Title:
MINIMALLY INVASIVE SURGICAL ROBOT AND DISTAL END HOLDER THEREOF
Document Type and Number:
WIPO Patent Application WO/2022/052322
Kind Code:
A9
Abstract:
A minimally invasive surgical robot and a distal end holder thereof. The distal end holder comprises a first clamp (1) and a second clamp (2) pivotally connected with each other. The first clamp (1) and the second clamp (2) are each provided with a detecting section (3). The detecting sections (3) comprise flexible pads (31) having at least one contact (32) and flexible arms (33) opposite the at least one contact (32). All of the flexible arms (33) are provided with force detecting elements. When the first clamp (1) and the second clamp (2) clamp a foreign object, the flexible pads (31) undergo a flexible distension due to being squeezed by the foreign object, so that the flexible pads (31) drive the contact (32) to squeeze the flexible arms (33) and that the flexible arms (33) undergo a flexible distension, thus decoupling three-dimensional force information on the basis of signals fed back by all of the force detecting elements, and increasing the sensitivity of force sensing. The increase in the sensitivity of force sensing favors accurate force sensing to be acquired, facilitates an increase in the precision of actions of the distal end holder, reduces the risks of inadvertent operations, and increases the safety of a surgery.
Inventors:
LIU HUICONG (CN)
HOU CHENG (CN)
SUN LINING (CN)
CHEN TAO (CN)
HOU CHENG (CN)
SUN LINING (CN)
CHEN TAO (CN)
Application Number:
PCT/CN2020/131358
Publication Date:
November 24, 2022
Filing Date:
November 25, 2020
Export Citation:
Assignee:
UNIV SOOCHOW (CN)
International Classes:
A61B34/30; A61B17/28; A61B17/29; B25J19/00
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
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