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Surgical robot, surgical instrument and force transmission device

A technology of transmission device and surgical instrument, applied in the field of medical instruments, can solve the problems of complex transmission structure, low force transmission efficiency, difficult assembly and manufacturing, etc.

Pending Publication Date: 2021-12-03
SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the existing translational driving methods, most of them are realized by wire transmission, which has problems such as low motion control precision, low force transmission efficiency, complex transmission structure, and great difficulty in assembly and manufacturing.

Method used

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  • Surgical robot, surgical instrument and force transmission device
  • Surgical robot, surgical instrument and force transmission device
  • Surgical robot, surgical instrument and force transmission device

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0102] image 3 A schematic diagram showing the internal structure of the force transmission device according to the first preferred embodiment of the present invention, Figure 4 A schematic top view of the force transmission device according to the first preferred embodiment of the present invention is shown.

[0103] In the first preferred embodiment of the present invention, a force transmission device is provided, wherein the target motion of the actuation module includes translation along a first direction, and the force transmission module can perform translation along a second direction driven by the moving member. translate in one direction, drive the actuator module to translate in the first direction, and finally drive the telescopic rod 201 to translate in the first direction. In this method, the force transmission device as a whole is in rigid contact, that is, the force transmission device is a rigid component as a whole, so that the power transmission loss betw...

no. 2 example

[0115] Figure 8 A schematic diagram showing the internal structure of the force transmission device according to the second preferred embodiment of the present invention, Figure 9 It shows a schematic top view of the force transmission device according to the second preferred embodiment of the present invention, Figure 10 It shows a front structural schematic view of the force transmission device according to the second preferred embodiment of the present invention.

[0116] In a second preferred embodiment of the present invention there is provided a force transfer device, wherein the target movement of the actuation mass comprises oscillation about a second direction and translation along a first direction, said oscillation about the second direction enabling actuation The translation along the first direction, and the force transmission module can perform the translation along the third direction driven by the moving part, and drive the actuation module to swing around ...

no. 3 example

[0124] Figure 12 A schematic diagram showing the internal structure of the force transmission device according to the third preferred embodiment of the present invention, Figure 13 It shows a schematic top view of the force transmission device according to the third preferred embodiment of the present invention, Figure 14 It shows a schematic structural diagram of the cooperation between the actuating module and the telescopic rod according to the third preferred embodiment of the present invention, Figure 15 for Figure 14 A partial enlargement of the structure.

[0125] In a third preferred embodiment of the present invention, a force transmission device is provided, wherein the target movement of the actuation module includes opening and closing around a first direction, and the force transmission module is configured to be able to is driven to perform translation along the third direction, and drives the actuating module to open and close around the first direction;...

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Abstract

The invention relates to a surgical robot, a surgical instrument and a force transmission device. The surgical robot comprises a mechanical arm, a power system and the force transmission device, the power system is arranged on the mechanical arm and is in transmission connection with the force transmission device, the surgical instrument comprises a telescopic rod, an end effector and the force transmission device, the near end of the telescopic rod is connected with the force transmission device, the force transmission device is used for driving the telescopic rod to translate so as to actuate the end effector to move; the force transmission device comprises a driving module, a force transmission module and an actuating module; the force transmission module is connected with the driving module and can be driven by the driving module to execute preset movement; and the actuating module is connected with the force transmission module, can be driven by the force transmission module to execute the target motion, and is used for being in rigid contact with the surgical instrument and actuating the telescopic rod of the surgical instrument to translate. The force transmission efficiency can be improved, the motion control precision can be improved, the force transmission structure can be simplified, and the assembly and manufacturing difficulty of force transmission can be reduced.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a surgical robot, a surgical instrument and a force transmission device. Background technique [0002] Minimally invasive surgery has become a widely used procedure due to less trauma to the patient, less blood loss, and faster recovery time than traditional open incision surgery. Today minimally invasive procedures are typically performed by teleoperated surgical systems (eg, systems that utilize at least in part computer assistance to operate surgical instruments, such as instruments that utilize robotics). Compared with manual minimally invasive surgery, the teleoperated surgical system allows surgeons to achieve surgical operations with more intuitive control and higher precision, with higher surgical success rate and surgical efficiency. To perform the action directed by the surgeon, one or more actuation elements may be used to move the surgical instrument. Co...

Claims

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Application Information

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IPC IPC(8): A61B34/37A61B17/00H02K7/06
CPCA61B34/37A61B34/70A61B17/00234H02K7/06A61B2034/301A61B2017/00367
Inventor 翟少朋朱国征何裕源蒋友坤何超袁帅
Owner SHANGHAI MICROPORT MEDBOT (GRP) CO LTD
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