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Linear driving device of surgical robot and surgical robot

A surgical robot and linear drive technology, applied in the field of medical devices, can solve the problems of inability to meet the application requirements of surgical robots, lack of versatility, and no quick-change function, achieving the effects of simple structure, avoiding line entanglement, and improving accuracy

Active Publication Date: 2020-08-14
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the inventors found that most of the current devices are designed for specific end-effectors, which are not universal, nor have reasonable and effective quick-change functions, and cannot meet the current application requirements of surgical robots.

Method used

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  • Linear driving device of surgical robot and surgical robot
  • Linear driving device of surgical robot and surgical robot
  • Linear driving device of surgical robot and surgical robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] This embodiment provides a linear drive device for a surgical robot, such as figure 1 As shown, it includes a rotation degree of freedom module, an instrument drive module, a motion transmission module and a quick change module. The rotation degree of freedom module is connected to the instrument drive module, and the output end of the instrument drive module is connected to the motion transmission module to realize the output motion The transmission; the output end of the motion transmission module is connected with the quick change module to realize the quick change of the quick change module and the end effector.

[0039] Specifically, the rotational degree of freedom module includes a rotary joint and a drive mechanism, and the drive mechanism is connected to the instrument drive module and the motion transmission module through the rotary joint to realize the overall rotation of the device. Such as figure 2As shown, the drive mechanism includes a first drive moto...

Embodiment 2

[0054] This embodiment provides a surgical robot, including the linear drive device described in Embodiment 1 and a surgical instrument, the surgical instrument is connected to the linear drive device, and the surgical instrument can be a continuous surgical instrument, or a rigid surgical instrument .

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Abstract

The present invention discloses a linear driving device of a surgical robot and the surgical robot. A technical scheme is as follows: the linear driving device of the surgical robot comprises a rotational freedom degree module, a device driving module, a motion transmission module and a quick change module, the rotational freedom degree module is connected with device driving module, an output endof the device driving module is connected with the motion transmission module, and an output end of the motion transmission module is connected with the quick change module. A rotation motion of thedevice driving module is changed into a linear motion through the motion transmission module and transmitted to the quick change module, so that quick changes are realized. The linear driving device of the surgical robot can better realize the quick changes of different end actuators. The linear driving device of the surgical robot has universality, can realize a modularized use of a surgical robot system, and reduces use cost.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a linear drive device for a surgical robot and a surgical robot. Background technique [0002] With the development of minimally invasive surgery, the use and research of surgical robots have developed rapidly. At present, surgical robots can be divided into rod drive, built-in elastic element drive, and wire drive according to the driving mode. The size of the small surgical robot is more conducive to the development of minimally invasive surgery, so it has been widely used. [0003] At present, the driving device used in the world's most commercially successful surgical robot-Da Vinci surgical robot is the wire-driven driving method. The surgical robot produced by Da Vinci is used in the field of laparoscopic surgery. It uses a DC servo motor as the power device, and the output motion is converted into the translational motion of the driving wire through the turntable transm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B34/70A61B2034/305
Inventor 杜付鑫张涛李贻斌类延强张钢屈梁成王建军
Owner SHANDONG UNIV
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