Surgical robot system and its surgical instruments

A technology for surgical instruments and instrument rods, which is applied in the field of surgical robot systems and surgical instruments, and can solve the problems of high scrap rate of sensors and low accuracy of contact force measurement

Active Publication Date: 2019-12-24
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to provide a surgical robot system and its surgical instruments to solve one or more of the problems in the prior art, such as the low measurement accuracy of the contact force at the end of the surgical instrument and the high scrap rate of sensors.

Method used

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  • Surgical robot system and its surgical instruments
  • Surgical robot system and its surgical instruments
  • Surgical robot system and its surgical instruments

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Embodiment Construction

[0088] In order to make the purpose, advantages and features of the present invention clearer, the following is attached Figure 1~8 The surgical robot system and surgical instruments proposed by the present invention will be further described in detail. It should be noted that the drawings are in a very simplified form and all use imprecise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. As mentioned in the specification, "end" and "distal" refer to the end far away from the product operator, and "proximal end" refers to the end close to the product operator.

[0089] figure 1 It is a schematic diagram of the structure of the slave device of the surgical robot system according to an embodiment of the present invention. Such as figure 1 As shown, the slave-end equipment includes an operating trolley 1, a mechanical arm 2, a surgical instrument 3, and an endoscope 4. The operating trolley...

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Abstract

The invention provides a surgical robot system and a surgical instrument thereof, which help to improve the precision and accuracy of the contact force measurement at the end of the surgical instrument. The surgical instrument includes a mechanical structure, a sleeve and a force sensor, the mechanical structure includes an instrument rod and an end effector connected to the end of the instrument rod; the sleeve is fixed or detachably sleeved on the end of the instrument rod; the The force sensor includes a sensitive element and a peripheral measurement module connected to the sensitive element. The sensitive element is arranged on the casing to obtain deformation information of the casing; the peripheral measurement module obtains the measurement of the sensitive element according to the deformation information obtained by the sensitive element. Obtained stress, and according to the stress measured by the sensitive element, the position of the sensitive element and the direction of the sensitive axis of the sensitive element, the equivalent resultant force and the equivalent moment of the applied force of the instrument rod received by the cannula are obtained, and then Obtain the contact force experienced by the end effector of the surgical instrument.

Description

Technical field [0001] The present invention relates to the technical field of medical devices, in particular to a surgical robot system and surgical instruments. Background technique [0002] Robot-assisted surgery systems are usually implemented in a master-slave control mode, and are divided into two parts: master-end equipment (doctor end) and slave-end equipment (patient end). The main-end equipment is usually based on the design of a robotic arm, a spatial multi-dimensional mouse, a joystick, etc., which can realize multi-dimensional movement in space. The slave device is generally a multi-degree-of-freedom robotic arm, with surgical instruments (such as needle holders, electrocoagulation forceps, electrosurgical cautery probes, tissue holders, scissors, etc.) clamped at the ends. During the operation, the display device displays the 3D image of the internal organs transmitted by the endoscope. The doctor operates the master-end equipment according to the image information...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/37
CPCA61B34/37A61B34/70A61B34/76A61B34/77A61B2034/302A61B34/30A61B2090/065A61B2090/064A61B90/361A61B2034/301A61B34/35A61B90/06
Inventor 夏玉辉何超李涛王家寅师云雷
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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