Minimally invasive surgical robot with continuum configuration and working method thereof

Abstract

The invention provides a minimally invasive surgery robot with a continuum structure and a working method thereof, and the minimally invasive surgery robot comprises a mechanical arm platform module, a driving module and an instrument module; the driving module is arranged at the tail end of the mechanical arm platform module and is in driving connection with the instrument module; the instrument module comprises a driving mechanism, a sleeve connected with the driving mechanism and a continuum module arranged at the tail end of the sleeve; the continuum module comprises a continuum base joint, a near-section continuum joint, a continuum section transition joint, a far-section continuum joint and a continuum tail-end joint which are arranged in sequence. The bending device has the advantages of being smaller in size, higher in flexibility, larger in bending angle and easy to operate, the bending angle and the reachable range of the tail end of the bending device can meet surgical operation of the whole ear-nose-skull base narrow space, clinical surgical requirements are met, surgical accuracy is high, repeatability is good, the culture period of doctors can be shortened, and surgical risks are reduced.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a minimally invasive surgical robot in a continuum configuration and a working method thereof. Background technique [0002] Ears, nose, and skull base are one of the most complex areas of the human body, including the external auditory canal, tympanic cavity, Eustachian tube, labyrinthine duct, and internal auditory canal; nasal cavity, sinuses, and nasopharynx; anterior skull base, sella region, and lateral skull base, etc. Due to the curved cavity and narrow space when entering the lesion, there are many surgical blind spots in otolaryngology and skull base surgery, making minimally invasive surgery difficult. [0003] Recently, natural orifice transluminal endoscopic surgery (Natural Orifice Transluminal Endoscopic Surgery) is the trend of minimally invasive and non-invasive surgery. This type of surgery has many advantages, such as minimal incision in the affected a...

AI Technical Summary

Problems solved by technology

It can realize the adjustment of the pitch and deflection degrees of freedom and the adjustment of the telescopic degrees of freedom of the scalpel, but for the more complicated otolaryngology and skull base surgery with natural orifices, its deflection degrees of freedom and instrument functions cannot meet the requirements of otolaryngology and skull base surgery

Images