CN107320188B - Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot - Google Patents
Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot Download PDFInfo
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- CN107320188B CN107320188B CN201710642894.8A CN201710642894A CN107320188B CN 107320188 B CN107320188 B CN 107320188B CN 201710642894 A CN201710642894 A CN 201710642894A CN 107320188 B CN107320188 B CN 107320188B
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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
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention discloses a surgical instrument for a minimally invasive surgery robot and the minimally invasive surgery robot, which comprise a guide rod part and a tail end execution part; the guide rod part comprises a screw rod, the tail end execution part comprises a tail end execution device, and the tail end execution device comprises a planar four-bar mechanism and an actuator; the planar four-bar mechanism comprises a first connecting part, a first bar, a second bar, a third bar and a fourth bar of the planar four-bar mechanism; the near end of the first connecting part is connected with a second connecting part of the second end of the screw rod; the far end of the first connecting part is respectively in non-insulation hinge joint with the near end of the first rod and the near end of the second rod, the far end of the first rod is in insulation hinge joint with the near end of the third rod, and the far end of the second rod is in non-insulation hinge joint with the near end of the fourth rod.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical instrument for a minimally invasive surgery robot and the minimally invasive surgery robot.
Background
The minimally invasive surgery technology enables most surgical operations to be distinguished from open surgical modes, the application of the robot technology to medical surgical operations has received high attention from all countries in the world, the robot has incomparable advantages in operation stability, rapidness and accuracy, the robot technology is integrated into the surgical operations, the operation environment of doctors can be improved, and the recovery time of patients can be shortened.
At present, the main minimally invasive surgery tool adopts a rod transmission mode, the front end of the minimally invasive surgery tool is provided with a multi-degree-of-freedom surgery executing tool, when minimally invasive surgery is needed, the surgery executing tool conducts electricity to form an integrally charged electrode end, and a subject to be operated needs to be connected with another power supply to be used as another electrode end to perform surgery.
Therefore, the technical problem of single use mode of the surgical instrument of the minimally invasive surgery robot exists in the prior art.
Disclosure of Invention
The embodiment of the invention provides a surgical instrument for a minimally invasive surgery robot and the minimally invasive surgery robot, which are used for solving the technical problem that the surgical instrument of the minimally invasive surgery robot is single in use mode in the prior art.
In order to solve the above technical problem, an embodiment of the present invention provides a surgical instrument for a minimally invasive surgical robot, including: a guide part and a tail end execution part; the guide rod part comprises a lead screw, an insulating layer is arranged on the lead screw, the tail end execution part comprises a tail end execution device, and the tail end execution device comprises a planar four-bar mechanism and an actuator;
the planar four-bar mechanism comprises a first connecting part, a first bar, a second bar, a third bar and a fourth bar of the planar four-bar mechanism;
the first connecting part is provided with an insulating layer, and the near end of the first connecting part is connected with a second connecting part at the second end of the screw rod; the far end of the first connecting part is respectively in non-insulated hinge joint with the near end of the first rod and the near end of the second rod, the far end of the first rod is in insulated hinge joint with the near end of the third rod, and the far end of the second rod is in non-insulated hinge joint with the near end of the fourth rod;
the actuator comprises a first actuator and a second actuator, the first actuator is connected with the distal end of the third rod, the second actuator is connected with the far end of the fourth rod, the far end of the third rod is in insulated hinge joint with the far end of the fourth rod, the third rod is sleeved with a U-shaped insulating sleeve, so that when the screw rod is connected with a power supply, the screw rod transmits current to the second actuator through the first connecting part, the second rod and the fourth rod, and when the current is transmitted to the first rod through the first connecting part, because the far end of the first rod is in insulated hinge joint with the near end of the third rod, the far end of the third rod is in insulated hinge joint with the far end of the fourth rod, and the third rod is sleeved with a U-shaped insulating sleeve to prevent the current transmitted to the first rod from being conducted to the first actuator, thereby enabling the first actuator to be used as a first polarity end and the second actuator to be used as a second polarity end for operation.
Optionally, the device comprises a front end driving part, wherein the front end driving part comprises a base, and an opening and closing driving device, a deflection driving device and a rotation driving device which are respectively installed on the base;
the guide rod part comprises a first sleeve and a second sleeve, wherein the first sleeve is sequentially sleeved on the screw rod, and the second sleeve is sleeved on the first sleeve;
the opening and closing driving device is connected with a first connecting part of the first end of the screw rod through a first insulating bearing, the deflection driving device is connected with a first connecting part of the first end of the first sleeve through a second insulating bearing, an insulating driving gear of the rotation driving device is meshed with a driven gear, the driven gear is connected with the first connecting part of the first end of the second sleeve, and therefore the guide rod part is insulated from the base.
Optionally, the opening and closing driving device includes a first transmission shaft, a first motor and a first slider, the first transmission shaft is mounted on the base, the first motor is connected to one end of the first transmission shaft, the first transmission shaft is provided with an external thread, the first slider is provided with an internal thread matched with the external thread on the first transmission shaft, and the connection between the first slider and the first transmission shaft is realized through the matching between the external thread of the first transmission shaft and the internal thread of the first slider;
the first sliding block is connected with an outer ring of a first bearing, an inner ring of the first bearing is connected with a first connecting part of a first end of the screw rod, so that the first motor drives the first sliding block to reciprocate along the axial direction of the first transmission shaft through the first transmission shaft, the first sliding block pulls the screw rod to reciprocate along the axial direction of the screw rod through the first bearing, and the screw rod drives the planar four-bar mechanism to further drive the actuator to perform opening and closing movement.
Optionally, the end effector comprises a wrist device, the wrist device comprising a cavity structure; the far end of the first connecting part of the planar four-bar mechanism penetrates through a cavity structure of the wrist device to be respectively hinged with the near end of the first bar and the near end of the second bar in a non-insulation manner, the non-insulation hinge is a connecting part, and the wrist device is hinged with the tail end execution device at the connecting part;
the second connecting part of the second end of the screw rod is a flexible connecting part, an insulating layer is arranged on the flexible connecting part, and part of the flexible connecting part penetrates through the cavity structure of the wrist device and is connected with the near end of the first connecting part of the planar four-bar mechanism.
Optionally, the deflection driving device includes a second transmission shaft, a second motor and a second slider, the second transmission shaft is mounted on the base, the second motor is connected to one end of the second transmission shaft, the second transmission shaft is provided with an external thread, the second slider is provided with an internal thread matched with the external thread of the second transmission shaft, and the connection between the second slider and the second transmission shaft is realized through the matching between the external thread of the second transmission shaft and the internal thread of the second slider;
the second sliding block is connected with the outer ring of the second bearing, the inner ring of the second bearing is connected with the first connecting part of the first end of the first sleeve, and the second connecting part of the second end of the first sleeve is connected with the wrist device at the first connecting position.
And the second motor drives the second sliding block to reciprocate along the axial direction of the second transmission shaft through the second transmission shaft, and the second sliding block pulls the first sleeve to reciprocate along the axial direction of the first sleeve through the second bearing, so that the wrist device is driven to perform deflection motion.
Optionally, the second connection portion of the second end of the second sleeve is connected to the wrist device at a second connection position, so that the wrist device can perform a deflecting motion towards two sides of the axial extension line of the second sleeve by taking the second connection position as a center under the traction of the first sleeve.
Optionally, a first locking part and a second locking part are arranged at the second connecting part of the second end of the second sleeve;
wherein the first locking portion is configured to define an angle at which the wrist device is deflected to one side of an axial extension line of the second sleeve, and the second locking portion is configured to define an angle at which the wrist device is deflected to the other side of the axial extension line of the second sleeve.
Optionally, the rotation driving device further includes a third transmission shaft and a third motor, the driving gear is installed on the base through the third transmission shaft, the third motor is connected with the third transmission shaft, the driven gear is connected with the first connection portion of the first end of the second sleeve, the second connection portion of the second end of the second sleeve is connected with the wrist device at a third connection position, and the third connection position is different from the second connection position.
And the third motor drives the driving gear to rotate through a third transmission shaft, the driving gear drives the driven gear to rotate, the driven gear drives the second sleeve to rotate, and the wrist device and the tail end executing device are driven to rotate through the second sleeve.
In another aspect, an embodiment of the present invention further provides a minimally invasive surgical robot, including a surgical instrument, where the surgical instrument includes:
a guide part and a tail end execution part; the guide rod part comprises a lead screw, an insulating layer is arranged on the lead screw, the tail end execution part comprises a tail end execution device, and the tail end execution device comprises a planar four-bar mechanism and an actuator;
the planar four-bar mechanism comprises a first connecting part, a first bar, a second bar, a third bar and a fourth bar of the planar four-bar mechanism;
the first connecting part is provided with an insulating layer, and the near end of the first connecting part is connected with a second connecting part at the second end of the screw rod; the far end of the first connecting part is respectively in non-insulated hinge joint with the near end of the first rod and the near end of the second rod, the far end of the first rod is in insulated hinge joint with the near end of the third rod, and the far end of the second rod is in non-insulated hinge joint with the near end of the fourth rod;
the actuator comprises a first actuator and a second actuator, the first actuator is connected with the distal end of the third rod, the second actuator is connected with the far end of the fourth rod, the far end of the third rod is in insulated hinge joint with the far end of the fourth rod, the third rod is sleeved with a U-shaped insulating sleeve, so that when the screw rod is connected with a power supply, the screw rod transmits current to the second actuator through the first connecting part, the second rod and the fourth rod, and when the current is transmitted to the first rod through the first connecting part, because the far end of the first rod is in insulated hinge joint with the near end of the third rod, the far end of the third rod is in insulated hinge joint with the far end of the fourth rod, and the third rod is sleeved with a U-shaped insulating sleeve to prevent the current transmitted to the first rod from being conducted to the first actuator, thereby enabling the first actuator to be used as a first polarity end and the second actuator to be used as a second polarity end for operation.
Optionally, the device comprises a front end driving part, wherein the front end driving part comprises a base, and an opening and closing driving device, a deflection driving device and a rotation driving device which are respectively installed on the base;
the guide rod part comprises a first sleeve and a second sleeve, wherein the first sleeve is sequentially sleeved on the screw rod, and the second sleeve is sleeved on the first sleeve;
the opening and closing driving device is connected with a first connecting part of the first end of the screw rod through a first insulating bearing, the deflection driving device is connected with a first connecting part of the first end of the first sleeve through a second insulating bearing, an insulating driving gear of the rotation driving device is meshed with a driven gear, the driven gear is connected with the first connecting part of the first end of the second sleeve, and therefore the guide rod part is insulated from the base.
Optionally, the opening and closing driving device includes a first transmission shaft, a first motor and a first slider, the first transmission shaft is mounted on the base, the first motor is connected to one end of the first transmission shaft, the first transmission shaft is provided with an external thread, the first slider is provided with an internal thread matched with the external thread on the first transmission shaft, and the connection between the first slider and the first transmission shaft is realized through the matching between the external thread of the first transmission shaft and the internal thread of the first slider;
the first sliding block is connected with an outer ring of a first bearing, an inner ring of the first bearing is connected with a first connecting part of a first end of the screw rod, so that the first motor drives the first sliding block to reciprocate along the axial direction of the first transmission shaft through the first transmission shaft, the first sliding block pulls the screw rod to reciprocate along the axial direction of the screw rod through the first bearing, and the screw rod drives the planar four-bar mechanism to further drive the actuator to perform opening and closing movement.
Optionally, the end effector comprises a wrist device, the wrist device comprising a cavity structure; the far end of the first connecting part of the planar four-bar mechanism penetrates through a cavity structure of the wrist device to be respectively hinged with the near end of the first bar and the near end of the second bar in a non-insulation manner, the non-insulation hinge is a connecting part, and the wrist device is hinged with the tail end execution device at the connecting part;
the second connecting part of the second end of the screw rod is a flexible connecting part, an insulating layer is arranged on the flexible connecting part, and part of the flexible connecting part penetrates through the cavity structure of the wrist device and is connected with the near end of the first connecting part of the planar four-bar mechanism.
Optionally, the deflection driving device includes a second transmission shaft, a second motor and a second slider, the second transmission shaft is mounted on the base, the second motor is connected to one end of the second transmission shaft, the second transmission shaft is provided with an external thread, the second slider is provided with an internal thread matched with the external thread of the second transmission shaft, and the connection between the second slider and the second transmission shaft is realized through the matching between the external thread of the second transmission shaft and the internal thread of the second slider;
the second sliding block is connected with the outer ring of the second bearing, the inner ring of the second bearing is connected with the first connecting part of the first end of the first sleeve, and the second connecting part of the second end of the first sleeve is connected with the wrist device at the first connecting position.
And the second motor drives the second sliding block to reciprocate along the axial direction of the second transmission shaft through the second transmission shaft, and the second sliding block pulls the first sleeve to reciprocate along the axial direction of the first sleeve through the second bearing, so that the wrist device is driven to perform deflection motion.
Optionally, the second connection portion of the second end of the second sleeve is connected to the wrist device at a second connection position, so that the wrist device can perform a deflecting motion towards two sides of the axial extension line of the second sleeve by taking the second connection position as a center under the traction of the first sleeve.
Optionally, a first locking part and a second locking part are arranged at the second connecting part of the second end of the second sleeve;
wherein the first locking portion is configured to define an angle at which the wrist device is deflected to one side of an axial extension line of the second sleeve, and the second locking portion is configured to define an angle at which the wrist device is deflected to the other side of the axial extension line of the second sleeve.
Optionally, the rotation driving device further includes a third transmission shaft and a third motor, the driving gear is installed on the base through the third transmission shaft, the third motor is connected with the third transmission shaft, the driven gear is connected with the first connection portion of the first end of the second sleeve, the second connection portion of the second end of the second sleeve is connected with the wrist device at a third connection position, and the third connection position is different from the second connection position.
And the third motor drives the driving gear to rotate through a third transmission shaft, the driving gear drives the driven gear to rotate, the driven gear drives the second sleeve to rotate, and the wrist device and the tail end executing device are driven to rotate through the second sleeve.
In the surgical instrument for the minimally invasive surgery robot and the minimally invasive surgery robot in the embodiments of the present invention, when the lead screw 131 is powered on, the lead screw transmits a current to the second actuator through the first connection portion, the second rod, and the fourth rod, and the current is transmitted to the first rod through the first connection portion, because the distal end of the first rod is in insulated hinge with the proximal end of the third rod, the distal end of the third rod is in insulated hinge with the distal end of the fourth rod, and the third rod is externally sleeved with a U-shaped insulating sleeve, the current transmitted to the first rod cannot be transmitted to the first actuator, so that the first actuator can be used as the first polarity end of the surgery, and the second actuator can be used as the second polarity end of the surgery, thereby avoiding the situation that the subject to be operated needs to be powered on another power supply to perform the surgery as another electrode end in the prior art, the technical problem that the use mode of a surgical instrument of the minimally invasive surgical robot is single in the prior art can be effectively solved, and the diversity of the use modes of the surgical instrument of the minimally invasive surgical robot is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a surgical instrument for a minimally invasive surgical robot according to an embodiment of the present invention;
FIG. 2 is a top view of a front end drive section in an embodiment of the present invention;
FIG. 3 is a bottom view of the front end drive portion in an embodiment of the present invention;
FIGS. 4A-4B are cross-sectional views taken along line A-A of FIG. 1, in accordance with embodiments of the present invention;
FIGS. 5A-5C are schematic structural views of an end effector in an embodiment of the present invention;
FIGS. 6A-6E are cross-sectional views of the plane B-B in FIG. 5A, in accordance with embodiments of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the technical solutions of the present invention. All other embodiments obtained by a person skilled in the art without any inventive work based on the embodiments described in the present document belong to the protection scope of the present invention.
Referring to fig. 1, a surgical instrument for a minimally invasive surgical robot according to an embodiment of the present invention includes a guide rod portion 13 and an end effector portion 14, where the guide rod portion 13 includes a lead screw 131 as shown in fig. 4B, the lead screw 131 is provided with an insulating layer, the end effector portion 14 includes an end effector 7 as shown in fig. 5B, the end effector 7 includes a planar four-bar mechanism 71 and an actuator 72, referring to fig. 5C, the planar four-bar mechanism 71 includes a first connecting portion 711, a first rod 712, a second rod 713, a third rod 714, and a fourth rod 715 of the planar four-bar mechanism, where the first connecting portion 711 of the planar four-bar mechanism is provided with an insulating layer, such as insulating silica gel.
Referring to fig. 5B-5C, the proximal end of the first connecting portion 711 is connected to the second connecting portion 135 of the second end of the screw rod; the distal end of the first connecting portion 711 is non-insulatively hinged to the proximal end of the first rod 712 and the proximal end of the second rod 713, the distal end of the first rod 712 is insulatively hinged to the proximal end of the third rod 714, and the distal end of the second rod 713 is non-insulatively hinged to the proximal end of the fourth rod 715.
The actuator 72 includes a first actuator 721 and a second actuator 722, the first actuator 721 is connected to the distal end of the third rod 714, the second actuator 722 is connected to the distal end of the fourth rod 715, the distal end of the third rod 714 is hinged to the distal end of the fourth rod 715 in an insulated manner, the insulated hinge is a joint 73, the third rod 714 is sleeved with a U-shaped insulating sleeve, not shown in the drawings, which can insulate the third rod 714 from the first rod 712 and the fourth rod 715, so that when the actuator 72 is in the expanded state shown in fig. 5C, the first actuator 721 and the second actuator 722 in the actuator 72 are insulated from each other.
Then, when the lead screw 131 is powered on, the lead screw transmits a current to the second actuator 722 through the first connection portion 711, the second rod 713 and the fourth rod 715, and when the current is transmitted to the first rod 712 through the first connection portion 711, because the distal end of the first rod 712 is in insulated hinge with the proximal end of the third rod 714, the distal end of the third rod 714 is in insulated hinge with the distal end of the fourth rod 715, and the third rod 714 is externally sleeved with a U-shaped insulating sleeve, the current transmitted to the first rod 712 cannot be transmitted to the first actuator 721, so that the first actuator 721 can be used as a first polarity end of an operation, and the second actuator 722 is used as a second polarity end of the operation, thereby avoiding a situation that an object to be operated needs to connect another power supply to perform the operation as another electrode end in the prior art, and effectively solving the prior art, the technical problem that the use mode of the surgical instrument of the minimally invasive surgical robot is single exists, and the diversity of the use modes of the surgical instrument of the minimally invasive surgical robot is realized.
With reference to fig. 1, fig. 2, fig. 3 and fig. 4B, the surgical instrument according to the embodiment of the present invention further includes a front driving portion 12, where the front driving portion 12 includes a base 11, and an opening/closing driving device 2, a deflecting driving device 3 and a rotation driving device 4 respectively mounted on the base 11; the guide rod portion 13 further includes a first sleeve 132 sequentially sleeved on the screw rod 131, and a second sleeve 133 sleeved on the first sleeve 132.
As shown in fig. 4A, the opening and closing driving device 2 is connected to the first connecting portion 134 of the first end of the lead screw through the first insulating bearing 51, the deflection driving device 3 is connected to the first connecting portion 136 of the first end of the first sleeve through the second insulating bearing 52, the insulating driving gear 42 of the rotation driving device 4 is engaged with the driven gear 43, the driven gear 43 is connected to the first connecting portion 139 of the first end of the second sleeve, and the guide rod portion 13 is insulated from the base 11.
Therefore, in the embodiment of the invention, by arranging the first bearing between the opening and closing driving device and the screw rod of the single-machine electrocoagulation instrument, the second bearing between the deflection driving device and the screw rod is an insulated bearing, the driving gears of the rotation driving device are insulated driving gears, and the guide rod part is externally sleeved with an insulated sleeve, so that when the screw rod in the surgical instrument is connected with a power supply to perform surgery, the current can be prevented from being transmitted to the bottom plate through the opening and closing driving device by the insulated first bearing, the current can be prevented from being transmitted to the bottom plate through the deflection driving device by the insulated second bearing, the current can be prevented from being transmitted to the bottom plate through the rotation driving device by the insulated driving gear, the guide rod part and the base are insulated, the base is prevented from being electrified, and therefore, the problem that when a user mistakenly touches the base or other belt, the existing safety hidden danger has the beneficial effect of ensuring that the surgical instruments of the minimally invasive surgery robot can be safely used.
With reference to fig. 1, fig. 2, fig. 3 and fig. 4B, the opening/closing driving device 2 is mounted on the base 11 through the first transmission shaft 21 of the opening/closing driving device 2, the deflection driving device 3 is mounted on the base 11 through the second transmission shaft 31 of the deflection driving device 3, and the driving gear 42 of the rotation driving device 4 is mounted on the base 11 through the third transmission shaft 41.
In practical applications, the base plate 11 may be provided with a first support panel 111, a second support panel 112 and a third support panel 113 as shown in fig. 2, then the first transmission shaft 21 and the second transmission shaft 31 may be respectively installed on the first support panel 111 and the third support panel 113, and the third transmission shaft 41 may be installed on the second support panel 112 and the third support panel 113.
Referring to fig. 1, fig. 2, fig. 3, fig. 4A and fig. 4B, wherein fig. 4A is a sectional view of a plane a-a in fig. 1, and fig. 4B is a partial schematic structural view of the sectional view of the plane a-a, in a specific practical process, the guide rod portion 13 further includes a first sleeve 132 sequentially sleeved on the lead screw 131, and a second sleeve 133 sleeved on the first sleeve 132, and an insulating sleeve is sleeved on the second sleeve 133, so that the outer wall of the guide rod portion is prevented from being electrified when the lead screw of the surgical instrument is connected to a power source for performing a surgery through the insulating sleeve. The opening and closing driving device 2 is connected with the first connecting part 134 of the first end of the screw rod through the first bearing 51, wherein the first bearing 51 is an insulating bearing with an insulating function made of an insulating material, such as a ceramic bearing made of ceramic, and the like, so that when the screw rod in a surgical instrument is connected with a power supply to perform surgery, the current can be prevented from being transmitted to the bottom plate through the opening and closing driving device through the insulating first bearing, and the bottom plate is prevented from being electrified.
In practical application, the screw 131 may be a ball screw, and the first connecting portion 134 of the first end of the screw may be a ball portion of the ball screw, so that the opening and closing driving device 2 may be connected to the ball screw through the first bearing 51, thereby realizing connection between the screw and the opening and closing driving device. Of course, the lead screw 131 may have other structures, which are not limited herein.
With continued reference to fig. 1, 2, 3, and 4A-4B, in actual practice, the opening and closing device may further include a first motor 22 and a first slider 23, the first transmission shaft 21 is installed on the base 11, the first motor 22 is connected to one end of the first transmission shaft 21, the first transmission shaft 21 is provided with an external thread, the first sliding block 23 is provided with an internal thread matched with the external thread on the first transmission shaft 21, the connection between the first slider 23 and the first transmission shaft 21 is realized through the matching of the external thread of the first transmission shaft 21 and the internal thread of the first slider 23, so that the first slider 23 can be connected with the outer ring of the first bearing 51, the inner ring of the first bearing 51 is connected with the first connecting part 134 of the first end of the screw rod, and the connection between the opening and closing device and the screw rod is further realized.
In a specific practical process, the end executing part 14 is connected to the second connecting portion 135 of the second end of the screw rod, so that the first motor 22 drives the first slider 23 to reciprocate along the axial direction of the first transmission shaft 21 through the first transmission shaft 21, the first slider 23 pulls the screw rod 131 to reciprocate along the axial direction of the screw rod 131 through the first bearing 51, and the screw rod 131 can drive the end executing part 14 to open and close.
Referring to fig. 5A-5C, wherein fig. 5A is a schematic structural view of the end effector 14, fig. 5B-5C are schematic structural views of the end effector 14, in practical applications, the end effector 14 further includes a wrist device 6, wherein the wrist device 6 includes a cavity structure, a first connecting portion 711 of the planar four-bar mechanism penetrates into the cavity structure of the wrist device 6, a distal end of the first connecting portion 711 of the planar four-bar mechanism penetrates into the cavity structure of the wrist device 6 and is non-insulatively hinged to a proximal end of the first rod 712 and a proximal end of the second rod 713, the non-insulatively hinged portion is a connecting portion 73, and the connecting portion 73 is hinged to the wrist device 6, and in a specific practical process, the second connecting portion 135 of the second end of the lead screw can be set as a deformable flexible connecting portion, an insulating layer, such as silica gel, is arranged outside the flexible connection portion, and a part of the flexible connection portion penetrates into the cavity structure of the wrist device 6 to be connected with the proximal end of the first connection portion 711 of the planar four-bar mechanism.
Referring to fig. 6A, fig. 6A is a sectional view of a plane B-B in fig. 5A, when the first motor 22 in the opening and closing device 2 drives the first slider 23 to move along the axial direction of the first transmission shaft 21 toward the end effector 14 through the first transmission shaft 21, the first slider 23 pulls the lead screw 131 to move along the axial direction of the lead screw 131 toward the end effector 14 through the first bearing 51, the lead screw 131 drives the first connecting portion 711 of the planar four-bar linkage to move toward the end effector 14 through the flexible connecting portion, since the position of the connecting portion 73 between the planar four-bar linkage and the actuator and the wrist device 6 is a fixed point, the flexible connecting portion is deformed by extrusion during the driving process, the first connecting portion 711 of the extruded planar four-bar linkage props up the planar four-bar linkage 71, the first actuator 721 and the second actuator 722 of the actuator 72 are further extended by the planar four-bar mechanism 71.
Referring to fig. 6B, when the first motor 22 in the opening and closing device 2 drives the first slider 23 to move along the axial direction of the first transmission shaft 21 in the direction opposite to the direction of the end effector 14 by the first transmission shaft 21, the first sliding block 23 pulls the screw rod 131 to move in the opposite direction along the axial direction of the screw rod 131 through the first bearing 51, the screw rod 131 drives the first connecting part 711 of the planar four-bar mechanism to move in the opposite direction through the flexible connecting part, because the position of the connection 73 between the planar four-bar linkage and the actuator and the wrist device 6 is a fixed point, the flexible connection part will be stretched and deformed during the driving process, simultaneously the planar four-bar linkage 71 is drawn by stretching the first connecting part 711 of the planar four-bar linkage, the first actuator 721 and the second actuator 722 of the actuator 72 are further pulled and closed by the planar four-bar linkage 71.
Of course, in practice, different styles of actuators 72 may be selected according to the particular surgical needs, and for example, the actuators may be surgical clips as shown in fig. 6B or 6C, but this is not intended to be exhaustive.
With continued reference to fig. 2, fig. 3, and fig. 4A-4B, in a specific practical process, the deflection driving device 3 may be connected to the first connecting portion 136 of the first end of the first sleeve through an inner ring of the second bearing 52, wherein the second bearing 52 is an insulating bearing made of an insulating material and having an insulating function, such as a ceramic bearing made of ceramic, so that when a screw rod of a surgical instrument is connected to a power source for performing a surgical operation, the insulating second bearing can prevent a current from being conducted to the base plate through the deflection driving device, thereby preventing the base plate from being electrified.
Certainly, in practical application, the yaw driving device 3 may further include a second motor 32 and a second sliding block 33, the second motor 32 is connected to one end of the second transmission shaft 31, an external thread is provided on the second transmission shaft 31, the second sliding block 33 is provided with an internal thread matched with the external thread of the second transmission shaft 31, the connection between the second sliding block 33 and the second transmission shaft 31 is realized through the matching between the external thread of the second transmission shaft 31 and the internal thread of the second sliding block 33, the second sliding block 33 is connected to the outer ring of the second bearing 52, the inner ring of the second bearing 52 is connected to the first connecting portion 136 of the first end of the first sleeve, and further the connection between the yaw driving device 3 and the first sleeve 132 is realized.
Referring to fig. 5A-5C and fig. 6C, the first sleeve 132 further includes a second connecting portion 137 of the second end of the first sleeve, in practical applications, the second connecting portion 137 of the second end of the first sleeve may be a connecting rod, and is connected to the wrist device 6 at the first connecting position 61 through the connecting rod, and the second sleeve 133 further includes a second connecting portion 138 of the second end of the second sleeve, and the second connecting portion 138 of the second end of the second sleeve is connected to the wrist device 6 at the second connecting position 62.
Thus, as shown in fig. 6D, when the second motor 32 drives the second sliding block 33 via the second transmission shaft 31 to move along the axial direction of the second transmission shaft 31 in the direction toward the end effector 14, the second sliding block 33 will pull the first sleeve 132 via the second bearing 52 to move along the axial direction of the first sleeve in the direction toward the end effector 14, the first sleeve 132 will drive the connecting rod (i.e. the second connecting portion 137 of the second end of the first sleeve) in the direction toward the end effector 14, since the second connecting portion 138 of the second end of the second sleeve is connected to the wrist device 6 at the second connecting position 62, the second connecting position 62 is a fixed point, and the connecting point of the connecting rod to the wrist device 6, i.e. the first connecting position 61, will be under the force of the connecting rod moving toward the end effector 14, centering on the second connection location 62, the wrist structure is driven to deflect to one side of the axial extension of the second sleeve.
Referring to fig. 6E, when the second motor 32 drives the second sliding block 33 to move in the opposite direction of the end effector 14 along the axial direction of the second transmission shaft 31 by the second transmission shaft 31, the second sliding block 33 will pull the first sleeve 132 to move in the opposite direction of the end effector 14 along the axial direction of the first sleeve by the second bearing 52, the first sleeve 132 will drive the connecting rod (i.e. the second connecting portion 137 of the second end of the first sleeve) to move in the opposite direction of the end effector 14, but since the second connecting portion 138 of the second end of the second sleeve is connected to the wrist device 6 at the second connecting position 62, the second connecting position 62 is a fixed point, the connecting position of the connecting rod to the wrist device 6, i.e. the first connecting position 61, will be under the action of the connecting rod moving in the opposite direction of the end effector 14, centering on the second connection location 62, the wrist structure is driven to deflect to the other side of the axial extension of the second sleeve.
Of course, in practical application, as shown in fig. 5A, the second connection portion 138 of the second end of the second sleeve is provided with a first locking portion 139 and a second locking portion (not shown in the figure) at two symmetrical positions, the position of the first locking portion 139 and the position of the second locking portion can be symmetrical to each other, the degree of the angle a of the wrist device deflecting to one side of the axial extension line of the second sleeve can be limited by the first locking portion 139, and the degree of the angle b of the wrist device deflecting to the other side of the axial extension line of the second sleeve can be limited by the second locking portion.
With continuing reference to fig. 2, fig. 3 and fig. 5A, the rotation driving device 4 may further include a third motor 44, the third motor 44 is connected to the third transmission shaft 41, and the driving gear 42 and the driven gear 43 in the rotation driving device 4 are engaged with each other, wherein the driving gear 42 is an insulating driving gear made of an insulating material and having an insulating function, such as a plastic driving gear made of plastic, so that when a screw rod in a surgical instrument is connected to a power source for performing a surgery, the insulating driving gear can prevent a current from being conducted to the bottom plate through the rotation driving device, and the bottom plate is prevented from being electrified.
In practice, the rotary drive 4 may be connected via the driven gear 43 to a first connection site connection 139 at a first end of the second sleeve, the second sleeve 133 further comprising a second connection site 138 at a second end of the second sleeve, the second sleeve 133 being connected to the wrist device at a third connection site 63 via the second connection site 138 at the second end of the second sleeve.
Thus, when the third motor 44 drives the driving gear 42 to rotate through the third transmission shaft 41, the driving gear 42 drives the driven gear 43 to rotate, the driven gear 43 drives the second sleeve 133 to rotate, and further the wrist device of the end effector is driven to rotate through the second sleeve 133, and the wrist device rotates to drive the end effector 7 to rotate. Of course, in practical applications, the rotation angle of the end effector 7 can be controlled by controlling the rotation of the third motor, and will not be described in detail herein.
Based on the same inventive concept, the embodiment of the invention also provides a minimally invasive surgery robot, which comprises a surgical instrument, wherein the surgical instrument comprises:
a front end driving part, a guide rod part and a tail end executing part;
wherein the front end driving section: the device comprises a base, an opening and closing driving device, a deflection driving device and a rotation driving device which are respectively arranged on the base;
the guide rod part comprises a screw rod, a first sleeve and a second sleeve, wherein the first sleeve is sequentially sleeved on the screw rod, and the second sleeve is sleeved on the first sleeve;
the opening and closing driving device is connected with a first connecting part at the first end of the screw rod through a first bearing, and the tail end executing part is connected with a second connecting part at the second end of the screw rod, so that the opening and closing driving device drives the screw rod to drive the tail end executing part to open and close;
the deflection driving device is connected with a first connecting part at the first end of the first sleeve through a second bearing, and the tail end executing part is connected with a second connecting part at the second end of the first sleeve, so that the deflection driving device drives the first sleeve to drive the tail end executing part to deflect;
the rotary driving device is connected with a first connecting part of a first end of the second sleeve through a driven gear, and the tail end executing part is connected with a second connecting part of a second end of the second sleeve, so that the rotary driving device drives the tail end executing part to rotate through the second sleeve;
the first bearing and the second bearing are both insulating bearings, the driving gear is an insulating driving gear, and the second sleeve is sleeved with an insulating sleeve, so that the guide rod part and the base are insulated, when the guide rod part is connected with a power supply, the guide rod part transmits current to the tail end execution part, and the tail end execution part can be used as a charged electrode to perform an operation.
Optionally, the opening and closing driving device includes a first transmission shaft, a first motor and a first slider, the first transmission shaft is mounted on the base, the first motor is connected to one end of the first transmission shaft, the first transmission shaft is provided with an external thread, the first slider is provided with an internal thread matched with the external thread on the first transmission shaft, and the connection between the first slider and the first transmission shaft is realized through the matching between the external thread of the first transmission shaft and the internal thread of the first slider;
the first sliding block is connected with an outer ring of a first bearing, an inner ring of the first bearing is connected with a first connecting part of the first end of the screw rod, so that the first motor drives the first sliding block to reciprocate along the axial direction of the first transmission shaft through the first transmission shaft, and the first sliding block pulls the screw rod to reciprocate along the axial direction of the screw rod through the first bearing, so that the tail end executing part is driven to open and close.
Optionally, the deflection driving device includes a second transmission shaft, a second motor and a second slider, the second transmission shaft is mounted on the base, the second motor is connected to one end of the second transmission shaft, the second transmission shaft is provided with an external thread, the second slider is provided with an internal thread matched with the external thread of the second transmission shaft, and the connection between the second slider and the second transmission shaft is realized through the matching between the external thread of the second transmission shaft and the internal thread of the second slider;
the second sliding block is connected with the outer ring of the second bearing, the inner ring of the second bearing is connected with the first connecting part of the first end of the first sleeve, so that the second motor drives the second sliding block to reciprocate along the axial direction of the second transmission shaft through the second transmission shaft, and the second sliding block pulls the first sleeve to reciprocate along the axial direction of the first sleeve through the second bearing, so as to drive the tail end executing part to deflect.
Optionally, the rotary driving device further comprises a third transmission shaft, a driving gear, a driven gear and a third motor, the driving gear is installed on the base through the third transmission shaft, the third motor is connected with the third transmission shaft, the third motor drives the driving gear to rotate through the third transmission shaft, the driving gear drives the driven gear to rotate, the driven gear drives the second sleeve to rotate, and then the second sleeve drives the end execution part to rotate.
Optionally, the end executing part includes a wrist device and an end executing device connected in sequence;
wherein the wrist device comprises a cavity structure; the tail end executing device comprises a plane four-bar mechanism and an executor which are connected in sequence; the first connecting part of the planar four-bar mechanism penetrates through a cavity structure of the wrist device, and the connecting part of the planar four-bar mechanism and the actuator is connected with the wrist device;
the second connecting part of the second end of the screw rod is a flexible connecting part, and a part of structure of the flexible connecting part penetrates through the cavity structure of the wrist device to be connected with the first connecting part of the planar four-bar mechanism.
Optionally, the second connection portion of the second end of the first sleeve is a connection rod, and the connection rod is connected with the wrist device at a first connection position.
Optionally, the second connection point of the second end of the second sleeve is connected to the wrist device at a second connection position, so that the wrist device can perform a deflecting motion towards two sides of the axial extension line of the second sleeve by taking the second connection position as a center.
Optionally, a first locking part and a second locking part are arranged at the second connecting part of the second end of the second sleeve;
wherein the first locking portion is configured to define an angle at which the wrist device is deflected to one side of an axial extension line of the second sleeve, and the second locking portion is configured to define an angle at which the wrist device is deflected to the other side of the axial extension line of the second sleeve.
Optionally, a third connection position is arranged on the wrist device, the wrist device is connected with a second connection portion of the second end of the second casing pipe at the third connection position, and the third connection position is different from the second connection position.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations.
Claims (7)
1. A surgical instrument for a minimally invasive surgical robot, characterized by comprising a guide rod portion (13) and a tip performing portion (14);
the guide rod part (13) comprises a screw rod (131), an insulating layer is arranged on the screw rod (131), the tail end execution part (14) comprises a tail end execution device (7), and the tail end execution device (7) comprises a planar four-bar mechanism (71) and an actuator (72);
the guide rod part (13) further comprises a first sleeve (132) and a second sleeve, wherein the first sleeve (132) is sequentially sleeved on the screw rod (131), and the second sleeve is sleeved on the first sleeve (132);
the planar four-bar linkage (71) comprises a first connecting part (711), a first bar (712), a second bar (713), a third bar (714) and a fourth bar (715) of the planar four-bar linkage;
wherein, an insulating layer is arranged on the first connecting part (711), and the near end of the first connecting part (711) is connected with the second connecting part (135) of the second end of the screw rod; the far end of the first connecting part (711) is respectively in non-insulated hinge joint with the near end of the first rod (712) and the near end of the second rod (713), the far end of the first rod (712) is in insulated hinge joint with the near end of the third rod (714), and the far end of the second rod (713) is in non-insulated hinge joint with the near end of the fourth rod (715);
the actuator (72) comprises a first actuator (721) and a second actuator (722), the first actuator (721) is connected with the far end of a third rod (714), the second actuator (722) is connected with the far end of a fourth rod (715), the far end of the third rod (714) is in insulated hinge joint with the far end of the fourth rod (715), a U-shaped insulating sleeve is sleeved outside the third rod (714), so that when the lead screw (131) is connected with a power source, the lead screw transmits current to the second actuator (722) through a first connecting part (711), a second rod (713) and the fourth rod (715), when the current is transmitted to the first rod (712) through the first connecting part (711), the far end of the third rod (714) is in insulated hinge joint with the near end of the third rod (714), the far end of the third rod (714) is in insulated hinge joint with the far end of the fourth rod (715), and the third rod (714) is sleeved with a U-shaped insulating sleeve, so that the current transmitted to the first rod (712) cannot be transmitted to the first rod (712) to be conducted A forcer (721) such that the first actuator (721) acts as a first polarity end and the second actuator (722) acts as a second polarity end;
the end effector portion (14) comprises a wrist device (6), the wrist device (6) comprising a cavity structure; the far end of a first connecting part (711) of the planar four-bar mechanism penetrates into a cavity structure of the wrist device (6) to be respectively hinged with the near end of the first bar (712) and the near end of the second bar (713) in a non-insulation mode, the non-insulation hinge is a joint (73), and the wrist device (6) is hinged with an end executing device (7) at the joint (73);
a second connecting part (135) at the second end of the screw rod is a flexible connecting part, an insulating layer is arranged on the flexible connecting part, and part of the flexible connecting part penetrates through a cavity structure of the wrist device (6) to be connected with the near end of a first connecting part (711) of the planar four-bar mechanism;
the surgical instrument further comprises a front end drive portion (12), the front end drive portion (12) comprising a base (11), and a deflection driving device (3) arranged on the base (11), wherein the deflection driving device (3) comprises a second transmission shaft (31), a second motor (32) and a second sliding block (33), the second transmission shaft (31) is arranged on the base (11), the second motor (32) is connected with one end of the second transmission shaft (31), the second transmission shaft (31) is provided with an external thread, the second sliding block (33) is provided with an internal thread matched with the external thread of the second transmission shaft (31), the second sliding block (33) is connected with the second transmission shaft (31) through the matching of the external thread of the second transmission shaft (31) and the internal thread of the second sliding block (33);
the second slider (33) is connected with the outer ring of the second bearing (52), the inner ring of the second bearing (52) is connected with a first connecting part (136) of the first end of the first sleeve, and a second connecting part (137) of the second end of the first sleeve is connected with the wrist device (6) at a first connecting position (61); and the second motor (32) drives the second sliding block (33) to reciprocate along the axial direction of the second transmission shaft (31) through the second transmission shaft (31), and the second sliding block (33) pulls the first sleeve (132) to reciprocate along the axial direction of the first sleeve through a second bearing (52), so as to drive the wrist device (6) to deflect.
2. The surgical instrument according to claim 1, characterized in that the front end driving portion (12) further comprises an opening and closing driving means (2) and a rotation driving means (4) mounted on the base (11);
the opening and closing driving device (2) is connected with a first connecting part (134) of the first end of the screw rod through a first bearing (51), the deflection driving device (3) is connected with a first connecting part (136) of the first end of the first sleeve through a second bearing (52), an insulating driving gear (42) of the rotation driving device (4) is meshed with a driven gear (43), the driven gear (43) is connected with a first connecting part (139) of the first end of the second sleeve, and the guide rod part (13) is insulated from the base (11).
3. The surgical instrument according to claim 2, wherein the opening and closing driving device (2) comprises a first transmission shaft (21), a first motor (22) and a first slider (23), the first transmission shaft (21) is mounted on the base (11), the first motor (22) is connected to one end of the first transmission shaft (21), an external thread is arranged on the first transmission shaft (21), the first slider (23) is provided with an internal thread matched with the external thread on the first transmission shaft (21), and the connection of the first slider (23) and the first transmission shaft (21) is realized through the matching of the external thread of the first transmission shaft (21) and the internal thread of the first slider (23);
the first sliding block (23) is connected with an outer ring of a first bearing (51), an inner ring of the first bearing (51) is connected with a first connecting part (134) of a first end of the screw rod (131), so that the first motor (22) drives the first sliding block (23) to reciprocate along the axial direction of the first transmission shaft (21) through the first transmission shaft (21), the first sliding block (23) pulls the screw rod (131) to reciprocate along the axial direction of the screw rod (131) through the first bearing (51), and the screw rod (131) drives the planar four-bar mechanism (71) to further drive the actuator (72) to perform opening and closing movement.
4. A surgical instrument according to claim 3, characterized in that the second connection point (138) of the second end of the second cannula is connected to the wrist device (6) at a second connection location (62) so that the wrist device (6) can perform a deflecting movement under traction of the first cannula, centred on the second connection location (62), to both sides of an axial extension of the second cannula.
5. A surgical instrument as recited in claim 4, characterized in that the second coupling site (138) of the second end of the second cannula is provided with a first detent and a second detent;
wherein the first locking part is used for limiting the angle of the wrist device (6) deflecting to one side of the axial extension line of the second sleeve (133), and the second locking part is used for limiting the angle of the wrist device (6) deflecting to the other side of the axial extension line of the second sleeve.
6. The surgical instrument according to claim 5, characterized in that the rotary drive means (4) further comprise a third transmission shaft (41) and a third motor (44), the driving gear (42) being mounted on the base (11) by means of the third transmission shaft (41), the third motor (44) being connected to the third transmission shaft (41), the driven gear (43) being connected to a first connection point (139) of the first end of the second cannula, a second connection point (138) of the second end of the second cannula being connected to the wrist device (6) in a third connection position (63), the third connection position (63) being different from the second connection position (62);
and the third motor (44) drives the driving gear (42) to rotate through a third transmission shaft (41), the driving gear (42) drives the driven gear (43) to rotate, the driven gear (43) drives the second sleeve (133) to rotate, and then the wrist device (6) and the end executing device (7) are driven to rotate through the second sleeve (133).
7. A minimally invasive surgical robot comprising a surgical instrument according to any one of claims 1 to 6.
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| CN201710642894.8A CN107320188B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
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| CN201710642894.8A CN107320188B (en) | 2017-07-31 | 2017-07-31 | Surgical instrument for minimally invasive surgery robot and minimally invasive surgery robot |
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| US20100063437A1 (en) * | 2006-07-12 | 2010-03-11 | Nelson Drew V | Multifunctional surgical instrument |
| CN101522128B (en) * | 2006-10-06 | 2012-02-15 | Tyco医疗健康集团 | Endoscopic vessel sealer and divider having a flexible articulating shaft |
| US9204923B2 (en) * | 2008-07-16 | 2015-12-08 | Intuitive Surgical Operations, Inc. | Medical instrument electronically energized using drive cables |
| DE102009036158A1 (en) * | 2009-07-28 | 2011-02-03 | Farin, Günter, Dipl.-Ing. | Monopolar polypectomy loops |
| US9339341B2 (en) * | 2010-02-08 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Direct pull surgical gripper |
| CN201658395U (en) * | 2010-04-02 | 2010-12-01 | 杭州康友医疗设备有限公司 | Minimally-invasive laparoscope grasping forceps |
| US20140001231A1 (en) * | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
| US9295522B2 (en) * | 2013-11-08 | 2016-03-29 | Covidien Lp | Medical device adapter with wrist mechanism |
| JP6325912B2 (en) * | 2014-06-19 | 2018-05-16 | オリンパス株式会社 | Forceps device and surgical system |
| DE102014117408A1 (en) * | 2014-11-27 | 2016-06-02 | avateramedical GmBH | Device for robotic surgery |
| GB2541369B (en) * | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
| US10368939B2 (en) * | 2015-10-29 | 2019-08-06 | Covidien Lp | Non-stick coated electrosurgical instruments and method for manufacturing the same |
| US10660692B2 (en) * | 2015-12-10 | 2020-05-26 | Ethicon Llc | End effector for instrument with ultrasonic blade and bipolar clamp arm |
| CN106264665B (en) * | 2016-07-28 | 2018-10-16 | 清华大学 | A kind of flexible operation device |
| CN208319315U (en) * | 2017-07-31 | 2019-01-04 | 成都博恩思医学机器人有限公司 | A kind of surgical instrument and micro-wound operation robot for micro-wound operation robot |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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