Natural orifice operation mechanical arm

Abstract

The invention provides a natural orifice operation mechanical arm. The natural orifice operation mechanical arm comprises an inner insulating sleeve, an inner metal hose, an electrorheological fluid channel, an outer metal hose and an outer insulating sleeve which are sequentially arranged in a sleeving mode from inside to outside. The electrorheological fluid channel is filled with electrorheological fluid, and the electrorheological fluid is in a liquid state when an electric field is not applied; with increase of intensity of an external electric field, the viscosity is continuously increased in the external electric field, and the electrorheological fluid can be sequentially converted into a gel state and a solid state from the liquid state. The inner metal hose and the outer metal hose are arranged at an interval, are externally connected with a power supply and are used for forming the external electric field at the electrorheological fluid channel. The external electric field isformed at the electrorheological fluid channel, and the intensity of the external electric field is controlled by controlling the voltage value of an external power supply, so that the viscosity of the electrorheological fluid is changed, the rigidity of the electrorheological fluid channel is controlled, and the overall rigidity of the natural orifice operation mechanical arm is controllable.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a mechanical arm for natural orifice surgery. Background technique [0002] With the advancement of science and technology, minimally invasive surgery has a good application prospect due to its advantages of less trauma, less pain, and faster recovery. When performing minimally invasive surgery, it is necessary to insert surgical tools into the human body through tiny incisions or natural orifices on the patient's body surface for operation. Among them, the best way to perform surgery through the natural orifice can achieve non-invasive surgery and no cure. scar. [0003] The natural orifice surgery based on endoscope is exactly a class in the minimally invasive surgery. The natural orifice surgery based on endoscope usually needs to first place a hollow long mechanical arm along the natural orifice of the human body (such as oral cavity, anus, etc.) , vagina, etc.)...

AI Technical Summary

Problems solved by technology

[0004] It can be seen that there is a contradiction between rigidity and softness of the robotic arm before and after the operation; however, the traditional rigid surgical robotic arm cannot adapt to the complex natural cavity of the human body because it does not have the deformable function; while the flexible surgical robotic arm Insufficient rigidity, unable to provide reliable support for the operation of the end surgical tool during the operation, resulting in insufficient operating force and lack of stability of the instrument, making it difficult to guarantee the control accuracy of the end tool

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