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Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees

A minimally invasive surgery and robot technology, applied in the field of surgical robots, can solve the problems of too simple parts of the instrument, low overall integration, and large overall size, so as to reduce the number of wounds, enhance operability and precision, and reduce pain. Effect

Active Publication Date: 2015-07-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a terminal instrument for a single-hole abdominal minimally invasive surgery robot to solve the problem that the overall integration of the existing single-hole abdominal surgery robot is not high, and the instrument part is too simple to fully realize anthropomorphism degrees of freedom and the overall size of the problem is large

Method used

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  • Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees
  • Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees
  • Tail end instrument for single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees

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Experimental program
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Effect test

specific Embodiment approach 1

[0016] Specific implementation mode one: combine Figure 1-Figure 4 Describe this embodiment, the robot of this embodiment comprises pivot rotation rod 3, pivot rotation fixed rod 4, wrist threading bucket 5, wrist shaft 6, first clamping tongs guide wheel 7, the first clamping tongs joint 8. The second clamp guide wheel 9, the second clamp joint 10 and the wrist joint 13,

[0017] One end of the flexible arm is affixed to one end of the pivoting fixed rod 4, the other end of the pivoting fixed rod 4 is rotationally connected to the pivoting rotating rod 3, and the other end of the pivoting rotating rod 3 is fixedly connected to the wrist threading barrel 5 , the wrist shaft 6 passes through a pair of connecting ears of the wrist threading barrel 5, one end of the wrist joint 13 is mounted on the wrist shaft 6, and the other end of the wrist joint 13 is equipped with a first clamp joint 8 and a second clamp Hold forceps joint 10;

[0018] The drive wire of the fourth joint p...

specific Embodiment approach 2

[0026] Specific implementation mode two: combination figure 1 and image 3 Describe this embodiment, the wrist threading bucket 5 of this embodiment is made into one by base 5-1 and two connecting ears 5-2, and base 5-1 is provided with first guide wheel fixing column 5-3, second Guide wheel fixed column 5-4, the 3rd guide wheel fixed column 5-5 and the 4th guide wheel fixed column 5-6, the inwall of the first guide wheel fixed column 5-3 is provided with two guide wheels one, the second The inwall of guide wheel fixed column 5-4 is provided with a guide wheel two, and the sidewall of the second guide fixed column 5-4 is provided with two guide wheels five, and the inwall of the 3rd guide wheel fixed column 5-5 is provided with Two guide wheels three, are provided with a guide wheel four on the inwall of the 4th guide wheel fixed column 5-6, are provided with two guide wheel six on the sidewall of the 4th guide wheel fixed column 5-6, the first guide wheel The height of fixe...

specific Embodiment approach 3

[0027] Specific embodiment three: the pivoting rotating rod 3 of this embodiment, the pivoting fixed rod 4, the threading barrel 5 at the end, the first clamping forceps joint 9, and the second clamping forceps joint 10 are all made of 1Cr18Ni9 material. Advantages of the above-mentioned structure All the above-mentioned parts need to be in contact with human tissue, and the use of such materials meets the requirements of the human body for materials. Other implementation manners are the same as the specific implementation manner 1.

[0028] Working principle: the fourth motor drives the wire through the fourth joint to realize the axial rotation of the wrist pivot joint, the fifth motor drives the wire through the fifth joint to realize the pitching motion of the wrist joint, and the sixth motor passes through the sixth joint The driving wire realizes the opening and closing movement of the first clamping forceps joint, and the seventh motor realizes the opening and closing m...

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Abstract

The invention discloses a tail end instrument for a single port laparoscopy minimally invasive surgery flexible robot with multiple freedom degrees, and relates to a minimally invasive surgery robot. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees solves the problems that an existing tail end instrument for the single port laparoscopy surgery robot is low in overall integration level, simple, and large in overall size, and can not completely achieve the freedom degrees similar to a person. A forth motor achieves axial rotation motion for a wrist pivoting joint through a forth joint drive wire. A fifth motor achieves pitching motion for the wrist pivoting joint through a fifth joint drive wire. A sixth motor achieves opening and closing motion for a first gripping forceps joint through a sixth joint drive wire. A seventh motor achieves opening and closing motion for a second gripping forceps joint through a seventh drive joint drive wire. The tail end instrument for the single port laparoscopy minimally invasive surgery flexible robot with the multiple freedom degrees is used in single port laparoscopy minimally invasive surgery.

Description

technical field [0001] The invention relates to a terminal device for a multi-degree-of-freedom flexible robot used for single-hole abdominal minimally invasive surgery, and belongs to the technical field of surgical robots. Background technique [0002] At present, the surgical instruments applied to the mainstream minimally invasive surgical robots all require special interface modules, and the overall size of the instrument part is large, and the distance between the pivot joint and the terminal wrist joint and clamping forceps joint is far away, so it cannot be directly applied. into a single-port abdominal minimally invasive surgical robot. At present, most of the single-hole abdominal minimally invasive surgical robots are not yet mature in the design of the terminal surgical instruments. Since the degree of freedom of the axis rotation in the terminal instruments needs to be placed at the end of the instrument, in order to reduce the overall size of the robot and redu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B17/00A61B19/00
CPCA61B17/00234A61B2017/00238A61B2017/00398A61B2017/00473
Inventor 杜志江杨文龙董为
Owner HARBIN INST OF TECH
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