Wrist turning mechanism and surgical robot

Abstract

The invention provides a wrist turning mechanism and a surgical robot. The wrist turning mechanism comprises a support, a tail end tool and a mooring rope. The support is provided with at least two pairs of guide grooves and comprises a first support and a second support, the near end of the second support is rotatably connected to the far end of the first support, and the guide grooves of the support are formed in at least one of the first support and the second support; the tail end tool is rotatably connected to the far end of the second support, and a guide groove is formed in the tail end tool; and the mooring rope is arranged along the guide groove of the support and the guide groove of the tail end tool and used for driving the tail end tool to achieve pitching motion and deflection motion. By means of the design, the rotation freedom degree of the tail end tool relative to the support is increased, and the tail end tool has the angle adjusting function. Compared with an existing mechanism, the wrist rotating mechanism adopts the guide groove to replace a pulley and other structures, the number of parts is reduced, the assembly process is simplified, and therefore cost is greatly reduced, and disposable use of instruments is achieved.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a wrist rotation mechanism and a surgical robot. Background technique [0002] In operations such as laparoscopic surgery, conventional instruments are straight cylinders, and operating tools are mounted on the ends of the straight cylinders. The tools described above consist of opposing jaws that grip tissue and clamp blood vessels. The jaws are somehow held together to close and open. Excluding the degree of freedom of jaw opening and closing, the end tool and the shaft section of the instrument are relatively fixed. Although the operator can manipulate the instrument to move the tool to the desired position, since the shaft section of the instrument has only one degree of freedom of rotation (for example, the end tool rotates around the shaft section rotational freedom of its own axis), the orientation of the jaws relative to the tissue is difficult to adjust. F...

AI Technical Summary

Problems solved by technology

Excluding the degree of freedom of jaw opening and closing, the end tool and the shaft section of the instrument are relatively fixed. Although the operator can manipulate the instrument to move the tool to the desired position, since the shaft section of the instrument has only one degree of freedom of rotation (for example, the end tool rotates around the shaft section rotational freedom on its own axis), the orientation of the jaws relative to the tissue is difficult to adjust

For example, in the closure of blood vessels, the end tool needs to close the lumen laterally along the blood vessel, while traditional laparoscopic instruments are often difficult to achieve flexible adjustment of the angle of the end tool due to the limitation of the approach and the operating space of the abdominal cavity

[0003] In order to realize the rotation of the jaws relative to the axis of the instrument, a wrist-rotating instrument is proposed in the prior art. This wrist-rotating instrument adopts the structure of a cable and a pulley, which has problems such as complicated design and high cost.

In order to reduce costs, this wrist-rotating device adopts the design and use method of repeated use and multiple cleaning and sterilization, which also brings additional risks of cross-infection

Images