CN114587612A - Abdominal cavity operation robot intervention channel - Google Patents
Abdominal cavity operation robot intervention channel Download PDFInfo
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- CN114587612A CN114587612A CN202210397966.8A CN202210397966A CN114587612A CN 114587612 A CN114587612 A CN 114587612A CN 202210397966 A CN202210397966 A CN 202210397966A CN 114587612 A CN114587612 A CN 114587612A
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- 210000000683 abdominal cavity Anatomy 0.000 title claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 20
- 238000007789 sealing Methods 0.000 claims description 12
- 210000003815 abdominal wall Anatomy 0.000 claims description 9
- 230000003187 abdominal effect Effects 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 3
- 239000012528 membrane Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 18
- 230000000007 visual effect Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 238000009434 installation Methods 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- 239000000741 silica gel Substances 0.000 description 4
- 229910002027 silica gel Inorganic materials 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012084 abdominal surgery Methods 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000007012 clinical effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000302 ischemic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000017074 necrotic cell death Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000000192 social effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to an intervention channel of an abdominal cavity operation robot, which comprises a base, a multi-channel platform, an inner clamping assembly and an outer clamping assembly, wherein the multi-channel platform comprises an instrument platform, a base, a flexible layer and a mechanical arm channel; the outer side surface of the base is part of a spherical surface, the base is provided with a spherical inner cavity, and the base is matched with the inner cavity of the base so that the base can rotate around multiple axes in the base; the multi-channel monitoring mechanical arm is characterized in that a plurality of holes in the instrument platform are spherical holes, the outer surface of the mechanical arm channel is spherical, and the outer surface of the mechanical arm channel is matched with the holes, so that the multi-channel platform can be caused to rotate relative to the base when the monitoring mechanical arm moves, the pose of the mechanical arm of the tool is kept unchanged, and a larger moving range is provided for the monitoring mechanical arm.
Description
Technical Field
The invention relates to an intervention channel of an abdominal cavity operation robot, in particular to an intervention channel which can conveniently change operation visual field, is stably installed and can be repeatedly used.
Background
Surgical robots are now increasingly accepted by patients, such as the da vinci surgical robot, which has been commercially used, and has achieved great clinical and social effects in the field of endoscopic surgery. When the surgical robot performs a surgery, particularly an abdominal cavity surgery, at least 3-4 mechanical arms are inserted into the abdominal cavity of a patient, wherein the mechanical arms comprise a monitoring mechanical arm, at least two tool mechanical arms and the like, the purpose of the monitoring mechanical arm is to monitor the tool mechanical arms, the surgical process of the tool mechanical arms is displayed to a remote operator in real time, and the operator has an in-person feeling. In order to enable the monitoring device to have a larger operation visual field, each mechanical arm is usually placed into the abdominal cavity through a puncture outfit, and the distance between the mechanical arms is usually large to provide a visual field adjustment range, which has a certain hidden trouble for a patient, namely that multiple punctures are needed to be performed on the abdominal wall. The single-hole abdominal cavity intervention channel only needs to be punctured once, operation workload is reduced, and injuries to patients are reduced, but because a plurality of mechanical arms are arranged in one hole, the monitoring mechanical arm is closer to the mechanical arm of the tool, the range of operation visual field adjustment is smaller, the situation that operation tools cannot be monitored can be caused, operation failure is caused, and the existing single-hole abdominal cavity intervention channel is not suitable for an operation robot.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an intervention channel which is convenient to change the operation visual field, avoids instrument collision and is stably installed.
The robot intervention channel for the abdominal cavity operation comprises a base, a multi-channel platform, an inner clamping assembly and an outer clamping assembly, wherein the multi-channel platform comprises an instrument platform, a base, a flexible layer and a mechanical arm channel; the outer side part of the instrument platform is fixedly connected with the inner wall of the base, or the instrument platform and the base are integrally formed; the instrument platform is provided with at least 3 holes for installing a mechanical arm channel, and the mechanical arm channel comprises a monitoring mechanical arm channel for the entry of a monitoring mechanical arm and a tool mechanical arm channel for the entry of a tool mechanical arm; the outer side surface of the base is part of a spherical surface, the base is provided with a spherical inner cavity, and the base is matched with the inner cavity of the base so that the base can rotate around multiple axes in the base; the plurality of holes on the instrument platform are spherical holes, the outer surface of the mechanical arm channel is spherical, and the outer surface of the mechanical arm channel is matched with the holes, so that the multi-channel platform can be caused to rotate relative to the base when the monitoring mechanical arm moves, and the pose of the tool mechanical arm is kept unchanged; the outer surface of the base is provided with a flexible layer, and the flexible layer almost covers the whole outer surface of the base; a primary sealing flap is disposed on a lower portion of the base in contact with the inner clamp assembly.
In a preferred embodiment, the center of the outer surface of the base and the center of the inner cavity of the base are at the same point, such that the base rotates through a cone angle of at least 30 degrees.
In a preferred embodiment, the rotation of the robot arm tunnel forms a cone angle of 30-60 degrees, and the range of motion of the robot arm tunnel is greater than the range of motion of the tunnel platform.
In a preferred embodiment, the inner clamping assembly comprises an elastic film, a flexible rod, a binding piece and a flexible straight cylinder part, wherein the straight cylinder part is connected to the bottom of the base, the elastic film is connected to the lower side of the straight cylinder part, the flexible rod is connected with the elastic film through the binding piece and is inserted into the straight cylinder part, and the elastic film, the flexible rod and the straight cylinder part form a cylindrical structure in an initial state so as to conveniently pass through an abdominal incision of a patient; after the patient passes through the abdominal incision, the straight tube part is attached to the wound of the patient, the flexible rod is positioned in the abdominal cavity of the patient, the original shape is recovered, and the flexible rod is attached to the inner side of the abdominal wall in an opened plane shape.
In a preferred embodiment, the outer clamping assembly includes links in one-to-one correspondence with the flexible rods and resilient hinges that hinge the links to the bottom of the outer side of the base.
In a preferred embodiment, the flexible rod is made of a shape memory alloy.
In a preferred embodiment, the outer side of the inner clamping assembly has a plurality of annular flexible washers.
In a preferred embodiment, the instrument platform further comprises a gas injection port for injecting gas into the abdominal cavity.
In a preferred embodiment, a secondary sealing flap is also disposed within the robotic arm channel.
In a preferred embodiment, the method is characterized in that: the multichannel platform is installed in the base, and when not rotatory, the upper surface of apparatus platform, base and base is located the coplanar.
According to the invention, the multi-channel platform can rotate relative to the base through the spherical structure between the base and the multi-channel platform, so that a larger moving range is provided for the monitoring mechanical arm, the visual field in single-hole abdominal surgery can be adjusted, and the tool mechanical arm is ensured to be static. Set up interior clamping component and outer clamping component on the base, the multichannel platform mounting has guaranteed the stability of interveneeing after the passageway installation inside the base, avoids interveneeing the passageway and breaks away from the wound. The material and the cooperation structure of base and multichannel platform can conveniently dismantle when guaranteeing the gas tightness, disinfect respectively to can repeatable utilization. In addition, the invention also provides a visual field adjusting method which can ensure the safety of the operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments of the present disclosure will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a view of the main body of an access channel;
FIG. 2 is a schematic view of an inner clamping assembly;
FIG. 3 is a schematic view of the access passage after installation;
fig. 4-5 are schematic views illustrating the view field adjustment.
Detailed Description
Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting of the disclosure. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by illustrating examples thereof.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.
As shown in fig. 1-3, the laparoscopic surgical robotic access port includes a base 1, a multi-channel platform 2, an inner clamping assembly 3, a main sealing flap 4, and an outer clamping assembly 5. Wherein the multi-channel platform 2 is arranged in the base 1 and can swing in any direction around the central axis of the base 1. The multi-channel platform 2 comprises an instrument platform 21, a base 22, a flexible layer 23, a robotic arm channel 24, and a secondary sealing flap 25. The outer side of the instrument platform 21 is fixedly connected with the inner wall of the base 22, or the instrument platform 21 and the base 22 are integrally formed, and the instrument platform 21 is provided with at least 3 holes for installing the mechanical arm channel 24, and the mechanical arm channel 24 is used for inserting the monitoring mechanical arm 71 and the tool mechanical arm 72. The instrument platform 21 also has gas injection holes (not shown) for injecting gas into the abdominal cavity, as in the prior art, and the present invention is not described in detail. As shown in fig. 1, the outer surface of the base 22 is a part of a sphere, and the base 1 has a spherical inner cavity, so that the base 22 can rotate around multiple axes in the base 1, thereby adjusting the included angle between the instrument platform 21 and the base 1 and providing a larger manipulation space for the mechanical arm. The center of the outer surface of the base 22 and the center of the inner cavity of the base 1 are at the same point, so that the cone angle formed by the rotation of the base 22 is at least about 30 degrees.
The base 1, the instrument platform 21 and the base 22 are all made of medical grade material to provide strength for support and to ensure cleanliness. In order to realize the sealing between the base 1 and the multi-channel platform 2, the outer surface of the base 22 is provided with the flexible layer 23, and the flexible layer 23 almost covers the whole outer surface of the base 22, so that the base 22 can be compressed or expanded to a certain degree when rotating relative to the base 1, the sealing performance between the base 1 and the multi-channel platform 2 is maintained, and the flexible layer 23 can be made of medical silica gel. In order to ensure the sealing of the device, a main sealing diaphragm 4 is arranged at the contact position of the lower part of the base 1 and the inner clamping component 3, and the gas is prevented from leaking between the base 1 and the multi-channel platform 2 through the matching of the main sealing diaphragm 4 and the flexible layer 23. The upper and lower ends of the robot arm tunnel 24 are provided with secondary sealing flaps 25 to further ensure airtightness.
The plurality of holes in the instrument platform 21 are part of a spherical surface, the outer surface of the mechanical arm channel 24 is spherical, and the center of sphere of the hole in the instrument platform 21 is at the same point as the center of sphere of the outer surface of the mechanical arm channel 24, so that the mechanical arm channel 24 can rotate around a plurality of axes to adjust the included angle between the mechanical arm channel 24 and the instrument platform 21, the taper angle formed by the rotation of the mechanical arm channel 24 is 30-60 degrees, and the range of motion of the mechanical arm channel 24 is larger than that of the channel platform 2.
Fig. 4 is a schematic diagram of the surgical procedure, which schematically illustrates a monitoring mechanical arm 71 and tool mechanical arms 72 and 73, wherein a distal end of the monitoring mechanical arm 71 is provided with a camera unit to provide an operator with a surgical view, and distal ends of the tool mechanical arms 72 and 73 are provided with surgical tools, including but not limited to surgical scissors, hemostats, needle holders and other commonly used abdominal cavity surgical instruments. The position and the direction of a surgical tool need to be continuously changed in the operation process, the position of the surgical tool needs to be positioned in the operation process, namely a target point to be reached by the surgical tool, then an operation path is planned according to the current position of the surgical tool, the safety distance between a surgical instrument and a mechanical arm needs to be defined in the planning process, the paths of the two surgical tools are prevented from being crossed or overlapped, and collision is prevented. When some non-damageable tissues are met, the tissues need to be avoided in the path so as to avoid danger, in addition, the camera shooting unit needs to be adjusted simultaneously so that two surgical tools are positioned in the visual field, if all the surgical tools cannot be seen in the visual field, at least the instrument arm of the surgical tool needs to be kept static, the surgical field is adjusted so that all the surgical tools reappear in the visual field, and the surgical method can be well executed by using the intervention channel. As shown in fig. 4, the end tools of the tool robot arms 72, 73 are located at the target positions, and only one surgical tool needs to be seen in the field of view of the imaging unit, so for the safety of the surgery, the field of view of the imaging unit needs to be adjusted so that both surgical tools can be monitored while keeping the postures of the tool robot arms 72, 73 unchanged. The adjusting step may be to adjust the focal length, the depth of field of the camera unit and/or the pose of the monitoring robot arm 71, but since the pose and the angle of the multi-channel platform in the prior art are fixed, the pose of the robot arm outside the robot channel is difficult to adjust, and these adjusting methods may not be effective, the pose of the multi-channel platform 2 of the present invention may be adjusted at this time, so that the monitoring robot arm 71 may move toward a favorable direction to adjust the surgical field of view, as shown in fig. 5 after adjustment.
In the invention, the multi-channel platform 2 can rotate relative to the base 1, and the mechanical arm channel 24 can rotate relative to the instrument platform 21, so that when the multi-channel platform 2 is adjusted, the pose of the mechanical arm channel 24 can be kept unchanged, the tool mechanical arms 72 and 73 are not affected, and the damage to a patient caused by the fact that a surgical tool cannot be monitored is avoided. The rotation of the multi-channel platform 2 may be caused by the movement of the monitor robot arm 71, i.e. the movement of the monitor robot arm 71 first causes the rotation of the robot tunnel 24 through which it passes, after the rotation of the robot tunnel 24 reaches a limit (e.g. the monitor robot arm 71 has contacted the instrument platform 21), the continued movement of the monitor robot arm 71 will cause the instrument platform 21 to rotate relative to the base 1, thereby increasing the adjustment range of the field of view, but since the robot tunnel 24 through which the tool robots 72, 73 pass can rotate relative to the instrument platform 21, the stationarity of the tool robots 72, 73 can be kept unaffected. Of course, other methods of manually or automatically controlling the rotation of the multi-channel platform 2 may be used in the present invention, but it is desirable to ensure the safety of the movements of the monitoring robot arm 71 and the tool robots 72, 73. Of course, under the condition that the visual field of the tool can be ensured, the multi-channel platform 2 should be prevented from rotating as much as possible in the operation, and the multi-channel platform 2 is rotated only when all the surgical tools cannot be seen by the rotation of the mechanical arm channel 24, so that the movable range of the multi-channel platform 2 is smaller than that of the mechanical arm channel 24.
In order to ensure the position of the base 1 to be fixed when the multi-channel platform 2 is adjusted, the robot interventional channel for abdominal cavity surgery of the invention further comprises an inner clamping component 3 and an outer clamping component 5, which is very important because the abdominal wall is very soft even after being inflated, the movement of the monitoring mechanical arm 71 and the lateral pressure of the multi-channel platform 2 to the base 1 after being rotated easily cause the base 1 to incline, rotate or even be separated from the puncture, and the inner clamping component 3 and the outer clamping component 5 are arranged to firmly fix the base 1 at the abdominal wall of a patient. The inner clamping assembly 3 comprises an elastic film 31, a flexible rod 32, a binding piece 33 and a flexible straight tube part 34, the straight tube part 34 is connected to the bottom of the base 1, the elastic film 31 is connected to the lower side of the straight tube part 34, the flexible rod 32 is connected with the elastic film 31 through the binding piece 33 and is inserted into the straight tube part 34, and the elastic film 31, the flexible rod 32 and the straight tube part 34 form a tubular structure in an initial state so as to conveniently pass through an abdominal incision of a patient. After passing through the abdominal incision of the patient, the straight tube portion 34 is fitted to the patient at the wound, and the flexible rod 32 is positioned in the abdominal cavity of the patient, returns to its original shape, and is fitted to the inside of the abdominal wall in an open flat shape. The outer clamping assembly 5 comprises a connecting rod (not shown) corresponding to the flexible rod 32 and an elastic hinge 6 for hinging the connecting rod to the bottom of the outer side of the base 1, and in an initial state, the connecting rod is furled around the base 1, and after the intervention channel is installed, the connecting rod is turned over, and the base 1 is firmly fixed on the abdominal wall of a patient through clamping with the flexible rod 32 and the connecting rod, so that the realization of the rotary motion of the multi-channel platform 2 is ensured.
In the initial state, flexible rod 32 may be tied in a barrel shape with sutures, and after installation flexible rod 32 is restored, i.e., bent outward, by unthreading the sutures, and flexible rod 32 may be furled again after the procedure is completed. In one embodiment, flexible rod 32 may also be made of a shape memory alloy to return to its original state when subjected to the body temperature of a patient.
As shown in FIG. 3, the outer side of the inner clamping assembly 3 further comprises a plurality of flexible washers, which can reduce the pressure on the abdominal wall when the flexible rods 32 and the connecting rods clamp the patient's tissue, so as to prevent the ischemic necrosis of the abdominal wall of the patient.
As shown in figure 1, in order to realize the stable installation of the intervention channel and ensure the stability of the intervention channel in the operation process, the multi-channel platform 2 is installed in the base 1, when the multi-channel platform is not rotated, the upper surfaces of the instrument platform 21, the base 22 and the base 1 are positioned on the same plane, so that the length of the part exposed on the body surface of the patient is as short as possible, the gravity center of the part of the intervention channel positioned outside the patient is low, and the multi-channel platform is more stable after the multi-channel platform is installed. The circumferencial direction of the surface of base 1 is provided with spout 8, detachable connects and little balancing weight in the spout, and the weight that the balancing weight is right is at most 20% of base, when rotatory multichannel platform 2 rotates for base 1, installs the balancing weight in the opposite side of 2 orientations of multichannel platform, and centre gripping subassembly 3 and outer centre gripping subassembly 5 can be so that intervene the passageway more balanced in the cooperation.
The base 1 can be made of silica gel, and the multi-channel platform 2 is made of rigid plastic. Silica gel's material makes base 1 have certain support intensity, but can warp, can be during the use slightly turn up base 1, install multichannel platform 2 in base 1, this kind of design convenience and multichannel platform 2's installation and dismantlement to can dismantle the back and disinfect, in order can reuse. In addition, because silica gel has certain elasticity for can be appropriate interference fit between base 1 and multichannel platform 2, guarantee the gas tightness of device, make multichannel platform 2 the rotation in the operation process possible.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiment shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an abdominal cavity operation robot intervenes passageway, includes base, multichannel platform, interior clamping component and outer clamping component, its characterized in that:
the multi-channel platform comprises an instrument platform, a base, a flexible layer and a mechanical arm channel; the outer side part of the instrument platform is fixedly connected with the inner wall of the base, or the instrument platform and the base are integrally formed; the instrument platform is provided with at least 3 holes for installing a mechanical arm channel, and the mechanical arm channel comprises a monitoring mechanical arm channel for the entry of a monitoring mechanical arm and a tool mechanical arm channel for the entry of a tool mechanical arm;
the outer side surface of the base is part of a spherical surface, the base is provided with a spherical inner cavity, and the base is matched with the inner cavity of the base so that the base can rotate around multiple axes in the base; the plurality of holes on the instrument platform are spherical holes, the outer surface of the mechanical arm channel is spherical, and the outer surface of the mechanical arm channel is matched with the holes, so that the multi-channel platform can be caused to rotate relative to the base when the monitoring mechanical arm moves, and the pose of the tool mechanical arm is kept unchanged;
the outer surface of the base is provided with a flexible layer, and the flexible layer almost covers the whole outer surface of the base;
a primary sealing flap is disposed on a lower portion of the base in contact with the inner clamp assembly.
2. A laparoscopic surgical robotic access channel as claimed in claim 1, wherein: the center of the base outer surface and the center of the base inner cavity are at the same point, so that the base rotates to form a cone angle of at least 30 degrees.
3. The laparoscopic surgical robotic access port of claim 2, wherein: the taper angle formed by the rotation of the mechanical arm channel is 30-60 degrees, and the moving range of the mechanical arm channel is larger than that of the channel platform.
4. The laparoscopic surgical robotic access port of claim 1, wherein: the inner clamping assembly comprises an elastic film, a flexible rod, a binding piece and a flexible straight cylinder part, the straight cylinder part is connected to the bottom of the base, the elastic film is connected to the lower side of the straight cylinder part, the flexible rod is connected with the elastic film through the binding piece and is inserted into the straight cylinder part, and the elastic film, the flexible rod and the straight cylinder part form a cylindrical structure in an initial state so as to conveniently pass through an abdominal incision of a patient; after the patient passes through the abdominal incision, the straight tube part is attached to the wound of the patient, the flexible rod is positioned in the abdominal cavity of the patient, the original shape is recovered, and the flexible rod is attached to the inner side of the abdominal wall in an opened plane shape.
5. The laparoscopic surgical robotic access port of claim 4, wherein: the outer clamping assembly comprises connecting rods in one-to-one correspondence with the flexible rods and elastic hinges for hinging the connecting rods to the bottom of the outer side of the base.
6. The laparoscopic surgical robotic access port of claim 4, wherein: the flexible rod is made of shape memory alloy.
7. The laparoscopic surgical robotic access port of claim 4, wherein: the outer side of the inner clamping component is provided with a plurality of annular flexible gaskets.
8. The laparoscopic surgical robotic access port of claim 1, wherein: the instrument platform is also provided with a gas injection hole for injecting gas into the abdominal cavity.
9. The laparoscopic surgical robotic access port of claim 1, wherein: and a secondary sealing membrane flap is also arranged in the mechanical arm channel.
10. The laparoscopic surgical robotic access port of claim 1, wherein: the multichannel platform is installed in the base, and when not rotatory, the upper surface of apparatus platform, base and base is located the coplanar.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210397966.8A CN114587612A (en) | 2022-04-16 | 2022-04-16 | Abdominal cavity operation robot intervention channel |
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| CN202210397966.8A CN114587612A (en) | 2022-04-16 | 2022-04-16 | Abdominal cavity operation robot intervention channel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115252134A (en) * | 2022-06-29 | 2022-11-01 | 上海神玑医疗科技有限公司 | Clamping device for interventional operation, rotary driving mechanism and surgical robot |
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