection axis 20 is collinear with the first side 50 of the parallelogram

[0135] When the deflection axis 20 is collinear with the first side 50 of the parallelogram, only the deflection axis 20 is referred to below as the deflection axis 20 / the first side 50 of the parallelogram.

[0136] When the pitch axis 40, the insertion axis 30 and the yaw axis 20 intersect at the point RC, and the cyclone axis 10 does not pass the point RC, the relationship between the cyclone axis 10 and other lines is as follows (based on the description of Embodiment 1) :

[0137] 1) The cyclone axis 10 may not intersect any of the pitch axis 40 , the insertion axis 30 and the yaw axis 20 ;

[0138] 2) The cyclone axis 10 may only intersect the pitch axis 40;

[0139] 3) The cyclone axis 10 can also only intersect the insertion axis 30;

[0140] 4) The cyclone axis 10 can also only intersect the deflection axis 20;

[0141]...

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Abstract

The invention discloses a mechanical arm, the mechanical arm is connected with an orientation platform, the mechanical arm comprises an operating arm and an adjusting arm connected with the operating arm, and the operating arm comprises a deflection joint, an adjusting arm and a deflection joint, the deflection joint is provided with a deflection axis penetrating through a remote center RC point; one end of the cyclone joint is connected with the deflection joint, the other end of the cyclone joint is connected with the adjusting arm, and the cyclone joint is provided with a cyclone axis not penetrating through the RC point; the parallelogram mechanism is used for pitching around the pitching axis passing through the RC point, and when the cyclone axis intersects with the pitching axis, the intersection point is located at the non-RC point position; the operation arm is further provided with an insertion axis penetrating through the RC point, a surgical instrument on the operation arm moves along the insertion axis, and when the cyclone axis intersects with the insertion axis, the intersection point is located at the non-RC point position; and the adjusting arm is used for keeping the coordinate of the RC point under the orientation platform coordinate system unchanged when the cyclone joint rotates around the cyclone axis. The invention further discloses the slave operation equipment and the surgical robot. According to the surgical instrument, the contact point between the long axis of the surgical instrument and the minimally invasive incision in the body of a patient can be kept still, and therefore the wound of the patient is prevented from being torn.

Description

technical field [0001] The present application relates to the technical field of medical devices, in particular to a mechanical arm, a slave operating device and a surgical robot. Background technique [0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. [0003] With the advancement of science and technology, robotic technology for minimally invasive surgery has gradually matured and been widely used. A minimally invasive surgical robot usually includes a main operating console and a secondary operating device. The main operating console is used to send control commands to the secondary operating device according to the doctor's operation to control the secondary operating device. The secon...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/00A61B34/35A61B34/30
CPCA61B34/70A61B34/35A61B34/72A61B2034/305
Inventor 孙强
Owner SHENZHEN JINGFENG MEDICAL TECH CO LTD