Trans-cavity surgical robot operation arm system, robot and method

Abstract

The invention provides a trans-cavity surgical robot operating arm system, a robot and a method. The trans-cavity surgical robot operating arm system comprises a driving module and an axial transmission module, the axial transmission module comprises a quick change mechanism, the quick change mechanism is provided with a clamping structure and a cavity, a transmission shaft capable of moving in the radial direction is arranged in the cavity, and the transmission shaft has the axial rotation freedom degree when moving to a set area. the driving module comprises a connecting piece matched with the transmission shaft and a clamping piece matched with the clamping structure, and the transmission shaft is moved to the set area through the connecting piece to achieve matched connection for transmission; the clamping piece is matched and connected with the clamping structure, so that quick disassembly and assembly are realized; different devices can be rapidly replaced in the operation process, the clamping mechanism is arranged, the axial transmission part can be tensioned and cannot be loosened, and the transmission precision is improved; the robot operating arm system has overall movement and rotation freedom degrees and is compact in structure, so that the size of a driving device is reduced; and the phenomena of loosening, over-tightening and the like in the movement process are prevented.

Description

technical field [0001] The present disclosure relates to a robotic arm system, robot and method for transcavity surgery with a quick-change function. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] With the development of minimally invasive surgery and the advancement of robotic technology, minimally invasive surgical robots have received close attention from doctors and scholars, and from multi-hole laparoscopic surgery to single-hole laparoscopic surgery, surgical robots have proved their strong working ability . [0004] At present, most of the surgical robot systems with relatively mature technology are laparoscopic surgical robots, such as the Da Vinci surgical robot in the United States and the Miaoshou surgical robot of Tianjin University. However, the development of surgical robots for surgery through natural orifices is relati...

AI Technical Summary

Problems solved by technology

[0005] In order to improve the working performance of the continuum instrument arm, scholars have proposed continuum unit configurations such as ball joints, rolling joints, and hinge joints, but there are still disadvantages such as low load capacity and low stability of the mechanical arm. Scholars have done a lot of work on the selection of driving motors, the arrangement of motors, the driving mode of driving wires, etc., and proposed linear drive mechanisms, winding disk drive mechanisms, etc. Scholars have also used quick-change structures and drive The motor cooperates to realize the rapid replacement of different surgical instruments, but the current quick-change structure usually adopts a buckle-type quick-change mechanism and a gear meshing quick-change mechanism. Due to factors such as the number of driving wires and the complexity of the quick-change clamping device, the driving device still exists. The volume is too large, the quick-change mechanism is not convenient enough, etc.

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