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Bendable continuous clip applier for surgical robot

A surgical robot and clamp applicator technology, which is applied in surgical robots, wound clips, etc., can solve the problems that the shaft cannot be bent, the operation efficiency is low, and the flexibility needs to be improved.

Pending Publication Date: 2022-05-03
苏州威森特医疗机器人有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the clip appliers in more mature surgical robots are single-shot and the shaft cannot be bent, resulting in low surgical efficiency and flexibility to be improved

Method used

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  • Bendable continuous clip applier for surgical robot
  • Bendable continuous clip applier for surgical robot
  • Bendable continuous clip applier for surgical robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0069] In this embodiment, in order to make it easier for those skilled in the art to fully and clearly understand the technical solutions disclosed in the embodiments of the present invention, a relatively uniform orientation reference is used: the orientation of the jaws is the front, and the orientation of the body base is for later (see attached figure 1 ). In this embodiment, the "tissue clip" can also be called "nail" or "nail tool".

[0070] refer to Figures 1 to 4 , a bendable continuous clip applier for surgical robots, the nail feeding rod, the nail closing rod and the body tube of the clip applier are connected to the body base respectively, and the body base The seat is connected with the mechanical arm of the surgical robot.

[0071] Such as image 3 with 4 As shown, the body base includes a second transmission assembly, a third transmission assembly and a drive assembly.

[0072] The second transmission assembly and the third transmission assembly are resp...

Embodiment 2

[0103] Such as Figure 12 As shown, this embodiment is optimized on the basis of Embodiment 1: the shell of the base of the device body includes an upper cover detachably connected to the base, the upper cover covers the middle bracket and the top bracket inside, and the upper cover is set There is a manual control port, and the manual control port is detachably connected with a control port cover. The position of the manual control port corresponds to the position of the second transmission wheel, the third transmission wheel and / or the first transmission wheel inside the body base.

[0104] Preferably, the control port cover is made of transparent material. The control port cover is clipped and fixed with the manual control port.

[0105] When the accident with a very small probability of the appliance encounters the irresistible power supply of the surgical robot system, resulting in the inability of the front-end manipulator to move, the medical staff can open the contro...

Embodiment 3

[0117] This embodiment is optimized on the basis of embodiment 2 or 1: as Figures 13 to 20 As shown, the shaft of the clip applier has a flexible bendable portion.

[0118] Further, the body tube includes a front body tube and a rear body tube, and the front body tube and the rear body tube are connected by multiple joints. The guide fixing piece, the nail bin, and the nail feeding plate are respectively connected with the front body pipe, the anti-rotation pipe is connected with the rear body pipe, and the body base is connected with the rear body pipe.

[0119] Such as Figure 13 with 16 As shown in and 18, the body base is provided with a bending control spool and a wire fixing device, and the wire fixing device is fixedly connected with the middle bracket. There are two bending control spools, and the two bending control spools are respectively fixedly connected with the fourth chuck and the fifth chuck. Two silk ropes with opposite winding directions are respectively...

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Abstract

The invention discloses a bendable continuous clip applier for a surgical robot. The bendable continuous clip applier comprises a device body base, a device body tube connected with the device body base, a nail feeding rod connected with the device body base and a nail closing rod connected with the device body base. A nail feeding rod movement mechanism and a nail closing rod movement mechanism are arranged in the device body base; the two bending control wire shafts are fixedly connected with the fourth chuck and the fifth chuck respectively; the wire fixing device is provided with a plurality of wire guide holes, and the wire rope is connected with the bending control wire shaft. The transformer body tube comprises a front transformer body tube and a rear transformer body tube, and the front transformer body tube and the rear transformer body tube are connected through a joint; the nail feeding rod and the nail closing rod are each provided with a flexible part, and the flexible parts correspond to the joints in position. One end of the wire rope is fixedly connected with the winding shaft groove, and the other end of the wire rope extends into the device body pipe from the wire hole and is connected with the joint. After being in butt joint with a surgical robot, the clip applier can be bent at the position of a shaft rod of the clip applier, so that the flexibility of the clip applier in the surgical process is improved.

Description

technical field [0001] The invention belongs to the technical field of clip applicators for surgical robots, in particular to a bendable continuous clip applier for surgical robots. Background technique [0002] With the development of medical technology, medical surgical robot technology has been relatively mature. The effective fusion of commonly used surgical instruments directly operated by physicians to be operated by medical robots can achieve more precise surgical actions, especially in the field of minimally invasive surgery. [0003] Clip applier is a commonly used surgical instrument in surgical operations, and its function is to complete the predetermined clip application action as needed during the operation. At present, the clip appliers in relatively mature surgical robots are single-shot and the shaft cannot be bent, resulting in low surgical efficiency and flexibility. Contents of the invention [0004] The object of the present invention is to overcome t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/128A61B34/30
CPCA61B17/1285A61B34/30A61B2034/302
Inventor 庞建高轶明翟俊旺
Owner 苏州威森特医疗机器人有限公司