Hand-held anti-trembling surgical robot for microsurgery use

A surgical robot and microsurgery technology, applied in the field of surgical robots, can solve the physiological tremor of the doctor's hand and other problems, achieve the effect of compact structure, strong position detection ability, and improve the effect of surgery

Active Publication Date: 2020-08-28
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problem of physiological trembling of doctors’ hands in microsurgery, the pres...

Method used

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  • Hand-held anti-trembling surgical robot for microsurgery use
  • Hand-held anti-trembling surgical robot for microsurgery use
  • Hand-held anti-trembling surgical robot for microsurgery use

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Embodiment Construction

[0029] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0030] Such as Figure 1-4 As shown, the present invention provides a hand-held anti-shake surgical robot for microsurgery, including a hand-held robot parallel platform 1, a light-emitting element 2, a hand-held housing 3 and a cable 4, in which:

[0031] Holding the housing 3, the front and rear ends of which are respectively formed with through holes for the surgical knife 1-1 and the cable 4 to pass through;

[0032] Hand-held robot parallel platform 1, located inside the hand-held housing 3, which includes surgical tool 1-1, adapter 1-2, moving platform 1-3, nickel-titanium alloy wire 1-4, and multiple drive units from front to back. 1-5 and the handheld base 1-6, through multiple drive units 1-5, the two ends of each drive unit 1-5 ...

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Abstract

The invention discloses a hand-held anti-trembling surgical robot for microsurgery use, belongs to the technical field of surgical robots, and solves the problem of injury caused by physiological tremors of a hand of a surgeon during a microsurgery. The hand-held anti-trembling surgical robot for the microsurgery use comprises a surgical tool, an adapter, a movable platform, six drive units, a hand-held base, a light emitting element and the like. The hand-held anti-trembling surgical robot for the microsurgery use utilizes advantages of compact structure, high stiffness, quick dynamic response and the like of a parallel platform, and combines an optical sensor, a position sensor and a filter so that fast and effective reverse motion compensation can be realized for a surgical instrument tip so as to filter involuntary trembling of the hand of the surgeon, thereby maintaining the surgical instrument within a planned surgical path or range so as to reduce unnecessary errors to reduce difficulty of operation the surgeon; and thus, surgical accuracy is improved for an eye surgery. The hand-held anti-trembling surgical robot for the microsurgery use has the characteristics of being high in precision, light in mass, easy to operate, and good in anti- trembling effects; and thus, the hand-held anti-trembling surgical robot for the microsurgery use is capable of relieving operation pressure of surgeons, as well as effectively improving surgical effects.

Description

Technical field [0001] The invention relates to the technical field of surgical robots, in particular to a handheld anti-tremor surgical robot used for microsurgery. Background technique [0002] In microsurgery, especially in ophthalmic surgery, retinal vein cannulation (a new procedure to treat retinal vein occlusion), doctors need to operate a glass injection needle or microneedle under the field of microscope Go through the scleral incision and pierce into the blocked blood vessel with a wall thickness of 25 μm and an average diameter of 80 μm to 120 μm, and hold for 2 minutes to inject the dissolving agent. However, since the average amplitude of hand shaking of ophthalmologists is 156 μm, it is difficult for the human hand to meet the accuracy requirements of the surgical operation. The fundamental reason for limiting the accuracy of surgery is the existence of the inevitable physiological hand tremor of the ophthalmologist. Even for a highly trained surgeon who is skilled...

Claims

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Application Information

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IPC IPC(8): A61B34/00A61B34/30A61F9/007
CPCA61B34/75A61B34/30A61F9/007Y02A50/30
Inventor 于阳徐振邦张洪鑫
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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