TR201706074A2 - Surgical Robot with Movable Arms - Google Patents

Abstract

The invention is a surgical robot with movable arms for use in surgeries, with devices to be used for operations such as cutting and sewing during surgery. movable arms (30) that are associated with the head (20), can be moved flexibly, having the ends of the surgical device (40) at the ends, the connection can be folded, the head (20) acting as a carrier, to which the movable arms (30) are connected, the micro-joint (31) The connection parts (33), which are connected to each other by placing the movable arms (30), the connection parts (33) forming the movable arms (30) and the micro-joints (31) that enable them to move in 3 axes in connection with each other, the micro-joints (31) It is characterized in that it comprises micromotors (32) located on the connection parts (33), which provide the necessary force to move the connection parts (33).

Description

DESCRIPTION SURGICAL ROBOT WITH MOVING ARM Technological Field: This invention is intended for use in endoscopic and laparoscopic surgeries. Four arms and different surgical devices attached to the ends of the arms It has movable arms that save time with its ends and perform the surgery. State of the Art: Today, most of the surgeries are performed by surgeons using surgical instruments. performed by the procedure. Surgeons, although surgical technique and disease access difficulties of laparoscopic surgery, limitations caused by the structure of the devices and a certain There is tolerance. This tolerance cannot go beyond a certain precision. Because human hand It has the disadvantage of limited sensitivity and tremor. For these reasons some Surgical robots have been developed for sensitive surgeries.

Laparoscopic surgical instruments used in the state of the art are multiaxial It is not suitable for its shape, lacks agility and is as flexible as a human hand. is not. Surgical robots in current use are more flexible and multi-axis working. with the ability to; the necessity for each arm to pass through a separate channel, serious It has significant disadvantages such as a cost and disposable arm. only narrower It has the ability to move within tolerances. This is also the case during surgery. The number of incisions and ports used causes surgeons to encounter difficulties. does not change, the duration becomes longer and there is no change in the pain. “To use the automated medical system and the automated medical system, there is a method. The automated medical system may include a robot support system. Robot support system may include a robot body. The robot support system is also attached to the robot body and operable to place an instrument in a selected position in a surgical procedure The selector may include a compatible articulated robot arm. The robot support system also includes a selector that allows the operator to move the selective compatible articulated robot arm a device that can be operated to transmit a motion signal to the appropriate articulated robot arm. may contain an activation community. The automated medical system also includes a camera monitoring system. and may include an automated monitoring system.” statements are included.

The mentioned invention is used to fuse the bones to each other with fractures, fractures and fractures of the spine. It is used in the treatment of bruises. It can drill holes in the spinal bones, with the camera It allows to follow the process closely. Surgical devices are also handed by the surgeon. used with the procedure. This includes problems in terms of precision and tolerance. “The tool arm assembly of a surgical robot is displaced in a support structure. three movable sets mounted on a base provided for detachable fixing Includes handle. The first tool arm is centrally mounted on the base and a second guide rail that slides into the third guide rail It has a first guide rail. The third guide rail is used to secure a surgical instrument. fixed to the base. The remaining two tool arms are each on opposite sides of the first tool arm. is placed. Each of the two tool arms can slide onto a second platform and a rotatably mounted first platform. second platform There is also another structure on it for mounting another surgical instrument on it. exists.” statements are included.

The mentioned invention, with the help of guide rails, can work as 3-axis, at the same time Surgical robot that enables the guide rails to rotate 360 degrees with its rotating platform. It is related to. It does not have flexible and bendable arms. Therefore, the sensitivity operation speed is low, tolerances are limited. “This surgical robot is mounted under a surgical table and up from the platform. multiple degrees of freedom that extend beyond the sides of the surgical table Equipped with a platform fitted with a medical instrument with a connecting rod Up to the far end stretches out.” Statements are included.

The mentioned invention is designed with simple two-armed joints, the mobility is quite high. He is an angry surgical robot. It is used by placing an operating bed on it. Classical Since it is designed with a robotic system, its sensitivity is quite limited. Forward-backward, right-left and moves up and down.

It will be appreciated that the known state of the art will be overcome, and the disadvantages will be overcome. There is a need for a new surgical robot suitable for today's technology. is heard.

Description of the Invention: The invention is a well-known technique used during endoscopic and laparoscopic surgeries. movable, which can be applied from a single hole, where the situation is overcome and the disadvantages are eliminated. It is a new surgical robot with four arms.

The aim of the invention is to meet challenging levels that a human's hand tolerance and sensitivity cannot reach. is to enable a new surgical robot used in surgical types.

Another object of the invention is to develop a new surgical robot with high mobility. is to provide opportunities.

Another purpose of the invention; tissue retention, pulling, retraction, cutting, and suturing. It enables a new surgical robot where operations can be performed on the same system. is to provide.

Another object of the invention is to easily integrate different surgical devices and tips. It is to enable a new surgical robot in which it can be performed.

Another object of the invention is that the interconnected connecting parts move freely, Robot with high flexibility of movement, allowing it to curl in the shape of a snake. to enable a new surgical robot with arms. This flexibility is will provide a wide working area, as well as SILS (Single Incision Laparoscopic Surgery) rubbing of devices encountered in applications (“Sword Playing”) and it will eliminate the hassle of turning off the camera view (“Visual Interference”).

Another object of the invention is high resolution and flexible multiplanar motion capability. It is to enable a new surgical robot that can transmit images with a camera.

Explanation of Figures: The invention will be described with reference to the accompanying figures so that the features of the invention will be understood more clearly. However, the purpose of this is to limit the invention to these specific regulations. is not. On the contrary, it is included within the scope of the invention as defined by the appended claims. It is also aimed to cover all possible alternatives, changes and equivalences.

The details shown are merely illustrative of preferred embodiments of the present invention. and the rules of both the formulation of the methods and the invention to provide the most useful and easy-to-understand definition of presented must be understood. In these drawings; Figure - 1 is a side montage view of the invention.

Figure - 2 The title in the invention is a side view.

Figure - 3 is the side view of the protective sheath in the invention.

Figure- 4 is the detail perspective view of the device tips in the invention.

Figure-5 is the perspective view of the movable arm in the invention.

Figure~6 Assembly perspective of the four movable arms of the invention is the view.

Figure 7 is the perspective montage view of the invention.

Figure - 8 is a different detail view of the device tips in the invention.

Figures to assist in understanding this invention are as indicated in the attached picture. are numbered and given below with their names.

Description of the Invention: The invention basically consists of movable joints (14), interconnected, chassis (10), It consists of device ends (40) and camera (43) attached to the parts.

In the invention, there is also a base that enables the invention to be positioned on the floor in the lower part of the chassis (10). (11), the protective cover (21) positioned on the outer surface of the movable arms (30), the movable micro joints (31) forming the arm (30), connecting parts (33), movable arms (30) micro motor (32) providing the movement of the device, swivel joint (41), device ends (40) and mounting the camera (43) on the movable arms (30). There is a mounting piece (42) that provides it. (Figure-3, Figure - 5, Figure - 7, Figure- 8) Detailed Description of the Invention: Invention, for use in surgery, cutting and sewing the ends during surgery There are four moving pieces to which the device ends (40) to be used for operations such as It is a surgical robot with an arm (30).

The invention is attached to the chassis (10) on a base (11) that enables positioning on the floor. curved arm (12) connected by joint (14), upper arm connected by joint (14) to curved arm (12) (13), head (20) attached to upper arm (13) by joint (14) and head mounted, end from the movable arms attached to the surgical device ends (40) and camera (43) (30) occurs. The joints (14) used in the invention are associated with each other. It allows the elements to move.

The hood (20), movable arms (30) and protective cover (21) in the invention are associated. acts as a carrier. The protective cover (21) is located on the outside of the four movable arms (30). It acts as a protection on the surface. Inside the cap (20) during surgery by positioning, the movable arms (30) can move freely independently of each other. enables it to do so.

The movable arms (30) in the invention have the ability to move like a snake. This The feature is made up of a large number of connectors (33) with micro-joints (31) in between. provided by its formation. Required drive for the micro-joints (31) to work The force is powered by micromotors (32) attached to each of the connectors (33) is carried out. Fittings (33) triangle with rounded edges is in the form. Combined, they form the movable arm (30). In this way, four moving arms (30) come together to form a single circular cross-section arm and the protective sheath (21) can easily fit inside.

The device ends (40) in the invention are used to form the ends of the movable arms (30) with the help of mounting parts (42). attached to parts. Here, the device ends (40) mean cutting during surgery. and the tools used for sewing. In three of the four movable arms (30) device tips (40), one of which displays the surgery, more The camera 43, which provides close access, is associated. Device tips (40) and the cameras (43) are attached to the mounts (42) 360 degrees around their center axes. They are associated with rotating joints (41) that allow them to rotate. In this way mobility is improved.

Micro motor (32), joints (14) and micro joints (31) in the invention are integrated into the whole system. controlled by a computer. With a software in the computer controlled micro motor (32), micro joint (31) and other joints (14) It provides close mobility. At the same time, the movable arms (30) tremble and allow them to move within very low tolerances, without any irregularities such as stretching. it also provides.

Therefore, the invention is to be used in surgery, cutting the ends during surgery. and has movable arms with devices to be used for operations such as sewing. It is a surgical robot and its feature is; Surgical device at the ends, associated with the cap (20) flexible movable, connection bendable movable arms (30), the head to which the movable arms (30) are associated, acting as a carrier (20), which are associated with each other by placing a micro joint (31) between them and these Thus, the connecting parts (33) forming the movable arms (30), the movable arms (30) the connection of the connecting parts (33) forming the micro-joints (31), which enable them to fasteners, which provide the necessary force to move the parts (33) (33) is characterized by containing micro motors (32) on it.

Claims (7)

REQUESTS 1- The invention is a surgical robot with movable arms to be used in surgeries, on the ends of which there are devices to be used for operations such as cutting and sewing during surgery. movable arms (30) associated with the head (20), having surgical device ends (40) at their ends, movable flexibly, the connection can be bent, the cap (20) to which the movable arms (30) are associated, acting as a carrier, micro joint (31) Connection parts (33) that are placed and associated with each other and thus forming the movable arms (30), micro-joints (33) that enable the connection of the connection parts (33) forming the movable arms (30) and 3-axis movement in connection, micro-joints (31) It is characterized by the fact that it contains micro motors (32) located on the connection parts (33), which provide the necessary force to move the connection parts (33). 2- It is the title (20) mentioned in claim 1, and its feature is; it contains a protective sheath (21) that acts as a protection by positioning on the outer surface of the movable arms (30). 3- It is a surgical robot with movable arms mentioned in claim 1, and its feature is; the device ends (40) and the camera (43) include a mounting piece (42) that associates it with the movable arms (30). 4- It is a surgical robot with movable arms mentioned in claim 1, and its feature is; it includes the device ends (40) and the rotating joint (41) that allows the camera (43) to move 360 degrees, located on the mounting piece (42) that connects the device ends (40) and the camera (43) to the movable arms (30). 5- It is the movable arms (30) mentioned in the claim, and its feature is; It contains connection pieces (33) that are associated with each other with micro joints (31). 6- It is the movable arms (30) mentioned in claim 1, and its feature is; It contains micro joints (31) located between each connection piece (33) that establish a relationship between the connection parts (33) and allow the connection parts (33) to move independently of each other. 7- It is the movable arms (30) mentioned in claim, and its feature is; It contains micro motors (32) located on each connecting piece (33), providing the necessary force for the micro joints (31) to work.