Six-degree-of-freedom surgical instrument by adoption of cable driving used for minimally invasive surgery

Abstract

The invention discloses a six-degree-of-freedom surgical instrument by adoption of cable driving used for a minimally-invasive surgery. A surgical instrument itself has six degrees of freedom and is combined with a linear telescopic mechanism for loading the surgical instrument in order to achieve seven degrees of freedom, thereby finishing surgical operation required by a process of the minimally-invasive surgery. The surgical instrument comprises four parts including a power joint part of the surgical instrument, a connecting rod part of a main body of the surgical instrument, an end effector part of the surgical instrument and a quick-change part of the surgical instrument.The connecting rod part of the main body comprises shoulder joint deflection degree of freedom, an elbow joint pitching degree of freedom, a wrist joint pitching degree of freedom and a wrist rotation degree of freedom. The end effector part comprises finger folding degree of freedom and finger pitching degree of freedom. The connecting rod part is connected with a power unit and an end effector.The six-degree-of-freedom surgical instrument by adoption of cable driving used for the minimally invasive surgery has following advantages remote transmission is achieved by adoption of cables in order to eliminate return difference and to ensure reliable transmission; steel cables are present in the form of closed loop circuits; and the six-degree-of-freedom surgical instrument is advantaged by being multiple in degrees of freedom, little in occupied space and complete in function.

Description

technical field [0001] The invention relates to a wire-driven medical robot device, in particular to a surgical instrument for minimally invasive surgery. Background technique [0002] In recent years, people have begun to pay more attention to the diagnosis, treatment, prevention and health of their own diseases. Under such circumstances, advanced medical equipment and surgical robots have been rapidly developed and promoted, especially minimally invasive surgical robots. In early minimally invasive surgery, the doctor inserted a long and thin endoscope and surgical instruments deep into the lesion through a small incision in the patient's skin. Compared with traditional surgery, it has many advantages such as less trauma, less bleeding, and shorter postoperative recovery time. However, small operating space, difficult surgery, and high requirements for doctors limit the application of minimally invasive surgery in precision surgery. With the development of robotics and i...

AI Technical Summary

Problems solved by technology

Such a complete set of equipment is too bulky, and the installation and commissioning are relatively complicated, and even require special operating rooms and various supporting facilities

And multiple bulky robotic arms may interfere during the procedure

At the same time, it takes a long time to prepare for the operation and replace the instrument during the operation.

Images