A variable-angle rcm actuator and surgical device

Abstract

A variable-angle RCM actuator 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 actuator contains double parallelograms that may not be parallel to each other, and a fixed-point telecentric mechanism is formed by maintaining a certain angle with each other. The position of the fixed point can be adjusted by changing the angle between the two parallelograms. When the two parallelograms lock the angle between each other, no matter how the robotic arm rotates, the fixed point of the scalpel remains stationary. When the robotic arm rotates around its center of rotation, the surgeon can keep the scalpel without the arm. The stability of the scalpel, through the adjustment of the rotation angle of the mechanical arm, can easily operate on the tissue in the body.

Description

technical field [0001] The invention belongs to the technical field of medical devices. Specifically, it relates to a variable-angle RCM implementing mechanism 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, minimally invasive transurethral 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] At present, the minimally invasive prostate surgery is mainly performed by the doctor holding the surgical equipment, and the equipment is kept still by the force of the hand. The precision of the operation mainly depends on the movement precision of the doctor's hand. Due to the need to maintain a movement for a long time, the doctor is very tired during the operation. In ...

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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