Surgical puncture actuating mechanism and surgical mechanical arm adopting same

Abstract

The invention relates to a surgical puncture actuating mechanism and a surgical mechanical arm adopting the same. The introduction of the puncture actuating mechanism can clamp surgical instruments (such as a puncture needle and an ablation needle), so that a doctor can remotely control the mechanical arm to adjust the puncture track of the instrument and push the mechanical arm to reach a targetdepth along the target puncture track. In addition, during operation, the puncture actuating mechanism can be controlled to provide a certain free moving space for a puncture instrument, so that the surgical instrument can move with the tissue along with the respiration when reaching the target point for subsequent action (such as laser ablation); track deviation and puncture point damage caused by rigid fixation of the mechanical arm on the end part of the surgical instrument can be eliminated, and the requirement of quick release of the surgical instrument under an emergency condition (suchas the risk of breaking caused by excessive bending of the surgical instrument) can be met; meanwhile, the mechanism can restore the surgical instrument to the clamped state and restore the relative position of the surgical instrument and the mechanical arm so as to adjust the puncture track again.

Description

technical field [0001] The invention relates to the technical field of medical instruments, and more particularly to a surgical puncture actuator and a surgical robot arm using the same. Background technique [0002] Needle aspiration is a relatively common technique in modern surgery, especially in the field of minimally invasive surgery. Under the guidance of images and other sensors, the puncture needle penetrates into the soft tissue lesion target to complete operations such as prevention of drugs, biopsy, local anesthesia, radiation and ablation therapy. Needle puncture is widely used in the diagnosis and treatment of organs and tissues such as prostate, lung, liver, kidney and spine. [0003] With the development of interventional guidance tools and robot-assisted technology and in the medical field, multiple scan verifications in traditional puncture surgery, long operation time, high requirements for doctors' technical level, poor repeatability, etc., and real-time ...

AI Technical Summary

Problems solved by technology

[0004] However, the existing puncture needle is rigidly connected to the mechanical arm and cannot move with breathing; or when considering the breathing effect, the skin at the puncture point may still be torn, and the cost of the device remains high

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