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Four-degree-of-freedom endoscopic surgical instrument transmission and driving system

A technology of endoscopic surgery and drive system, which is applied in the transmission and drive system of four-degree-of-freedom endoscopic surgical instruments, and in the field of endoscopic surgical instruments, which can solve problems such as difficult system integration, large transmission device size, and large hysteresis of mechanical transmission. It achieves the effect of convenient and simple quick change, stable transmission, and prevention of axial bending moment deformation

Pending Publication Date: 2022-07-22
SHANDONG JIANZHU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for four-degree-of-freedom endoscopic surgical instruments that are driven and transmitted only through rotational motion, the transmission device is large in size, the hysteresis of the mechanical transmission is large, and it is difficult to achieve system integration

Method used

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  • Four-degree-of-freedom endoscopic surgical instrument transmission and driving system
  • Four-degree-of-freedom endoscopic surgical instrument transmission and driving system
  • Four-degree-of-freedom endoscopic surgical instrument transmission and driving system

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specific Embodiment approach

[0043] Specific implementation: as Figure 1 to Figure 21 As shown, a four-degree-of-freedom endoscopic surgical instrument transmission and drive system includes an instrument shaft 3, a support device 4, a quick-change mechanism 501, a transmission mechanism 1 and a drive mechanism 2, and the instrument shaft 3 is mounted on the support device. 4, the support device 4 is installed on the front end of the transmission mechanism 1, the transmission mechanism 1 is installed on the quick change mechanism 501, and the rear end of the quick change mechanism 501 has a disc-shaped end surface, and the drive mechanism 2 Installed to the rear end of the quick-change mechanism 501 .

[0044] Through the design of the quick change mechanism 501, the transmission mechanism 1 and the drive mechanism 2, the invention has a compact design, stable transmission, fast response, and small clearance. The modular design is adopted, which is easy to realize system integration, and the quick change...

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Abstract

The invention discloses a four-degree-of-freedom endoscope surgical instrument transmission and driving system, and belongs to the field of medical instruments. Comprising an instrument shaft, a supporting device, a quick-change mechanism, a transmission mechanism and a driving mechanism. The transmission mechanism mainly comprises a transverse rolling line wheel, a guide wheel mechanism and a crank rocker, and transmission of four freedom degrees of instrument shaft transverse rolling, wrist pitching, wrist yawing and clamp opening and closing is achieved in a steel wire transmission mode. The driving mechanism mainly comprises a coupler, a lead screw nut pair, a connecting block, a transmission rod and a linear bearing, rotary motion of the servo motor is converted into linear motion of the transmission rod, then the linear motion is converted into rotary motion through a crank rocker in the transmission mechanism, and the rotary motion is transmitted to four degrees of freedom of the instrument through the transmission mechanism. The device is compact in design, stable in transmission, quick in response, small in gap, modular in design, easy to realize system integration, and convenient and simple in quick change.

Description

technical field [0001] The invention relates to an endoscopic surgical instrument, in particular to a four-freedom-degree-of-freedom endoscopic surgical instrument transmission and drive system, which belongs to the field of medical instruments. Background technique [0002] Endoscopic surgical instruments are widely used in many surgical fields due to their advantages of smaller wounds, shorter healing time, and less pain for patients. However, traditional endoscopic surgical instruments have limited freedom of translation at the wound site, poor flexibility, and require manual operation. , it is difficult for doctors to ensure the precision and accuracy of manual operation for a long time. In order to overcome the shortcomings of traditional endoscopic surgical instruments, the endoscopic surgical robot system is specially equipped with a four-degree-of-freedom endoscopic surgical instrument, which enables it to have four freedoms of instrument axis roll, wrist pitch, yaw ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16H37/12F16H57/021F16H57/023A61B17/00
CPCF16H37/124F16H57/021F16H57/023A61B17/00234A61B2017/00398
Inventor 李坤卓越孙学壮李克强刘新雨武一凡
Owner SHANDONG JIANZHU UNIV
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