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1. CN111603243 - Minimally invasive surgical robot operating tool

Office
China
Application Number 202010608318.3
Application Date 30.06.2020
Publication Number 111603243
Publication Date 01.09.2020
Grant Number 111603243
Grant Date 16.11.2021
Publication Kind B
IPC
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 17/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
CPC
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/70
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
70Manipulators specially adapted for use in surgery
A61B 17/00234
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00234for minimally invasive surgery
A61B 2034/305
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
305Details of wrist mechanisms at distal ends of robotic arms
Applicants TIANJIN UNIVERSITY
天津大学
Inventors WANG SHUXIN
王树新
HU ZHENXUAN
胡振璇
LI JINHUA
李进华
LI JIANMIN
李建民
Agents 中科专利商标代理有限责任公司 11021
Title
(EN) Minimally invasive surgical robot operating tool
(ZH) 微创手术机器人操作工具
Abstract
(EN) The invention provides a minimally invasive surgery robot operating tool. The minimally invasive surgery robot operating tool comprises an end effector, an active elastic joint, a joint mechanism, a passive elastic joint and a driving assembly. The end effector is connected with the anti-torque flexible shaft; the first end of the joint mechanism is connected with the end effector and the active elastic joint at the same time, and the active elastic joint is located between the joint mechanism and the end effector. The first end of the passive elastic joint is connected with the second end ofthe joint mechanism, and the second end of the passive elastic joint is connected with the first end of the flexible multi-cavity tube; a driving assembly is connected with the second end of a flexible multi-cavity tube; the driving assembly drives the end effector to perform opening, closing and rotary motion through the anti-torque flexible shaft; and the driving assembly drives the driving elastic joint to perform bending motion. The minimally invasive surgery robot operation tool is variable in rigidity and freedom degree, convenient to adjust, capable of meeting different surgery operation requirements and wide in application range.
(ZH) 本公开提供了一种微创手术机器人操作工具,包括:末端执行器、主动弹性关节、关节机构、被动弹性关节和驱动组件;末端执行器与抗扭柔性轴相连;关节机构第一端同时与所述末端执行器和主动弹性关节相连,且所述主动弹性关节位于所述关节机构和所述末端执行器间;被动弹性关节第一端与所述关节机构第二端相连,所述被动弹性关节第二端与柔性多腔管第一端相连;驱动组件与所述柔性多腔管第二端相连;所述驱动组件通过抗扭柔性轴驱动末端执行器进行开合、回转运动;所述驱动组件驱动主动弹性关节进行弯曲运动。本公开中提供的微创手术机器人操作工具刚度、自由度均可变,调整方便,能够满足不同手术操作需求,适用范围广泛。
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