CN109009443A - Abdominal minimally invasive surgery robot - Google Patents

Abdominal minimally invasive surgery robot Download PDF

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Publication number
CN109009443A
CN109009443A CN201810929855.0A CN201810929855A CN109009443A CN 109009443 A CN109009443 A CN 109009443A CN 201810929855 A CN201810929855 A CN 201810929855A CN 109009443 A CN109009443 A CN 109009443A
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CN
China
Prior art keywords
connecting rod
minimally invasive
invasive surgery
rod piece
sliding block
Prior art date
Application number
CN201810929855.0A
Other languages
Chinese (zh)
Inventor
张峰峰
陈军
吴昊
孙立宁
Original Assignee
苏州大学张家港工业技术研究院
苏州大学
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Application filed by 苏州大学张家港工业技术研究院, 苏州大学 filed Critical 苏州大学张家港工业技术研究院
Priority to CN201810929855.0A priority Critical patent/CN109009443A/en
Publication of CN109009443A publication Critical patent/CN109009443A/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/302Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/305Details of wrist mechanisms at distal ends of robotic arms

Abstract

The invention discloses a kind of abdominal minimally invasive surgery robots, it includes control device, rack and connection at least three mechanical arms on the rack, at least three end effector clamping devices that connect with mechanical arm, mechanical arm include position adjusting mechanism and can include by the telecentricity mechanism that control device is controlled, position adjusting mechanism the first sliding block, rotation connection the first rod piece, rotation connection the second rod piece, rotation connection third rod piece;The first connecting rod of pivotal part, rotation connection that position adjusting mechanism is pivotally connected, the second connecting rod of rotation connection, the third connecting rod of rotation connection, the second sliding block.This abdominal minimally invasive surgery robot, the telecentricity mechanism of mechanical arm are increased the angle range in each joint, are improved the flexibility and obstacle avoidance ability of mechanical arm telecentricity mechanism using single parallelogram mechanism.The structure is not only simple in structure, is small in size, and has very high reliability, stability and safety, the more utility value in industry.

Description

Abdominal minimally invasive surgery robot

Technical field

The present invention relates to a kind of abdominal minimally invasive surgery robots, are used for abdominal-cavity minimal-invasion surgery, belong to medical instrument neck Domain.

Background technique

Currently, minimally invasive surgical operation robot has become the research hotspot in medical robot field, it is traditional medical Instrument is combined together with information technology, robot technology, and surgical diagnosis and treatment is made to have reached minimally invasiveization, micromation, intelligence Change and digitizes.Compared with traditional operation, micro-wound operation robot has significant advantage: minimally invasive robotic surgery can improve The operating mode of doctor makes doctor dexterousr when performing the operation, more convenient, more precisely, or even can allow two different fields Surgeon carries out two relevant operations simultaneously;In addition, even if prolonged surgical procedure, micro-wound operation robot will not It trembles as manpower because of tired out, substantially increases surgical quality, extend the surgical professional service life;Minimally invasive surgery Robotic surgery wound greatly reduces the blood loss and postoperative pain of patient only at 1 centimetre or so, and patient restores fastly, greatly The dirty wound healing of intestines stomach function regulating only needs five to seven days, and then a couple of days is all right for the wound of skin, the healing rate of gall-bladder after surgery Faster.The above advantage makes robot become the best assistant of doctor.

Before carrying out abdominal cavity needle holder being applied to surgery Minimally, need to cut using stamp card puncture outfit in human abdomen corresponding position Mouthful, then realize that apocenter is positioned in patient body-surface incision using position adjusting mechanism, then the abdomen that will be clamped from hand mechanical arm Hysteroscope and surgical instrument are deep into abdominal cavity by casing and carry out lesion information detection and surgical procedure.It performed the operation in order to prevent Surgical instrument causes additional injury to abdominal wall in journey, and laparoscope and micro- instrument can only slide or around incision in casing Movement.The abdominal cavity antetheca incision for placing casing is known as apocenter, and the position in apocenter immobilizes in the course of surgery.Due to The limitation in apocenter, the movement of surgical instrument is different with the movement of surgical instrument in open surgery, the operation being connected with casing There are four the instrument freedom degrees in casing, i.e. pitching, offset and four freedom degrees of revolution and translation around own axes.

Current there are mainly two types of methods can be realized telecentricity movement: one is realize telecentricity fortune by multi-joint coupled modes It is dynamic, but this method mainly relies on algorithm to realize that telecentricity moves, so it wants the reliability and stability of algorithm Ask relatively high, and safety is poor, therefore research work in this respect is fewer;Another method, which mainly passes through, adopts Realize that telecentricity is moved with mechanism constraint, this method possesses the advantages that at low cost, highly-safe, therefore is widely applied to In micro-wound operation robot research.

Structural constraint is mainly by four kinds of implementations: double parallel quadrangular mechanism, passive joint, arc mechanism and spherical machine Structure.Four side mechanism of double parallel is a kind of widely used mechanism, and many medical machine robot mechanisms all use the mechanism to realize Telecentricity movement, but there are multiple connecting rods and joint in the mechanism, so be easy to causeing the volume of entire robot big and heavy, in this way It may will cause during actual operation and other ancillary equipments or human interaction.It is transported using the telecentricity that passive joint is realized It is dynamic, apocenter can adaptive incision site variation, additional injury will not be caused to the tissue of surrounding, safety is higher, But operation precision is easy the interference by incision tissue's reaction force.The apocenter of arc mechanism is the circle of arc orbit The heart, but the volume of this mechanism is larger, driving design comparison is complicated.Spherical mechanism apocenter is located at the centre of sphere of spherical mechanism, This relatively simple for structure, only there are two joints, and there are two types of structure types, first is that cascade, another kind is parallel form, Since the probability that parallel institution collides is higher, so cascade is generally used, although this form can make mechanism body Product is smaller, but reliability and stability are poor.

Summary of the invention

In order to solve the above technical problems, it is an object of the invention to propose a kind of new structural abdominal minimally invasive hand Art robot.

In order to achieve the above object, the present invention provides a kind of technical solutions: abdominal minimally invasive surgery robot, it is wrapped Include control device, rack and connection at least three mechanical arms on the rack, mutually connect one to one with mechanical arm at least three A end effector clamping device, mechanical arm include position adjusting mechanism and can be by telecentricity machines that control device is controlled Structure,

Position adjusting mechanism includes connecting the first sliding block on the rack up or down by the first arthrodia, passing through First rotary joint and the first sliding block rotate connection the first rod piece, rotated company by the second rotary joint and the first rod piece The second rod piece for connecing, rotated the third rod piece of connection by third rotary joint and the second rod piece;

Telecentricity mechanism includes the pivotal part being mutually pivotally connected by the 4th rotary joint with third rod piece, by the 5th rotation Joint and pivotal part rotate connection first connecting rod, being rotated by the 6th rotary joint and first connecting rod the second of connection connects Bar, the third connecting rod for the connection that rotated by the 7th rotary joint and second connecting rod, by the second arthrodia and third connecting rod Second sliding block of phase shift connection, end effector clamping device is connected with the second sliding block, first connecting rod, second connecting rod, the Three-link constitutes parallelogram mechanism.

Further, the pivot axis of pivotal part is arranged along Y direction, pivot center, the second connecting rod of first connecting rod Pivot center, third connecting rod pivot center be arranged each along X-direction, the moving direction of the second sliding block is along Z axis side To X-axis, Y-axis, Z axis constitute rectangular coordinate system in space.

Further, Y-axis is the axial line of pivotal part.

Further, the slewing area of pivotal part is so that along center line ± 70 ° of Z-direction, first connecting rod turns It is 250mm that dynamic range, which is with the displacement distance scope along -30 ° of center line~60 ° of Z-direction, the second sliding block,.

Further, the displacement distance scope of the first sliding block is 900~1550mm, the slewing area of the first rod piece is- 120 °~20 °, the slewing area of the second rod piece is ± 120 °, and the slewing area of third rod piece is ± 100 °.

Further, the length of the first rod piece is 670 ± 20mm, and the length of the second rod piece is 625 ± 20mm.

Further, end effector clamping device includes the operating stick being mutually pivotally connected with the second sliding block, one end and behaviour As bar rotate connection wrist, be rotatably connected on the other end of wrist respectively and to be capable of the opposite gripper clamp opened and clamped left Refer to and the right finger of gripper clamp.

Further, the pivot center of wrist is both perpendicular to the central axis of operating stick and the central axis of wrist.

Further, the slewing area of operating stick is ± 180 °, and the slewing area of wrist is with the central axis of operating stick Line is center line ± 90 °, and the left finger of gripper clamp and the slewing area of the right finger of gripper clamp are using the central axis of wrist as center line ±90°。

Further, at least in three mechanical arms, end clamped by the end effector clamping device of two connections is held Row device is micro- instrument of performing the operation, and end effector clamped by the end effector clamping device of a connection is endoscope.

In the minimally invasive ophthalmic surgical in progress abdominal cavity, in the preoperative, doctor is first for abdominal minimally invasive surgery robot of the present invention Telecentricity is realized to suitable position and posture and fixation in each component for dragging the position adjusting mechanism without drive control and joint Positioning of the point at human abdominal cavity body surface, wherein the sequence of each joint adjustment is regardless of front and back, it is only necessary to guarantee that apocenter is located at and close Suitable position;Then drag again can drive control telecentricity mechanism each component and joint to suitable position and posture And it is fixed, guarantee that surgical instrument and endoscope are in suitable position and posture, and surgical instrument and endoscope are cut with abdominal cavity Casing at mouthful is connected, and wherein the adjustment sequence in each joint of telecentricity mechanism is also regardless of front and back, it is only necessary to guarantee surgical instrument Suitable position and posture are in endoscope.In art, abdominal-cavity minimal-invasion surgery is controlled by force-feedback control device first The end effector (endoscope) of second mechanical arm of robot moves to suitable position and posture, obtains inside human abdominal cavity Lesion information, then pass through force-feedback control device control first, end effector (micro- device of performing the operation of third mechanical arm again Tool) in intraperitoneal movement, realize that micro- instrument of performing the operation to surgical procedures such as the clampings, cutting, suture of intraperitoneal soft tissue, is completed The minimally invasive clinical operation in abdominal cavity.In this process, the position adjusting mechanism of no drive control is not involved in surgical procedure.

Due to the adoption of the above technical scheme, the telecentricity mechanism of abdominal minimally invasive surgery robot of the present invention, mechanical arm is adopted With single parallelogram mechanism, the angle range in each joint is increased, improves the flexibility and avoidance of mechanical arm telecentricity mechanism Ability.Compared with the prior art the structure, is not only simple in structure, is small in size, and have very high reliability, stability and safety Property, the more utility value in industry.

The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.

Detailed description of the invention

Attached drawing 1 is the first structure diagram of abdominal minimally invasive surgery robot of the present invention, wherein only draws a machine Tool arm is to be illustrated;

Attached drawing 2 is the second structural schematic diagram of abdominal minimally invasive surgery robot of the present invention, wherein only draws a machine Tool arm is to be illustrated;

Attached drawing 3 is the knot that telecentricity mechanism and end effector accommodate device in abdominal minimally invasive surgery robot of the present invention Structure schematic diagram;

Attached drawing 4 is the structural schematic diagram that end effector accommodates device in abdominal minimally invasive surgery robot of the present invention;

Attached drawing 5 is the use state diagram of abdominal minimally invasive surgery robot of the present invention.

Figure label are as follows:

100, mechanical arm;

111, the first sliding block;112, the first rod piece;113, the second rod piece;114, third rod piece;115, pivotal part, 116, One connecting rod;117, second connecting rod;118, third connecting rod;119, the second sliding block;

121, the first arthrodia;122, the first rotary joint;123, the second rotary joint;124, third rotary joint; 125, the 4th rotary joint;126, the 5th rotary joint;127, the 6th rotary joint;128, the 7th rotary joint;129, second Arthrodia;

200, end effector accommodates device;201, operating stick;202, wrist;203, the left finger of gripper clamp;204, gripper clamp Right finger;

300, rack;

400, trolley;401, pedestal;402, handle;403, castor;

500, display.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below Example is not intended to limit the scope of the invention for illustrating the present invention.

Referring to attached drawing 1 to attached drawing 5, abdominal minimally invasive surgery robot in the present embodiment, it includes control device, machine Frame and connection at least three mechanical arms 100 on the rack, at least three ends to connect one to one with 100 phase of mechanical arm are held Row device clamping device 200.

Every mechanical arm 100 includes position adjusting mechanism and can be by telecentricity mechanism that control device is controlled. Every mechanical arm 100 shares nine joints, nine freedom degrees.

Position adjusting mechanism is made of the first four joint of mechanical arm 100, is mainly used to realize apocenter in human abdominal cavity Positioning at body surface, it only has a kind of control model, i.e. dragging manually, preoperative, manually the mobile joint without drive control to conjunction Suitable position and posture and fixation realize apocenter in the positioning of patient body-surface incision.As shown in Figure 1 and Figure 2, position Adjustment mechanism includes connecting the first sliding block 111 on the rack up or down by the first arthrodia, by the first rotation Joint and the first sliding block 111 rotate connection the first rod piece 112, rotated by the second rotary joint and the first rod piece 112 Second rod piece 113 of connection, rotated the third rod piece 114 of connection by third rotary joint and the second rod piece 113.

Telecentricity mechanism is made of rear five joints of mechanical arm 100, is mainly used to realize that the micro- instrument (laparoscope) of operation exists The adjustment of position and posture in human abdominal cavity, there are two types of operating mode, manual dragging and master & slave controls for it.It is preoperative, it drags manually It is dynamic can drive control joint arrive suitable position and posture and fixation, guarantee surgical instrument and endoscope be in suitable position with Then surgical instrument and endoscope are connected by posture with casing;In art, doctor by device for force feedback control telecentricity mechanism around Patient abdomen body surface incision carries out telecentricity movement, completes surgical procedure.As shown in attached drawing 1 to attached drawing 3, telecentricity mechanism includes logical Cross pivotal part 115 that the 4th rotary joint is pivotally connected with 114 phase of third rod piece, by the 5th rotary joint and pivotal part 115 Rotate the first connecting rod 116 of connection, the second connecting rod 117 for the connection that rotated by the 6th rotary joint and first connecting rod 116, By the 7th rotary joint and second connecting rod 117 rotate connection third connecting rod 118, by the second arthrodia and third company Second sliding block 119 of 118 phase shift of bar connection, end effector clamping device 200 are connected with the second sliding block 119, and first connects Bar 116, second connecting rod 117, third connecting rod 118 constitute parallelogram mechanism.The parallelogram mechanism is more other types of For telecentricity positioning mechanism, structure is simple, compact, and small volume, and joint angular region is larger, and it is remote to greatly increase mechanical arm The kinematic dexterity of heart positioning mechanism increases the scope of activities of surgical instrument.

Specifically, the rotation of the pivot center of first connecting rod 116, the pivot center of second connecting rod 117, third connecting rod 118 Axis is arranged each along X-direction, and the moving direction of the second sliding block 119 is along Z-direction, the pivot axis of pivotal part 115 It is arranged along Y direction, more specifically, Y-axis is the axial line of pivotal part 115.X-axis, Y-axis, Z axis constitute rectangular space coordinate System.

In the present embodiment, the slewing area of pivotal part 115 is along center line ± 70 ° of Z-direction, first connecting rod 116 slewing area is to be with the displacement distance scope along -30 ° of center line~60 ° of Z-direction, the second sliding block 119 250mm。

In the present embodiment, the displacement distance scope of the first sliding block 111 is 900~1550mm, the rotation model of the first rod piece 112 Enclosing is -120 °~20 °, and the slewing area of the second rod piece 113 is ± 120 °, and the slewing area of third rod piece 114 is ± 100 °.

In the present embodiment, the length of the first rod piece 112 is 670 ± 20mm, and the length of the second rod piece 113 is 625 ± 20mm.

There are four freedom degrees for the tool of end effector clamping device 200.As shown in attached drawing 3 and attached drawing 4, end effector clamping Device 200 includes that the operating stick 201 being pivotally connected with 119 phase of the second sliding block, one end and operating stick 201 rotate the wrist of connection 202, the left finger 203 of gripper clamp and gripper clamp for being rotatably connected on the other end of wrist 202 respectively and opposite capable of opening and clamp It is right to refer to 204.

Specifically, the pivot center of wrist 202 is both perpendicular to the central axis of operating stick 201 and the center of wrist 202 Axis.

In the present embodiment, the slewing area of operating stick 201 is ± 180 °, and the slewing area of wrist 202 is with operating stick 201 Central axis be center line ± 90 °, gripper clamp it is left refer to 203 and gripper clamp it is right refer to 204 slewing area be with wrist 202 Central axis is center line ± 90 °.

In a kind of highly preferred embodiment, at least three mechanical arms 100, the end effector folder of two connections End effector clamped by device 200 is held for micro- instrument of performing the operation, clamped by the end effector clamping device 200 of a connection End effector be endoscope.Mechanical arm 100 in the present embodiment has four, wherein the 4th mechanical arm is as spare machinery Arm is generally not involved in surgical procedure, in first three mechanical arm, first and the end effector of third mechanical arm be the micro- device of operation Tool, directly participation surgical procedure, the end effector of second mechanical arm is endoscope, for feeding back the lesion letter of operative region Breath.

With reference to attached drawing 5, abdominal minimally invasive surgery robot of the present invention is in the minimally invasive ophthalmic surgical in progress abdominal cavity, in art Before, each component that doctor drags the position adjusting mechanism without drive control first and joint are to suitable position and posture and solid It is fixed, positioning of the apocenter at human abdominal cavity body surface is realized, wherein the sequence of each joint adjustment is regardless of front and back, it is only necessary to guarantee remote Heart point is located at suitable position;Then drag again can drive control telecentricity mechanism each component and joint to suitable Position and posture and fixation guarantee that surgical instrument and endoscope are in suitable position and posture, and by surgical instrument and interior peep Mirror is connected with the casing at abdominal incisions, and wherein the adjustment sequence in each joint of telecentricity mechanism is also regardless of front and back, it is only necessary to protect Card surgical instrument and endoscope are in suitable position and posture.In art, abdomen is controlled by force-feedback control device first The end effector (endoscope) of second mechanical arm 100 of chamber micro-wound operation robot moves to suitable position and posture, obtains The lesion information inside human abdominal cavity is taken, then passes through force-feedback control device control first, the end of third mechanical arm 100 again It holds actuator (micro- instrument of performing the operation) in intraperitoneal movement, realizes clamping, cutting, seam of micro- instrument to intraperitoneal soft tissue of performing the operation The surgical procedures such as conjunction complete the minimally invasive clinical operation in abdominal cavity.In this process, the position adjusting mechanism of no drive control is not involved in Surgical procedure.

Due to the adoption of the above technical scheme, abdominal minimally invasive surgery robot of the present invention, the telecentricity mechanism of mechanical arm 100 Using single parallelogram mechanism, increase the angle range in each joint, improve 100 telecentricity mechanism of mechanical arm flexibility and Obstacle avoidance ability.Compared with the prior art the structure, is not only simple in structure, is small in size, and have very high reliability, stability and Safety, the more utility value in industry.

The above is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is noted that for this skill For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is several improvement and Modification, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (10)

1. a kind of abdominal minimally invasive surgery robot, it is characterised in that: it includes control device, rack and is connected to the machine At least three mechanical arms on frame, at least three end effector clamping devices mutually to connect one to one with the mechanical arm, The mechanical arm includes position adjusting mechanism and the telecentricity mechanism that can be controlled by the control device,
The position adjusting mechanism includes that first be connected to up or down in the rack by the first arthrodia is slided Block, the connection that rotated by the first rotary joint and first sliding block the first rod piece, by the second rotary joint with it is described First rod piece rotates the second rod piece of connection, the third bar for the connection that rotated by third rotary joint and second rod piece Part;
The telecentricity mechanism includes the pivotal part being mutually pivotally connected by the 4th rotary joint with the third rod piece, by the Five rotary joints and the pivotal part rotate connection first connecting rod, turned by the 6th rotary joint and the first connecting rod phase It moves the second connecting rod of connection, the third connecting rod for the connection that rotates by the 7th rotary joint and the second connecting rod, pass through second The second sliding block that arthrodia is connect with the third connecting rod phase shift, the end effector clamping device and described second Sliding block is connected, and the first connecting rod, second connecting rod, third connecting rod constitute parallelogram mechanism.
2. abdominal minimally invasive surgery robot according to claim 1, it is characterised in that: the pivotal axis of the pivotal part Line is arranged along Y direction, the rotation axis of the pivot center of the first connecting rod, the pivot center of second connecting rod, third connecting rod Line is arranged each along X-direction, and the moving direction of second sliding block is along Z-direction, and the X-axis, Y-axis, Z axis are constituted Rectangular coordinate system in space.
3. abdominal minimally invasive Robot Virtual operation method according to claim 2, it is characterised in that: the Y-axis For the axial line of the pivotal part.
4. abdominal minimally invasive surgery robot according to claim 2, it is characterised in that: the rotation model of the pivotal part It encloses to be along the center line-of Z-direction with the slewing area along center line ± 70 ° of Z-direction, the first connecting rod 30 °~60 °, the displacement distance scope of second sliding block is 250mm.
5. abdominal minimally invasive surgery robot according to claim 1, it is characterised in that: the movement of first sliding block Distance range is 900~1550mm, and the slewing area of first rod piece is -120 °~20 °, the rotation model of second rod piece Enclosing is ± 120 °, and the slewing area of the third rod piece is ± 100 °.
6. abdominal minimally invasive surgery robot according to claim 1, it is characterised in that: the length of first rod piece For 670 ± 20mm, the length of second rod piece is 625 ± 20mm.
7. abdominal minimally invasive surgery robot according to claim 1, it is characterised in that: the end effector folder Hold device include the operating stick being mutually pivotally connected with second sliding block, one end and the operating stick rotate connection wrist, The left finger of gripper clamp and the right finger of gripper clamp for being rotatably connected on the other end of the wrist respectively and opposite capable of opening and clamp.
8. abdominal minimally invasive surgery robot according to claim 7, it is characterised in that: the pivot center of the wrist The central axis of central axis and wrist both perpendicular to operating stick.
9. abdominal minimally invasive surgery robot according to claim 8, it is characterised in that: the rotation model of the operating stick Enclosing is ± 180 °, and the slewing area of the wrist is the left finger of gripper clamp using the central axis of operating stick as center line ± 90 ° Slewing area with the right finger of gripper clamp is using the central axis of wrist as center line ± 90 °.
10. abdominal minimally invasive surgery robot according to claim 1, it is characterised in that: at least three machinery In arm, end effector clamped by the end effector clamping device of two connections is micro- instrument of performing the operation, the end of a connection Holding end effector clamped by actuator clamping device is endoscope.
CN201810929855.0A 2018-08-15 2018-08-15 Abdominal minimally invasive surgery robot CN109009443A (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994026167A1 (en) * 1993-05-14 1994-11-24 Sri International Remote center positioner
CN101106952A (en) * 2005-01-24 2008-01-16 直观外科手术公司 Modular manipulator support for robotic surgery
CN102510740A (en) * 2009-09-23 2012-06-20 直观外科手术操作公司 Curved cannula and robotic manipulator
CN102973317A (en) * 2011-09-05 2013-03-20 周宁新 Arrangement structure for mechanical arm of minimally invasive surgery robot
CN107157581A (en) * 2017-04-06 2017-09-15 上海工程技术大学 A kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery
US20170311951A1 (en) * 2011-05-27 2017-11-02 Ethicon Llc Surgical stapling instruments with rotatable staple deployment arrangements
CN107468293A (en) * 2017-08-31 2017-12-15 中国科学院深圳先进技术研究院 Micro-wound operation robot and apply its surgical device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994026167A1 (en) * 1993-05-14 1994-11-24 Sri International Remote center positioner
CN101106952A (en) * 2005-01-24 2008-01-16 直观外科手术公司 Modular manipulator support for robotic surgery
CN102510740A (en) * 2009-09-23 2012-06-20 直观外科手术操作公司 Curved cannula and robotic manipulator
US20170311951A1 (en) * 2011-05-27 2017-11-02 Ethicon Llc Surgical stapling instruments with rotatable staple deployment arrangements
CN102973317A (en) * 2011-09-05 2013-03-20 周宁新 Arrangement structure for mechanical arm of minimally invasive surgery robot
CN107157581A (en) * 2017-04-06 2017-09-15 上海工程技术大学 A kind of decoupling four-degree-of-freedom telecentricity mechanism for external Minimally Invasive Surgery
CN107468293A (en) * 2017-08-31 2017-12-15 中国科学院深圳先进技术研究院 Micro-wound operation robot and apply its surgical device

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