An auxiliary mirror-holding robot for nasal cavity surgery

Abstract

The invention discloses an auxiliary mirror-holding robot for nasal cavity surgery, which includes three parts: a frame, a robot body and an endoscope, wherein, according to the direction from top to bottom, the robot body includes a sequentially connected endoscope horizontal movement mechanism, The endoscope rotation mechanism, the endoscope swing mechanism and the endoscope vertical movement mechanism constitute four degrees of freedom on the horizontal plane and the vertical direction of the robot body. The four motion mechanisms of the robot body are driven by independent servo motors, and the movements of each mechanism do not interfere with each other; each servo motor is controlled by an external computer control system, using three-dimensional image navigation technology, to control the trajectory, positioning and positioning of the endoscope. Air attitude control. The coordination and synchronization of the movements of the moving parts of the invention are good, and it has four degrees of freedom, which can fully meet the needs of the auxiliary operation of the nasal cavity surgery endoscope. Its overall structure is simple and compact, with reasonable layout, accurate positioning, high precision, and flexible attitude adjustment in the air.

Description

technical field [0001] The invention relates to a medical robot, in particular to an auxiliary mirror-holding robot for nasal surgery. Background technique [0002] As we all know, nasal polyps and sinusitis are common and frequently-occurring diseases in the Department of Otorhinolaryngology. Among the various operations in the Department of Otorhinolaryngology, the number of nasal cavity operations accounts for a relatively large proportion. [0003] During nasal cavity surgery, doctors need to observe the condition with the help of an endoscope. Traditional endoscopic surgical operations are all done manually by doctors, which is time-consuming and labor-intensive. The doctors work hard and the patients also need relatively more additional burden or pain. In particular, in the specific narrow and complex space of the nasal cavity, it is necessary to rely solely on pure manual operation to perform precise displacement of the endoscope, precise point finding, and stability...

AI Technical Summary

Problems solved by technology

[0005] In the prior art, general nasal surgery-assisted mirror-holding robots have certain deficiencies in operating space and movement mode, and the adjustment of the position of the endoscope requires manual operation by the doctor. In particular, the execution accuracy of complex actions is not high enough. High, unable to achieve a relatively ideal degree of automation and intelligence

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