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Low-friction low-inertia surgical instrument for minimally invasive surgical robot

A technology for minimally invasive surgery and surgical instruments, applied in the field of low-friction and low-inertia surgical instruments, which can solve the problems of difficulty in obtaining terminal contact force information, increase the risk of surgery for patients, etc. Effect

Active Publication Date: 2014-10-29
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, it is difficult for surgeons to obtain accurate terminal contact force information when using such surgical instruments, which increases the risk of surgery for patients

Method used

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  • Low-friction low-inertia surgical instrument for minimally invasive surgical robot
  • Low-friction low-inertia surgical instrument for minimally invasive surgical robot
  • Low-friction low-inertia surgical instrument for minimally invasive surgical robot

Examples

Experimental program
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Effect test

Embodiment

[0037] like figure 1 As shown, the low-friction and small-inertia surgical instrument for minimally invasive surgical robots includes a sequentially connected power drive part 3, a main body link part 2, and an end effector part 1; the end effector part 1 includes a finger opening and closing joints and wrist pitch joints;

[0038]The power driving part 3 is connected with the finger opening and closing joints and wrist pitching joints of the end effector part 1 after passing through the main link part 2 through the wire rope driving structure, so as to realize the finger opening and closing and wrist pitching motions of the end effector. The power drive part adopts the combination of passive wheel and driving wheel to realize the deceleration function of the servo motor, and thus increase the driving torque of the motor output shaft.

[0039] figure 2 and image 3 A schematic diagram of the finger opening and closing joints and the wrist pitching joints of the surgical in...

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Abstract

The invention relates to a low-friction low-inertia surgical instrument for a minimally invasive surgical robot. The low-friction low-inertia surgical instrument comprises a power driving portion (3), a main body connecting rod portion (2) and an end effector portion (1), wherein the power driving portion (3), the main body connecting rod portion (2) and the end effector portion (1) are connected with one another in sequence. The end effector portion (1) comprises a finger opening and closing joint and a wrist pitching joint. The power driving portion (3) penetrates through the main body connecting rod portion (2) through a steel wire rope driving structure and then is connected with the finger opening and closing joint and the wrist pitching joint of the end effector portion (1) respectively, so that finger opening and closing motion and wrist pitching motion of an end effector are achieved. Compared with the prior art, the low-friction low-inertia surgical instrument has the advantages that decoupling of end joint motion is achieved, a driver is simple in structure, the inertia of a body of the surgical instrument is effectively lowered, friction force of the driver is reduced, and reverse driving can be achieved.

Description

technical field [0001] The invention relates to a medical device, in particular to a low-friction and small-inertia surgical device for a minimally invasive surgical robot. Background technique [0002] Minimally invasive surgical robotic systems can significantly improve the surgeon's flexibility in surgical operations. This type of minimally invasive surgical procedure usually adopts the slender laparoscope and minimally invasive surgical instruments to enter the lesion area of ​​the patient through a small incision on the patient's body surface. During this process, dexterous surgical instruments are used to cut and suture the patient's lesion tissue, which facilitates the endoscopic surgical operation process. The surgical operation instrument can effectively reduce the operation risk of the patient and shorten the operation time. [0003] Due to the following disadvantages in the currently widely used minimally invasive surgical instruments, it is difficult to further...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/29A61B17/00
CPCA61B17/29A61B2017/00367A61B2017/2926
Inventor 李红兵沈柏用赵辉
Owner SHANGHAI JIAO TONG UNIV
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