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Continuous clip applier for surgical robot
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A surgical robot and clip applier technology, applied in surgical robots, wound clips, etc., can solve the problems of small action space, low fault tolerance rate, and slow technology update.
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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Abstract
Description
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Problems solved by technology
[0004] The special intraoperative conditions in the field of minimally invasive surgery technology, such as micro-incisions, relatively remote control by doctors, small movement space for instruments, and low error tolerance rate, lead to the need to ensure that the original minimally invasive surgical robot system The integration of transmission and the need to overcome the various technical nodes in the process of miniaturization of the whole appliance, so that the technical update in the previous operation scheme in this field has been relatively slow
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Embodiment 1
[0063] 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".
[0064] refer to Figures 1 to 4 , a 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 is connected to the surgical robot when in use connected to the mechanical arm.
[0065] Such as figure 2 , 3 As shown in and 4, the body base includes a second transmission assembly, a third transmission assembly and a drive assembly. The second transmission assembly and the third transmission assembly are resp...
Embodiment 2
[0094] 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 that is detachably connected to the base, and the upper cover covers the middle bracket and the top bracket inside the base of the body , the upper cover is provided with 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.
[0095] The control port cover is made of transparent material. The control port cover is clipped and fixed with the manual control port.
[0096] When an accident with a very small probability of the appliance encounters the irresistible power supply of the surgical robot system, the front-end manipulator cannot move, and the clamp applicator cannot move. The med...
Embodiment 3
[0108] 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.
[0109] Such as Figure 13 and 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 fixed on the winding shaft groove of each bending control bobbin. The silk ropes enter the body tube through the wire hole on the wire fixing device, and reach the joint along the body tube, and connect with the The wire rope hole of the joint is fixedly connected, and when the bending control spool rotates under the drive of the chuck, the wire rope drives the joint to bend. Further, the two w...
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Abstract
The invention discloses a continuous clip applier for a surgical robot, a nail feeding rod, a nail closing rod and a device body tube of the clip applier are respectively connected with a device body base, and the device body base comprises a second transmission component, a third transmission component and a driving assembly; the second transmission component and the third transmission component are respectively connected with the driving assembly; the driving assembly comprises an external rotating body and an internal rotating body; the outer side wall of the first cylindrical body of the external rotating body is connected with a third transmission wheel in the third transmission assembly; the outer side wall of the part, located outside the cavity, of the second cylindrical body of the inner rotating body is connected with a second transmission wheel in the second transmission assembly. A nail closing driving sleeve is fixedly arranged in the second columnar body, and a nail feeding driving sleeve is fixedly arranged at the end, away from the opening, of the cavity; and the nail feeding rod and the nail closing rod are respectively connected with the rotation stopping mechanism. Power in the surgical robotsystem is transmitted to the clip applier through the device body base, and the clip applying action is completed. And the clip applier device capable of being butted and fused with the surgical robot is formed.
Description
technical field [0001] The invention belongs to the technical field of manipulators on the patient side in a minimally invasive surgerysystem, and in particular relates to a continuous clip applicator for a surgical robot. Background technique [0002] Clip applier is a kind of surgical instrument in surgery. Its function is to clamp special closure clips such as plastic clips or metal clips at the designated positions of blood vessels or urinary tubes, so as to achieve the effects of cutting and blocking flow. [0003] On the one hand, with the development of minimally invasive medical technology, it is necessary to provide a high-quality solution to enable the detachable fusion and docking of the clip applier and the robotic arm in the minimally invasive surgical robotsystem to form a precise control system during minimally invasive surgery. manipulator for minimally invasive surgery. On the other hand, in existing minimally invasive robot-controlled operations, single-...
Claims
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Application Information
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