CN109199591A - Ear nose basis cranii micro-wound operation robot and its operating method - Google Patents
Ear nose basis cranii micro-wound operation robot and its operating method Download PDFInfo
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- CN109199591A CN109199591A CN201811220895.4A CN201811220895A CN109199591A CN 109199591 A CN109199591 A CN 109199591A CN 201811220895 A CN201811220895 A CN 201811220895A CN 109199591 A CN109199591 A CN 109199591A
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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
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The present invention provides a kind of ear nose basis cranii micro-wound operation robot and its operating methods, comprising: straight-line motion mechanism, rotating mechanism, deflection control mechanism, clamp control mechanism, continuous body mechanism；Wherein, straight-line motion mechanism, rotating mechanism drive deflection control mechanism, clamp control mechanism, continuous body mechanism to move integrally, rotate integrally, continuous body mechanism are made to reach predeterminated position；Continuous body mechanism includes non-individual body supporting element, multiple non-individual body joints, the NiTi pipe for being embedded in non-individual body joint, clamp fixing piece and clamp；Deflection control mechanism, clamp control mechanism execute back and forth the closure or openness of deflection action, clamp by steel wire line traffic control non-individual body mechanism, for carrying out ear nose basis cranii Minimally Invasive Surgery.The present invention is used for ear nose basis cranii Minimally Invasive Surgery, has the advantages that smaller, bending angle is bigger, easy to operate, can satisfy clinical operation needs, and operation accuracy is high, reproducible, can shorten the cultivation cycle of doctor, reduce operation risk.
Description
Technical field
The present invention relates to a kind of medical equipments, and in particular, to be a kind of ear nose basis cranii micro-wound operation robot and its
Operating method.
Background technique
Ear, nose, basis cranii are one of human body most complex region, including external auditory canal, tympanum, Eustachian tube, lost pipeline, inner ear
Road；Nasal cavity, nasal sinus, nasopharynx；Preceding basis cranii, sella region, Skull-base etc..It is bent due to entering lesion locations cavity, narrow space, ear
For nose skull base surgery there are many operation blind areas, Minimally Invasive Surgery difficulty is big.
Recently, natural cavity endoscopic surgery (Natural Orifice Transluminal Endoscopic
It Surgery is) minimally invasive and non-invasive procedures trend.This operation has many good qualities, for example, the wound in impacted region is small, behaviour
It is short to make the time, and pain is small, and the rehabilitation speed of patient is fast.Along with this trend, various flexible operation tools and robot
System is fast-developing.However, these surgical robot systems still there are many limitations, especially apply in ear nose basis cranii
Field.The existing usual mechanical arm diameter of minimally-invasive surgery robot system is big and bending angle is small, is not suitable for being applied to ear nose cranium
Bottom operation.Therefore there is an urgent need to conduct a research for ear nose skull base surgery robot.
Through the retrieval discovery to the prior art, Chinese invention patent publication number CN104476533A discloses a kind of principal and subordinate
The flexible non-individual body robot device of operation and its control method, the device include control arm, mechanical arm and control system.It can
Realize that multiple directions bending, contraction, crawl etc. operate, but the ear nose skull base surgery more complicated for natural cavity, it is flexible
The bending degree and mechanical arm size of non-individual body are not obviously able to satisfy operation and require.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of ear nose basis cranii micro-wound operation robot and its
Operating method.
In a first aspect, the present invention provides a kind of ear nose basis cranii micro-wound operation robot, comprising: straight-line motion mechanism, rotation
Mechanism, deflection control mechanism, clamp control mechanism, continuous body mechanism；Wherein, one end of the continuous body mechanism is provided with folder
Pincers, for carrying out ear nose basis cranii Minimally Invasive Surgery, the other end of the continuous body mechanism is fixedly connected with the clamp control mechanism；
The clamp control mechanism is fixedly connected with the pedestal of the deflection control mechanism, is provided in the clamp control mechanism and institute
The control clamp wire for stating clamp connection, for controlling the closure or openness of the clamp；The deflection control mechanism and institute
The bottom plate for stating deflection control mechanism is fixedly connected, and the deflection control mechanism is provided with the control deflection connecting with clamp fixing piece
Wire executes deflection action back and forth for controlling the continuous body mechanism；The rotating mechanism passes through the flange and shaft coupling
Device drives the deflection control mechanism, clamp control mechanism, continuous body mechanism to rotate integrally, and deflects into the continuous body mechanism
Predetermined angle；The straight-line motion mechanism is fixedly connected by slide unit and pedestal with the rotating mechanism, and the whirler is driven
Structure, deflection control mechanism, clamp control mechanism, continuous body mechanism integrally move forward or back, so that the continuous body mechanism reaches
Predeterminated position.
Optionally, the straight-line motion mechanism, comprising: control linear motion motor, shaft coupling, straight line mould group, is prevented flange
Dirt plate, slide unit, pedestal；Wherein, the control linear motion motor is fixedly connected by the flange with the straight line mould group；Institute
The one end for stating the screw rod of straight line mould group is fixedly connected with the slide unit, and the other end passes through the shaft coupling and control linear motion electricity
Machine connection；The pedestal is fixedly connected with the slide unit, for installing the rotating mechanism；The dust excluding plate and the straight line mould
Group is fixedly connected, for preventing dust from entering the straight line mould group；When the control linear motion motor rotation, drive described straight
The screw rod of line mould group rotates, so that the slide unit, pedestal execute forward or backward action.
Optionally, the rotating mechanism, comprising: control rotating motor support part, control rotating electric machine fixing piece, control rotation
Rotating motor, bearing, flange coupling；Wherein, the rotating motor support part is fixedly connected with the parts moving linearly；It is described
Control rotating electric machine is fixedly connected by the control rotating electric machine fixing piece with the control rotating motor support part；The axis
The outer ring held is fixedly connected with the control rotating motor support part, the inner ring of the bearing and the control rotating electric machine
Axis, flange coupling connection；Described flange coupling one end is arranged in the bearing.
Optionally, the deflection control mechanism includes: connector, bottom plate, control deflection motor supporting element, control deflection electricity
Machine, winder, control deflection wire, carbon steel, shafts, guide roller, fixing piece；Wherein, one end of the connector and the rotation
The flange coupling of rotation mechanism is fixedly connected, and the other end is fixedly connected with the bottom plate；The control deflection motor passes through described
Control deflection motor supporting element is fixedly connected with the bottom plate, and the rotary shaft of the control deflection motor and the winder connect
It connects；The guide roller is fixedly connected by the carbon steel, shafts, fixing piece with the bottom plate, for guiding control deflection wire
Direction；One end of the control deflection wire is fixedly connected around the guide roller with the winder.
Optionally, the clamp control mechanism, comprising: control clamp motor supporting element, control clamp motor, winder,
Control clamp wire, sleeve support；Wherein, the control clamp motor passes through the control clamp motor supporting element and institute
The pedestal for stating deflection control mechanism is fixedly connected, and the rotary shaft of the control clamp motor is connect with the winder；The control
One end of clamp wire processed is fixedly connected around the guide roller of the deflection control mechanism with the winder；Described sleeve pipe
One section of supporting element is fixedly connected with the pedestal of the deflection control mechanism, and the other end is connect with the continuous body mechanism.
Optionally, the quantity of the control clamp wire is multiple, and the quantity of the control deflection wire is multiple.
Optionally, the continuous body mechanism, comprising: casing, NiTi pipe, non-individual body supporting element, non-individual body joint, clamp are solid
Determine part, clamp fixing axle, clamp；Wherein, the clamp is connected by one end of the clamp fixing axle and the clamp fixing piece
It connects；The other end of the clamp fixing piece is connect with the non-individual body joint；The non-individual body joint passes through the non-individual body branch
Support member is fixedly connected with described sleeve pipe；Wherein, the non-individual body joint is provided with several through-holes, when number of openings be 2 and
When above, the through-hole is uniformly distributed according to circumferencial direction, or according to circumferencial direction non-uniform Distribution；, the NiTi pipe wears
Cross described sleeve pipe, non-individual body supporting element, non-individual body joint through-hole, for for the control clamp wire, control deflect steel
Silk thread provides channel.
Optionally, when the quantity in the non-individual body joint is multiple, the non-individual body joint is sequentially connected in series, for completing
State the deflection of continuous body mechanism.
Second aspect, the present invention provides a kind of operating method of ear nose basis cranii micro-wound operation robot, using first aspect
Any one of described in ear nose basis cranii micro-wound operation robot, which comprises
The straight-line motion mechanism drives the rotating mechanism, deflection control mechanism, clamp control mechanism, continuous body mechanism
Whole advance reaches predeterminated position；
The rotating mechanism drives the deflection control mechanism, clamp control mechanism, continuous body mechanism to rotate integrally, and makes institute
It states continuous body mechanism and deflects into predetermined angle；
The deflection control mechanism deflects the length of wire by controlling the control, makes the continuous body mechanism deflection
Bending, to control posture and the position for entering ear nose basis cranii by natural cavity of the continuous body mechanism；
The clamp control mechanism makes the folder of the continuous body mechanism by controlling the length for controlling clamp wire
Closure or openness are clamped, to execute Minimally Invasive Surgery.
Compared with prior art, the present invention have it is following the utility model has the advantages that
Ear nose basis cranii micro-wound operation robot provided by the invention, be used for ear nose basis cranii Minimally Invasive Surgery, have it is smaller,
Bigger, the easy to operate advantage of bending angle, the accessible range of bending angle and end can satisfy entire ear nose basis cranii
The surgical procedure of narrow space meets clinical operation needs, and operation accuracy is high, reproducible, can shorten the culture of doctor
Period reduces operation risk.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of ear nose basis cranii micro-wound operation robot of the invention.
Fig. 2 is the structural schematic diagram of straight-line motion mechanism of the invention.
Fig. 3 is the structural schematic diagram of rotating mechanism of the invention.
Fig. 4 is the structural schematic diagram of deflection control mechanism of the invention and clamp control mechanism.
Fig. 5 is the structural schematic diagram of the continuous body mechanism of flexibility of the invention.
Fig. 6 is the structural schematic diagram in the non-individual body joint of the continuous body mechanism of flexibility of the invention.
In figure: 1- straight-line motion mechanism, 2- rotating mechanism, 3- deflection control mechanism, 4- clamp control mechanism 4,5- is continuous
Body mechanism；
11- control linear motion motor, 12- flange, 13- shaft coupling, 14- straight line mould group, 15- dust excluding plate, 16- slide unit,
17- pedestal；
21- control rotating motor support part, 22- control rotating electric machine fixing piece, 23- control rotating electric machine, 24- bearing,
25- flange coupling；
31- connector, 32- bottom plate, 33- control deflection motor supporting element, and 34- controls deflection motor, 35- winder, 36-
Control deflection wire, 37- carbon steel, shafts, 38- guide roller, 39- fixing piece；
41- controls clamp motor supporting element, and 42- controls clamp motor, 43- winder, and 44- controls clamp wire, 45-
Sleeve support；
51- casing, 52- non-individual body supporting element, 53- non-individual body joint, 54- NiTi pipe, 55- clamp fixing piece, 56- clamp
Fixing axle, 57- clamp.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, ear nose basis cranii micro-wound operation robot includes: straight-line motion mechanism 1, rotating mechanism 2, deflection control
Mechanism 3, clamp control mechanism 4, continuous body mechanism 5.
When carrying out ear nose basis cranii Minimally Invasive Surgery, straight-line motion mechanism 1 provides the movement that moves forward and backward of robot, whirler
Structure 2 can be such that deflection control mechanism 3, clamp control mechanism 4 and continuous body mechanism 5 rotates integrally, and deflection control mechanism 3 can make
Continuous body mechanism 5 deflects, and clamp control mechanism 4 can control the unlatching and closure of clamp 57.
As shown in Fig. 2, the mechanical structure portion of straight-line motion mechanism 1 includes: to control linear motion motor 11, flange 12,
Shaft coupling 13, straight line mould group 14, dust excluding plate 15, slide unit 16, pedestal 17.Wherein: control linear motion motor 11 passes through flange 12
Fixed with straight line mould group 14, control linear motion motor 11 is fixed by shaft coupling 13 and the screw rod rotary shaft of straight line mould group 14,
The effect of dust excluding plate 15 is to prevent dust from entering straight line mould group 14, and the screw rod of straight line mould group 14 connects slide unit 16, and pedestal 17 is fixed
On slide unit 16.
As shown in figure 3, the mechanical mechanism structure of rotating mechanism 2 includes: control rotating motor support part 21, electric rotating is controlled
Machine fixing piece 22 controls rotating electric machine 23, bearing 24, flange coupling 25.Wherein: rotating motor support part 21 is fixed on pedestal
On 17, control rotating electric machine fixing piece 22 will control rotating electric machine 23 and be fixed on control rotating motor support part 21, bearing 24
Setting is on control rotating motor support part 21, and the axis of control rotating electric machine 23 is connected with flange coupling 25, flange coupling
25 one end are arranged in bearing 24.
As shown in figure 4, non-individual body deflection and clamp control module include deflection control mechanism 3 and 4 liang of clamp control mechanism
Part, wherein deflection control mechanism 3 includes: connector 31, and bottom plate 32 controls deflection motor supporting element 33, controls deflection motor
34, winder 35, control deflection wire 36, carbon steel, shafts 37, guide roller 38, fixing piece 39；The machinery of clamp control mechanism 4
Mechanism structure includes: control clamp motor supporting element 41, controls clamp motor 42, and winder 43 controls clamp wire 44, set
Pipe supporting element 45.Wherein: connector 31 and flange coupling 25 are fixed, connector 31, control deflection motor supporting element 33, control
Clamp motor supporting element 41, fixing piece 39 and sleeve support 45 are fixed on bottom plate 32；Control deflection motor 34 is fixed on control
On deflection motor supporting element 33 processed, it is connected with winder 35；Control clamp motor 42 is fixed on control clamp motor supporting element
On 41, it is connected with winder 43；Carbon steel, shafts 37 are fixed on fixing piece 39, and guide roller 38 is arranged in carbon steel, shafts 37, are led
The effect of way roller 38 is guided to the direction of control deflection wire 36 and control clamp wire 44；Casing 51 is fixed
On sleeve support 45；Winder 35 is fixed on and winding direction on the contrary, around leading in two control deflection 36 one end of wire
Way roller 38 passes through casing 51 and non-individual body joint 53, and the other end is fixed on clamp fixing piece 55, is controlled by computer inclined
The drive winder 35 of rotating motor 34 rotates and reverse the deflection back and forth for realizing continuous body mechanism 5；Two control clamp wires
Winder 43 is fixed on and winding direction on the contrary, around guide roller 38 in 44 one end, passes through casing 51, non-individual body joint 53 and nickel
Titanium tube 54, the other end are fixed on clamp fixing piece 55, and the effect of NiTi pipe 54 is to improve rigidity and the offer of continuous body mechanism 5
The channel for controlling clamp wire 44 controls clamp motor 42 by computer and the realization that rotates and reverse of winder 43 is driven to press from both sides
The unlatching and closure of pincers 57.It should be noted that the quantity of control clamp wire can be multiple, control deflection wire
Quantity may be it is multiple, in the present embodiment, control clamp wire quantity can be two, control deflection wire number
Amount is 2.The present embodiment does not limit the quantity of control clamp wire and control deflection wire, and those skilled in the art can
To increase or reduce the quantity of control clamp wire and control deflection wire according to the actual situation.
As shown in figure 5, the mechanical mechanism structure of continuous body mechanism 5 includes: casing 51, non-individual body supporting element 52, non-individual body
Joint 53, clamp fixing piece 55, clamp fixing axle 56, clamp 57.Non-individual body supporting element 52 is fixed on casing 51,20 4 millis
The non-individual body joint 53 of rice diameter is successively set on non-individual body supporting element 52.It should be noted that the quantity in non-individual body joint
When being multiple, non-individual body joint is sequentially connected in series, for completing the deflection of continuous body mechanism.The present embodiment does not limit non-individual body joint
Quantity, those skilled in the art can increase according to the actual situation or reduce the quantity in non-individual body joint.
Ear nose basis cranii micro-wound operation robot provided by the invention, be used for ear nose basis cranii Minimally Invasive Surgery, have it is smaller,
Bigger, the easy to operate advantage of bending angle, the accessible range of bending angle and end can satisfy entire ear nose basis cranii
The surgical procedure of narrow space meets clinical operation needs, and operation accuracy is high, reproducible, can shorten the culture of doctor
Period reduces operation risk.
The present embodiment course of work:
1. making control linear motion motor 11 that screw rod in straight line mould group 14 be driven to rotate by computer first, make slide unit 16
Rotating mechanism 2, deflection control mechanism 3, clamp control mechanism 4 and whole advance of continuous body mechanism 5 is driven to reach operation specific bit
It sets；
2. control rotating mechanism 2 rotates integrally deflection control mechanism 3, clamp control mechanism 4 and continuous body mechanism 5, make
Continuous body mechanism 5 deflects into specified angle；
Drive rotating and reverse for winder 35 that two controls is made to deflect steel wire 3. controlling deflection motor 34 by computer
The length of line 36 changes, to realize the bending of deflection back and forth of continuous body mechanism 5；
4. repeating step 1, step 2 and step 3, so that continuous body mechanism 5 enters ear nose basis cranii by natural cavity, perform the operation
It needs to repeat step 1 in operating process and step 2 adjusts posture and position of the continuous body mechanism 5 in ear nose basis cranii；
After 5 steps 4 are finished, clamp motor 42 controlled by computer, rotating and reverse for winder 43 is driven to make two
The length of root control clamp wire 44 changes, to realize the unlatching and closure of clamp 57；
6. after clamp acts, repeating step 5 and then completing the removal of pathological tissues in ear nose basis cranii.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (9)
1. a kind of ear nose basis cranii micro-wound operation robot characterized by comprising straight-line motion mechanism, rotating mechanism, deflection control
Mechanism processed, clamp control mechanism, continuous body mechanism；Wherein, one end of the continuous body mechanism is provided with clamp, for carrying out ear
Nose basis cranii Minimally Invasive Surgery, the other end of the continuous body mechanism are fixedly connected with the clamp control mechanism；The clamp control
Mechanism is fixedly connected with the pedestal of the deflection control mechanism, is provided in the clamp control mechanism and is connect with the clamp
Clamp wire is controlled, for controlling the closure or openness of the clamp；The deflection control mechanism and the deflection control machine
The bottom plate of structure is fixedly connected, and the deflection control mechanism is provided with the control deflection wire connecting with clamp fixing piece, is used for
It controls the continuous body mechanism and executes deflection action back and forth；The rotating mechanism is driven described inclined by the flange and shaft coupling
Turn control mechanism, clamp control mechanism, continuous body mechanism to rotate integrally, the continuous body mechanism is made to deflect into predetermined angle；Institute
It states straight-line motion mechanism and is fixedly connected by slide unit and pedestal with the rotating mechanism, drive the rotating mechanism, deflection control
Mechanism, clamp control mechanism, continuous body mechanism integrally move forward or back, so that the continuous body mechanism reaches predeterminated position.
2. ear nose basis cranii micro-wound operation robot according to claim 1, which is characterized in that the straight-line motion mechanism,
It include: control linear motion motor, flange, shaft coupling, straight line mould group, dust excluding plate, slide unit, pedestal；Wherein, the control straight line
Motion motor is fixedly connected by the flange with the straight line mould group；One end of the screw rod of the straight line mould group and the slide unit
It is fixedly connected, the other end is connect by the shaft coupling with control linear motion motor；The pedestal and the fixed company of the slide unit
It connects, for installing the rotating mechanism；The dust excluding plate is fixedly connected with the straight line mould group, for preventing described in dust entrance
Straight line mould group；When the control linear motion motor rotation, the screw rod of the straight line mould group is driven to rotate, so that the slide unit,
Pedestal executes forward or backward action.
3. ear nose basis cranii micro-wound operation robot according to claim 1, which is characterized in that the rotating mechanism, comprising:
Control rotating motor support part, control rotating electric machine fixing piece, control rotating electric machine, bearing, flange coupling；Wherein, described
Rotating motor support part is fixedly connected with the parts moving linearly；The control rotating electric machine passes through the control rotating electric machine
Fixing piece is fixedly connected with the control rotating motor support part；The outer ring of the bearing and the control rotating motor support part
It is fixedly connected, the inner ring of the bearing is connect with axis, the flange coupling of the control rotating electric machine；The flange coupling one
End is arranged in the bearing.
4. ear nose basis cranii micro-wound operation robot according to claim 1, which is characterized in that the deflection control mechanism packet
Include: connector, bottom plate, control deflection motor supporting element, control deflection motor, winder, control deflection wire, carbon steel, shafts,
Guide roller, fixing piece；Wherein, one end of the connector is fixedly connected with the flange coupling of the rotating mechanism, another
End is fixedly connected with the bottom plate；The control deflection motor is fixed by the control deflection motor supporting element with the bottom plate
The rotary shaft of connection, the control deflection motor is connect with the winder；The guide roller passes through the carbon steel, shafts, fixation
Part is fixedly connected with the bottom plate, for guiding the direction of control deflection wire；It is described control deflection wire one end around
The guide roller is crossed to be fixedly connected with the winder.
5. ear nose basis cranii micro-wound operation robot according to claim 4, which is characterized in that the clamp control mechanism,
It include: control clamp motor supporting element, control clamp motor, winder, control clamp wire, sleeve support；Wherein, institute
Control clamp motor is stated to be fixedly connected by the control clamp motor supporting element with the pedestal of the deflection control mechanism, it is described
The rotary shaft of control clamp motor is connect with the winder；One end of the control clamp wire is around deflection control
The guide roller of mechanism is fixedly connected with the winder；The bottom of one section of described sleeve pipe supporting element and the deflection control mechanism
Seat is fixedly connected, and the other end is connect with the continuous body mechanism.
6. ear nose basis cranii micro-wound operation robot according to claim 1, which is characterized in that the control clamp wire
Quantity be it is multiple, it is described control deflection wire quantity be it is multiple.
7. ear nose basis cranii micro-wound operation robot according to claim 1 to 6, which is characterized in that described continuous
Body mechanism, comprising: casing, NiTi pipe, non-individual body supporting element, non-individual body joint, clamp fixing piece, clamp fixing axle, clamp；Its
In, the clamp is connect by the clamp fixing axle with one end of the clamp fixing piece；The clamp fixing piece it is another
End is connect with the non-individual body joint；The non-individual body joint is fixedly connected by the non-individual body supporting element with described sleeve pipe；
Wherein, the non-individual body joint is provided with several through-holes, and when number of openings is 2 or more, the through-hole is according to circumference
Direction is uniformly distributed, or according to circumferencial direction non-uniform Distribution；The NiTi pipe pass through described sleeve pipe, non-individual body supporting element,
The through-hole in non-individual body joint, for providing channel for the control clamp wire, control deflection wire.
8. ear nose basis cranii micro-wound operation robot according to claim 7, which is characterized in that the number in the non-individual body joint
When amount is multiple, the non-individual body joint is sequentially connected in series, for completing the deflection of the continuous body mechanism.
9. a kind of operating method of ear nose basis cranii micro-wound operation robot, which is characterized in that using any one of claim 1-8
The ear nose basis cranii micro-wound operation robot, which comprises
The straight-line motion mechanism drives the rotating mechanism, deflection control mechanism, clamp control mechanism, continuous body mechanism whole
Advance and reaches predeterminated position；
The rotating mechanism drives the deflection control mechanism, clamp control mechanism, continuous body mechanism to rotate integrally, and makes the company
Continuous body mechanism deflects into predetermined angle；
The deflection control mechanism deflects the length of wire by controlling the control, keeps the continuous body mechanism deflection curved
Song, to control posture and the position for entering ear nose basis cranii by natural cavity of the continuous body mechanism；
The clamp control mechanism opens the clamp of the continuous body mechanism by controlling the length for controlling clamp wire
It opens or is closed, to execute Minimally Invasive Surgery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811220895.4A CN109199591A (en) | 2018-10-19 | 2018-10-19 | Ear nose basis cranii micro-wound operation robot and its operating method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811220895.4A CN109199591A (en) | 2018-10-19 | 2018-10-19 | Ear nose basis cranii micro-wound operation robot and its operating method |
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| CN109199591A true CN109199591A (en) | 2019-01-15 |
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| CN201811220895.4A Pending CN109199591A (en) | 2018-10-19 | 2018-10-19 | Ear nose basis cranii micro-wound operation robot and its operating method |
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| CN110269684A (en) * | 2019-06-18 | 2019-09-24 | 上海交通大学 | A kind of flexible perform the operation terminal module and throat Minimally Invasive Surgery flexible robot |
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| CN114404044A (en) * | 2022-02-16 | 2022-04-29 | 上海交通大学 | Continuous body configuration minimally invasive surgery robot and working method thereof |
| CN114948229A (en) * | 2022-06-29 | 2022-08-30 | 山东大学 | Five-degree-of-freedom flexible operating arm of surgical robot |
| CN115089301A (en) * | 2022-06-21 | 2022-09-23 | 山东大学 | Composite continuum robot for resection of cranial fundus tumor and control method thereof |
| CN116098762A (en) * | 2023-02-06 | 2023-05-12 | 哈尔滨工业大学 | Inner ear injection-sampling actuator for otology operation robot |
| WO2023100177A1 (en) * | 2021-12-01 | 2023-06-08 | Tamar Robotics Ltd | Dual robotic endoscope configuration for tissue removal |
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