A surgical instrument fixing device and a surgical robot

Abstract

The invention discloses a surgical instrument fixing device and a surgical robot. The surgical instrument fixing device is used for fixing a surgical instrument on a surgical robot execution end so that the surgical instrument can have a freedom degree of movement, and the surgical instrument fixing device can be used in laparoscopic minimally invasive surgery, oncology surgery, neurosurgery, gastrointestinal surgery, cardiothoracic surgery, cardiovascular surgery, breast surgery, hepatobiliary surgery and other surgery.

Description

technical field [0001] The invention relates to the field of surgical instrument equipment. Background technique [0002] The robotic surgery system is a complex that integrates a number of modern high-tech means. Mainly used in cardiac surgery and prostatectomy. Surgeons can operate machines away from the operating table, which is completely different from the traditional concept of surgery. It is a well-deserved revolutionary surgical tool in the field of minimally invasive surgery in the world. On April 4, 2014, the Third Xiangya Hospital of Central South University took the lead in carrying out gastric perforation repair and appendectomy with domestic surgical robots. [0003] Surgical robots usually install surgical instruments such as clip appliers and electrocoagulation knives on the end of the surgical robot, and perform corresponding operations directly on the patient. The operation accuracy and stability requirements for the end of the surgical robot are very hig...

AI Technical Summary

Problems solved by technology

[0005] 1. This robot has a simple structure and can only perform simple surgical operations, and cannot be applied to the field of minimally invasive surgery;

[0006] 2. The mobile pair of this robot uses two concentric arc-shaped rods that cooperate with each other. One of the arc-shaped rods is fixedly connected with surgical instruments. Heart rotation, which causes the curvature of the entire arc pair to be relatively large when the surgical instrument rotates a small amount (when the surgical instrument can rotate 30 degrees, the true arc pair curvature is at least 60 degrees), occupying There is a lot of space, which is unrealistic for minimally invasive surgery;

[0007] 3. If the components of the surgical robot (such as the slider) are directly installed on the end of the surgical robot, the arc pair is quite directly connected to the robot, and the vibration of the robot will be transmitted to the arc pair, which will affect the accuracy of the operation and make it difficult Cited in the field of minimally invasive surgery;

[0008] 4. The two arc-shaped rods go deep into the long groove (15) through the protrusion (18), and the teeth of the gear and the arc-shaped rod are combined to stabilize, which is equivalent to only one stable point. If the protrusion and the long groove are fixed too much If it is too tight, it will cause the two arc rods to move poorly. If the protrusion and the long groove are fixed too loosely, it will cause the mechanism to be unstable and affect the surgical effect.

[0009] 5. The device can only be directly installed with surgical machinery, and cannot be installed with surgical machinery with multiple degrees of freedom

[0010] In summary, this structure is difficult to apply to the field of minimally invasive surgery, and only simple surgical operations can be performed

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