An instrument nurse assistance robot with rotating storage mechanism and compound end executor

The instrument nurse assistance robot is an important part of intelligent surgical operating system, which helps to reduce the work of instrument nurse and improve the surgery efficiency. In this paper, an instrument nurse assistance robot is proposed, which mainly consists of a mechanical arm, a surgical instrument rotating-storage device, a sterilization cleaning device and a moving plat. The storage device has three kinds of space sizes, which can adapt to different surgical instruments, including scissors, tweezers and scalpels. A novel compound end executor for the mechanical arm is designed which has a crossover structure and combines the pump sucker mechanism and electromagnetic adsorption module together. The stiffness of the robot key parts is simulated using ANSYS software, while the motion characteristics of the key joints are simalated and analyzed through ADMS. The designed robot has good flexiblity, convenience and safety, showing great application potentials for medical cooperative robot system.