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Driving mechanism for multi-degree-of-freedom flexible robot for single-incision laparoscopic minimally invasive surgery

A minimally invasive surgery and driving mechanism technology, applied in the field of surgical robots, can solve the problems of large overall size and low overall integration of robot driving mechanisms, and achieve the effects of reduced size and weight, ingenious design structure, and easy portability

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 driving mechanism for a multi-degree-of-freedom flexible robot for minimally invasive surgery in the single-hole abdominal cavity, so as to solve the problem that the overall integration degree of the existing single-hole abdominal surgery robot driving mechanism is not high and the overall size is large

Method used

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  • Driving mechanism for multi-degree-of-freedom flexible robot for single-incision laparoscopic minimally invasive surgery
  • Driving mechanism for multi-degree-of-freedom flexible robot for single-incision laparoscopic minimally invasive surgery
  • Driving mechanism for multi-degree-of-freedom flexible robot for single-incision laparoscopic minimally invasive surgery

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specific Embodiment approach 1

[0012] Embodiment 1: Combining figure 1 , figure 2 and image 3 Describing this embodiment, the mechanism of this embodiment includes a first motor 1, a second motor 2, a third motor 3, a fourth motor 4, a fifth motor 5, a sixth motor 6, a seventh motor 7, and a rear support of the drive box Plate 8, first motor output shaft 9, second motor output shaft 10, third motor output shaft 11, fourth motor output shaft 12, fifth motor output shaft 13, sixth motor output shaft 14, seventh motor output shaft 15. The first drive wire guide shaft 16, the second drive wire guide shaft 17, the third drive wire guide shaft 18, the fourth drive wire guide shaft 19, the front end support plate 20 of the drive box, the first flexible arm guide wheel group 21- 1. The second flexible arm guide wheel set 21-2, the third flexible arm guide wheel set 21-3, the fourth flexible arm guide wheel set 21-4,

[0013] The first motor 1, the second motor 2, the third motor 3, the fourth motor 4, the fift...

specific Embodiment approach 2

[0018] Specific implementation mode 2: Combining figure 1 Describing the present embodiment, the length, width and height of the drive case of the present embodiment are all 80 mm. Other embodiments are the same as the first embodiment.

specific Embodiment approach 3

[0019] Specific embodiment 3: The first driving wire guide shaft 16 of this embodiment is provided with two first winding wheels 16-1, which are respectively defined as the first winding wheel 1 and the first winding wheel 2. The first winding wheel 16-1 is The first reel and the second reel are abutted together to form a first reel set. Other embodiments are the same as the first embodiment.

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Abstract

The invention provides a driving mechanism for a multi-degree-of-freedom flexible robot for single-incision laparoscopic minimally invasive surgery, belongs to the technical field of surgical robots, and aims at solving the problems of small overall integrity and large overall size of the driving mechanism of the existing single-incision laparoscopic surgery robot. The mechanism is that a first motor is in transmission connection with one end of a first motor output shaft; a second motor is in transmission connection with one end of a second motor output shaft; a third motor is in transmission connection with one end of a third motor output shaft; a fourth motor is in transmission connection with one end of a fourth motor output shaft; a fifth motor is in transmission connection with one end of a fifth motor output end; a sixth motor is in transmission connection with one end of a sixth motor output shaft; a seven motor is in transmission connection with one end of a seventh motor output shaft; the other one of the ends of the plurality of motor output shafts is in transmission connection with a bearing mounted a front end supporting plate of a driving box. The driving mechanism is applied to single-incision laparoscopic minimally invasive surgery.

Description

technical field [0001] The invention relates to a driving mechanism for a multi-degree-of-freedom flexible robot for single-hole abdominal minimally invasive surgery, and belongs to the technical field of surgical robots. Background technique [0002] At present, traditional surgical operations and the general use of abdominal minimally invasive surgical robotic systems generally require large-area open incisions or 4-5 micro incisions to perform operations. At present, in surgical operations, there are common disadvantages such as large trauma to patients, high requirements for doctors to operate, long postoperative recovery time, and high risk of cross-infection. However, the instruments of the current mainstream minimally invasive surgical robotic systems are relatively large, and interference and collision between the robotic arms and instruments are prone to occur during surgery, and due to the large number of wounds, the operability and operation of the operation are r...

Claims

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Application Information

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IPC IPC(8): A61B17/00A61B19/00
CPCA61B17/00234A61B2017/00238A61B2017/00398
Inventor 杜志江杨文龙董为
Owner HARBIN INST OF TECH
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