HAEMOSTATIC CUTTING TOOL WITH MULTIPLE DEGREES OF FREEDOM FOR SURGICAL ROBOTS AND ENDOSCOPIC OPERATIONS

摘要

A haemostatic cutting tool with multiple degrees of freedom for surgical robots and endoscopic operations includes a tool box (12), a tool rod (11), a wrist part (9) and a tool head (15). One end of the tool rod (11) is rotatablely connected with the front end of the tool box (12), and the other end is fixedly connected with a support (10). One end of the wrist part (9) is rotatablely mounted on the support (10), and the other end is rotatablely connected with the back end of the tool head (15). The front end of the tool head (15) is provided with at least two operating needles (1, 2, 3, 4). The rotational axis of the wrist part (9) on the support (10) is perpendicular to the rotational axis of the tool head (15) on the wrist part (9). The tool can automatically perform haemostatic cuttings by combining operation experiences of a surgeon with the autocontrol capability of a robot.