A pulling structure and a flexible surgical robot

By designing a pulling structure including a passive traction unit and an active traction unit, the problem of aging and loosening of the pulling structure line of the existing minimally invasive surgical instruments is solved, and higher control accuracy and stability are achieved, and more accurate force feedback is provided.

CN117257448BActive Publication Date: 2025-03-25BEIHANG UNIV +1
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Patent Information

Application Number
CN202311213909.0
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-09-20
Publication Date
2025-03-25
Estimated Expiration
2043-09-20

AI Technical Summary

Technical Problem

The distal pulling structure in existing minimally invasive surgical instruments is loose due to the driving of the shaft, and the line aging becomes loose after multiple use, which affects the operator's control accuracy.

Method used

A pulling structure is designed, including a base and a pulling mechanism, which consists of a passive pulling unit, an active pulling unit and a pulling rope. The passive traction unit is actively pulled by the active traction unit, and the driving plate is rotated by the second passive traction rope, and the transmission makes the elastic member compress or relax, so as to achieve constant force pulling.

Benefits of technology

It improves the control accuracy and stability of the flexible surgical robot, provides operators with more accurate and safe force feedback, and extends the service life of the device.

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Abstract

The embodiment of the present application provides a pulling structure and a flexible surgical robot, which belongs to the field of medical device technology. The pulling structure includes a base and a pulling mechanism, the pulling mechanism is arranged on the base, the pulling mechanism includes a passive pulling unit, an active pulling unit and a pulling rope, the pulling rope is connected between the passive pulling unit and the active pulling unit, the passive pulling unit and the active pulling unit are used to drive the terminal instrument module to perform corresponding actions; the passive pulling unit includes an elastic member and a driving disk, the driving disk has a hinge end, a first connection end and a second connection end distributed in a triangular shape, and the driving disk is rotatably mounted on the base; the first connection end is closer to the elastic member than the second connection end, and the terminal instrument module is located on the side of the driving disk away from the base; the active pulling unit is used to actively pull the passive pulling rope to drive the driving disk to rotate and compress or relax the elastic member. This pulling structure has high control accuracy, good stability, and provides force feedback to the operator.
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