Robot for assisting in nasal endoscopic surgery

Abstract

The invention provides a robot for assisting in a nasal endoscopic surgery. The robot comprises a self-adaption guide rail adaptation mechanism matched with a guide rail, a position coarse-adjustment mechanism and a pose fine-adjustment mechanism, wherein the self-adaption guide rail adaptation mechanism comprises a fixing piece arranged on the inner side of the guide rail, a connection piece arranged outside the guide rail and a fastener for connecting and fixing the fixing piece and the connection piece; the position coarse-adjustment mechanism comprises a first supporting arm, a first rotating joint, a first beam, a second supporting arm, a second rotating joint, a second beam and a parallel four-rod mechanism, the first supporting arm, the first rotating joint, the first beam, the second supporting arm, the second rotating joint, the second beam and the parallel four-rod mechanism are sequentially connected, and the first supporting arm is connected with the connection piece; the pose fine-adjustment mechanism comprises three ball joints, a driving piece and a clamping piece for clamping a nasal endoscope, and the parallel four-rod mechanism, the three ball joints, the driving piece and the clamping piece are sequentially connected. The robot is simple in structure, convenient to adjust, high in stability, safe and reliable.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to an auxiliary robot for nasal endoscopic surgery. Background technique [0002] The main purpose of endoscopic sinus surgery is to remove nasal lesions and restore nasal ventilation. Existing operation mode mainly is that the doctor's left hand holds mirror, and right hand performs operation. Under this mode of operation, almost all surgical operations are performed by the right hand of the doctor, and some operations (such as resection) are difficult to be performed by one hand. In addition, holding the mirror with the left hand for a long time will cause muscle soreness for the surgeon, and it will be difficult to maintain the stability of the operation for a long time, which will cause the image of the field of vision to shake. trauma. In order to solve the above problems, doctors tend to seek external clamping systems to assist in the completion of surgical operatio...

AI Technical Summary

Problems solved by technology

The disadvantage is that the adjustment of the nasal endoscope is not flexible. When the surgical field of view needs to be adjusted, all the damping adjustment rings need to be loosened to adjust. After the adjustment is completed, it is necessary to tighten the damping adjustment buttons one by one to fix the nasal endoscope.

The adjustment in the whole process is cumbersome, the stability is not high, and the adjustment is inconvenient

Moreover, the force of the whole mechanism acts on the patient's head through the head ring, and the fixing method is not friendly.

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