Variable-angle RCM executing mechanism and surgical device

Abstract

The invention relates to a variable-angle RCM executing mechanism. The variable-angle RCM executing mechanism comprises a fixed platform, a first arm, a second arm, a first connecting arm, a third arm, a fourth arm, a second connecting arm, a third connecting arm, a fifth arm and a scalpel. The variable-angle RCM executing mechanism comprises double parallelograms which cannot be parallel to each other, and a fixed-point telecentric mechanism is formed by keeping a certain angle between the double parallelograms. The position of a fixing point can be adjusted by changing the angle between the two parallelograms. After the angle between the two parallelograms is locked, no matter how a mechanical arm rotates, the fixing point of the scalpel is kept still all the time, when the mechanical arm rotates around the rotating center of the mechanical arm, a surgeon can keep the scalpel stable without fixedly supporting the scalpel with the arm, and by adjusting the rotating angle of the mechanical arm, an operation can be conveniently performed on tissue in the body.

Description

technical field [0001] The invention belongs to the technical field of medical equipment. Specifically, it relates to a variable-angle RCM actuator and a surgical device. Background technique [0002] Traditional prostate surgery requires an incision from the abdomen to reach the affected area for surgery. With the advancement of surgical techniques, transurethral minimally invasive surgery has been applied to prostate surgery. This minimally invasive surgery generally uses a transurethral resectoscope to enter the affected area, which can avoid the pain caused by surface surgery. [0003] The current minimally invasive prostate surgery mainly requires the doctor to hold the surgical equipment in his hands and keep the equipment still through hand strength. The accuracy of the surgery mainly depends on the movement accuracy of the doctor's hands. Due to the need to maintain a movement for a long time, the doctor is very tired during the operation. In addition, the curren...

AI Technical Summary

Problems solved by technology

However, the problem with this surgical method is that there are many degrees of freedom that need to be controlled, usually 7 degrees of freedom are required, and the control algorithm is difficult

In addition, since multiple degrees of freedom are in series, it is difficult to guarantee the control accuracy at the end of the manipulator.

If there is jitter, the surgical accuracy will be affected, resulting in unnecessary tissue removal or damage

[0005] Chinese Invention Patent Publication No. CN104546147A discloses an RCM robot, but it can only rotate around a fixed center. When the doctor needs to move the fixed rotation point of the surgical knife, the entire machine needs to be moved, which is time-consuming, labor-intensive, and The accuracy is greatly reduced

[0006] Chinese Invention Patent Publication No. CN109009443A discloses a surgical robot that can change the center, but the way to change the center is to use the mechanical arm to drive the end. Since the multi-joints of the mechanical arm are connected in parallel, the positioning accuracy and maintenance force of the end of the mechanical arm are greatly reduced. Moreover, the cost of a separate robotic arm is expensive and the control system is complicated

[0007] In summary, the existing surgical robots all have room for further improvement.

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