CN109431601A - A kind of endoscopic surgery robot combined system and its application method - Google Patents
A kind of endoscopic surgery robot combined system and its application method Download PDFInfo
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- CN109431601A CN109431601A CN201811174831.5A CN201811174831A CN109431601A CN 109431601 A CN109431601 A CN 109431601A CN 201811174831 A CN201811174831 A CN 201811174831A CN 109431601 A CN109431601 A CN 109431601A
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- 238000002674 endoscopic surgery Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 34
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- 230000003287 optical effect Effects 0.000 claims description 24
- 238000012545 processing Methods 0.000 claims description 24
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 210000003708 urethra Anatomy 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000013307 optical fiber Substances 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 2
- 230000002485 urinary effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 208000027418 Wounds and injury Diseases 0.000 abstract description 4
- 206010052428 Wound Diseases 0.000 abstract description 3
- 238000001356 surgical procedure Methods 0.000 description 15
- 238000003384 imaging method Methods 0.000 description 11
- 210000003932 urinary bladder Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000004659 sterilization and disinfection Methods 0.000 description 8
- 238000005286 illumination Methods 0.000 description 5
- 238000002955 isolation Methods 0.000 description 5
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- 230000037005 anaesthesia Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
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- 238000002357 laparoscopic surgery Methods 0.000 description 3
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- 238000013461 design Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 210000002307 prostate Anatomy 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 206010007027 Calculus urinary Diseases 0.000 description 1
- 208000000014 Ureteral Calculi Diseases 0.000 description 1
- 208000007097 Urinary Bladder Neoplasms Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000002504 lithotomy Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 238000002627 tracheal intubation Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
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Abstract
The invention discloses a kind of endoscopic surgery robot combined system and its application method, which includes master control trolley, equipment trolley, at least an operation trolley and endoscope casing tube external member.Combined system of the invention substitutes traditional endoscope hand-operated tools using the flexible operation tool of robot control, there are better attainability and setting accuracy, it alleviates the operating difficulties of conventional endoscope operation and improves surgical effect, be applicable to various transurethral endoscope micro-wounds.
Description
Technical field
The invention belongs to medical instruments fields, are related to a kind of endoscopic surgery robot combined system and its application method,
Specifically a kind of endoscopic surgery robot combined system and its application method for per urethra endoscopic surgery.
Background technique
Minimally Invasive Surgery occupies consequence because its wound is small, post-operative recovery is fast in surgical operation.It is existing
Da Vinci (Leonardo da Vinci) operating robot of Intuitive Surgical company (intuition surgery company, the U.S.) assists doctor
Porous laparoscopic minimally invasive surgery is completed, commercial immense success is achieved.
Invasive surgery formula develops single-hole laparoscopic surgery and through the noninvasive of natural cavity again after porous laparoscopic surgery
Operation, their smaller to patient trauma, postoperative outputs are higher.But in the non-invasive procedures through natural cavity, including visual illumination
All surgical instruments including module and surgical procedure arm pass through single channel and reach art portion, this wants the preparation of surgical instrument
Ask extremely harsh.
Per urethra Minimally Invasive Surgery is a kind of modus operandi for quickly growing and growing up in the past 20 years, which can be through
Urethra utilizes the disease at the positions such as endoscope treatment prostate, urethra, bladder and ureter, such as resection of prostate, bladder to swell
Tumor cutting, calculus of lower urinary tract rubble etc., some art formulas also become conventional treatments.However since urethra diameter is usually less than
8mm, there is no company to develop in world wide at present can transurethral operating robot.For example, in bladder videoendoscopic surgery, doctor
The surgical instrument for needing to operate elongated rod shape passes through urethra across long and narrow cystoscope casing and carries out the behaviour such as cutting fulguration in bladder
Make, the accuracy of surgical procedure, the end flexibility of instrument and attainability to very big all by influencing.This leads to current
The recurrence rate of cystoscope tumorectomy is higher, and therapeutic effect is unsatisfactory.
Current operating robot, the existing operating robot of major part including such as da Vinci is because of its rigidity knot
Structure, the reasons such as apparent size and freedom degree configuration, is difficult to meet the technical requirements performed the operation through human body natural's cavity, particularly with
The urological surgery that per urethra is put to good use.
Summary of the invention
The invention solves be exactly current traditional manual endoscopic surgery in operation tool flexibility ratio, attainability and deficiency
The phenomenon that optimize per urethra endoscope urological surgery effect and output.Meanwhile per urethra is carried out using operating robot
The operating burden that endoscopic surgery can mitigate operative doctor increases the operation precision of operation.
To solve the above-mentioned problems, the present invention provides a kind of endoscopic surgery robot combined system, the system is main
It is integrated with including operating robot, endoscope, flexible operation tool, auxiliary surgical apparatus, trolley, image processing equipment, electronics
The multiple devices such as control device, by replacing traditional manual tool and reasonable space cloth with flexible robot's operation tool
It sets, to realize the stability of operation, reaching property and ensure positional accuracy and precision, reduces operation risk.
Therefore, in the first aspect, it is (hereinafter, sometimes simple to provide a kind of endoscopic surgery robot combined system
Claim " system of the invention "), which includes master control trolley, equipment trolley, at least an operation trolley and endoscope set
Pipe sleeve part, wherein
The master control trolley includes controlling equipment, the first display and industrial personal computer, wherein setting reception mould in the industrial personal computer
Block and signal conversion module；
The equipment trolley includes cabinet, second display, endoscope module equipment, cable, auxiliary surgical apparatus, line concentration
Device and image processing apparatus, wherein the endoscope module equipment, auxiliary surgical apparatus, hub (hub) and image procossing dress
It sets and is mounted in the cabinet, the display is fixed on the cabinet；The cable includes operating table fare cable and principal and subordinate
Connection cables；The master control trolley is connect with the equipment trolley by the principal and subordinate link cable, and every operation trolley with
The equipment trolley is connected by the operating table fare cable；
The operation trolley includes trolley chassis, positioning mechanical arm, linear mould group, driving mould group, flexible operation tool, set
Pipe isolating device and tool isolating device；The linear mould group is mounted on the positioning mechanical arm, and the driving mould group is set
Being set to can be moved forward and backward in the linear mould group along the longitudinal axis of the linear mould group；The flexible operation kit includes driving
Gear unit and flexible Continuum Structure, the flexibility Continuum Structure includes the distal structure set gradually from distal end to proximal end
Body, middle connection body and near structure body, equipped with operation tool head or endoscope in the far structure body, wherein a hand
Equipped with endoscope on the flexible operation tool of art trolley, equipped with operation tool on the flexible operation tool of other operation trolleys
Head；The distal end of the driving mould group is connected with the driving gear unit of the flexible operation tool and controls described flexible continuous
The movement of body structure；And
Described sleeve pipe isolating device is mounted on the far-end of the linear mould group, and described sleeve pipe isolating device is equipped with and leads to
Hole enables the flexible operation tool to pass through the through-hole；The tool isolating device is mounted in the driving mould group.
The endoscope is equipped with image capture device.
In the second aspect, the assembly method of endoscopic surgery robot combined system of the invention, the side are provided
Method the following steps are included:
(1) the operation trolley is moved to the side of operating table；
(2) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and by the tool isolating device
It is mounted in the driving mould group；
(3) the casing off device of the channel adapter and the operation trolley for carrying endoscope is detachably connected；
(4) by the trolley chassis locking of the operation trolley of carrying endoscope described in step (3), the operation trolley is adjusted
The posture of positioning mechanical arm the through-hole of described sleeve pipe isolating device and the cavity of endoscope casing tube are axially aligned, will be described
Channel connector links together with the endoscope casing tube enables the endoscope to enter by one of channel connector
Mouth enters the endoscope casing tube；
(5) the trolley chassis locking that will carry the operation trolley of operation tool head, adjusts the localization machine of the operation trolley
The posture of tool arm makes the through-hole of the casing off device of the operation trolley and the channel adapter enter endoscope
Entrance other than entrance axially align；And
(6) the driving gear unit of flexible operation tool is mounted in the tool isolating device of each operation trolley, and
Make that the flexible operation tool sequentially passes through described sleeve pipe isolating device and the channel adapter is distally advanced until described
Expose the distal end of the endoscope casing tube in the top of operation tool head.
In the third aspect, the application method of system of the invention is provided, the described method comprises the following steps:
(1) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and by the tool isolating device
It is mounted in the driving mould group；
(2) the casing off device of the channel adapter and the operation trolley for carrying endoscope is detachably connected；
(3) by the trolley chassis locking of the operation trolley of carrying endoscope described in step (2), the operation trolley is adjusted
The posture of positioning mechanical arm the through-hole of described sleeve pipe isolating device and the cavity of endoscope casing tube are axially aligned, will be described
Channel connector links together with the endoscope casing tube enables the endoscope to enter by one of channel connector
Mouth enters the endoscope casing tube；
(4) the trolley chassis locking that will carry the operation trolley of operation tool head, adjusts the localization machine of the operation trolley
The posture of tool arm makes the through-hole of the casing off device of the operation trolley and the channel adapter enter endoscope
Entrance other than entrance axially align；And
(5) the driving gear unit of the flexible operation tool is mounted on to the tool isolating device of each operation trolley
On, and make the flexible operation tool sequentially pass through described sleeve pipe isolating device and the channel adapter be distally advanced until
Expose the distal end of the endoscope casing tube in the top of the operation tool head；
(6) open and be arranged master control trolley and equipment trolley；
(7) endoscope is pushed into endoscope casing tube by operator by an operation trolley；
(8) the flexible operation tool of operation tool head will be carried under the guidance of endoscope via other operation trolley push
To the fully extended endoscope casing tube of the operation tool head；
(9) utilize the image capture device of carrying endoscope performed the operation on trolley by the real-time three-dimensional image signal of acquisition
It is transferred to equipment trolley and by being transmitted separately to after the image processing apparatus processing on the equipment trolley and being shown in described the
One and the second display on；
(10) operator according to real-time stereo images shown on first display operate the controlling equipment from
And it generates control signal and the control signal is sent to the receiving module of the industrial personal computer of the master control trolley；And
(11) receiving module sends control signals to the signal conversion module, and the signal conversion module will be controlled
Signal processed is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information,
The driving mould group being sent to again by the hub on operation trolley；The driving mould group according to drive volume parameter information push and
Flexible Continuum Structure movement is controlled to drive operation tool head to move.
In the fourth aspect, a kind of method for executing per urethra endoscopic surgery using system of the invention, institute are provided
State method the following steps are included:
(1) anesthesia, disinfection urethral orifice are implemented to patient；
(2) endoscope casing tube is per urethram inserted into bladder；
(3) endoscopic surgery robot combined system of the invention is assembled according to above-mentioned assembly method；
(4) endoscope is pushed into endoscope casing tube by operator by an operation trolley；
(5) the flexible operation tool of operation tool head will be carried under the guidance of endoscope via other operation trolley push
To the fully extended endoscope casing tube of the operation tool head；
(6) utilize the image capture device of carrying endoscope performed the operation on trolley by the real-time three-dimensional image signal of acquisition
It is transferred to equipment trolley and by being transmitted separately to after the image processing apparatus processing on the equipment trolley and being shown in described the
One and the second display on；
(7) operator according to art real-time stereo images shown on first display operate the controlling equipment from
And it generates control signal and the control signal is sent to the receiving module of the industrial personal computer of the master control trolley；And
(8) receiving module sends control signals to the signal conversion module, and the signal conversion module will be controlled
Signal processed is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information,
The driving mould group being sent to again by the hub on operation trolley；The driving mould group according to drive volume parameter information push and
Flexible Continuum Structure movement is controlled to drive the movement of operation tool head to complete corresponding surgical action.
Beneficial effects of the present invention are as follows:
1, system of the invention substitutes traditional endoscope hand-operated tools using the flexible operation tool of robot control, has
Better attainability and setting accuracy alleviate the operating difficulties of conventional endoscope operation and improve surgical effect, for example, swollen
Tumor cuts off effect.
2, system of the invention uses the design of positioning mechanical arm, since positioning mechanical arm is fixed in art
, thus completely eliminate positioning mechanical arm collide with each other outside the patient's body cause patient damage and medical staff's injury wind
Danger.
3, system of the invention is applicable to various transurethral endoscope micro-wounds, for example, tumor of bladder cutting, wing
Guang calculus rubble, ureteral calculi rubble etc..
Detailed description of the invention
Fig. 1 is the composition and arrangement schematic diagram of an embodiment of system of the invention.
Fig. 2 is the side schematic view of the master control trolley in the system of Fig. 1.
Fig. 3 is the front schematic view of the equipment trolley in the system of Fig. 1.
Fig. 4 is the side schematic view of the equipment trolley of Fig. 3.
Fig. 5 is the structural schematic diagram of the operation trolley in the system of Fig. 1.
Fig. 6 is the detailed construction schematic diagram of the flexible operation tool in Fig. 5.
Fig. 7 is that the flexible operation tool of three operation trolleys in the system of Fig. 1 is connect with channel adapter, endoscope casing tube
Schematic diagram.
Fig. 8 is the schematic diagram of patient body position and endoscope casing tube intubation in embodiment 1.
The preferred embodiments of the invention are described with reference to the accompanying drawing, it will be understood by those skilled in the art that be below with reference to
Embodiment described in attached drawing or embodiment, which are merely to illustrate, realizes preferred forms of the invention, rather than by model of the invention
It encloses and is limited to these embodiments.The present invention can make various modifications and variations on the basis of following embodiments.These change
It is included within the scope of the present invention into variation.It is similar attached between each embodiment shown in the drawings of the invention
Icon note instruction similar component.
Specific embodiment
Definition
Distal side or distal end: in the present specification, when referring to " distal side or distal end ", which refers to relatively close patient's hand
The side at art position or the one end for being relatively distant from operation trolley.
Nearside or proximal end: in the present specification, when referring to " nearside or proximal end ", which, which refers to, is relatively distant from patient's hand
The side at art position, one end of relatively close operation trolley.
Front and rear: in the present specification, as previously mentioned, relative direction is each meant when referring to " preceding " and " rear ", wherein advising
Before the side at fixed relatively close patients surgery position is, be relatively distant from patients surgery position side be after.
Endoscopic surgery robot combined system of the invention
System of the invention includes master control trolley, equipment trolley, at least an operation trolley and endoscope casing tube external member,
In
The master control trolley includes controlling equipment, the first display and industrial personal computer, wherein setting reception mould in the industrial personal computer
Block and signal conversion module；
The equipment trolley includes cabinet, second display, endoscope module equipment, cable, auxiliary surgical apparatus, line concentration
Device and image processing apparatus, wherein the endoscope module equipment, auxiliary surgical apparatus, hub and image processing apparatus installation
In the cabinet, the display is fixed on the cabinet；The cable includes operating table fare cable and principal and subordinate link line
Cable；The master control trolley is connect with the equipment trolley by the principal and subordinate link cable, and every operation trolley is set with described
Standby trolley is connected by the operating table fare cable；
The operation trolley includes trolley chassis, positioning mechanical arm, linear mould group, driving mould group, flexible operation tool, set
Pipe isolating device and tool isolating device；The linear mould group is mounted on the positioning mechanical arm, and the driving mould group is set
Being set to can be moved forward and backward in the linear mould group along the longitudinal axis of the linear mould group；The flexible operation kit includes driving
Gear unit and flexible Continuum Structure, the flexibility Continuum Structure includes the distal structure set gradually from distal end to proximal end
Body, middle connection body and near structure body, equipped with operation tool head or endoscope in the far structure body, wherein a hand
Equipped with endoscope on the flexible operation tool of art trolley, equipped with operation tool on the flexible operation tool of other operation trolleys
Head；The distal end of the driving mould group is connected with the driving gear unit of the flexible operation tool and controls described flexible continuous
The movement of body structure；And
Described sleeve pipe isolating device is mounted on the far-end of the linear mould group, and described sleeve pipe isolating device is equipped with and leads to
Hole enables the flexible operation tool to pass through the through-hole；The tool isolating device is mounted in the driving mould group.
In a preferred embodiment, the endoscope casing tube external member includes endoscope casing tube and channel adapter, institute
Endoscope casing tube is stated to link together with the channel adapter；The inside of the endoscope casing tube is equipped with one or more chambers
Road, the channel connector are internally provided at least one the channel adapter chamber being connected to the cavity of the endoscope casing tube
Road and each channel adapter cavity are provided at least one entrance in the proximal end of the channel adapter and are used to receive institute
State operation tool head or the endoscope；Image capture device is provided on the endoscope, described image processing unit is matched
It is set to reception and equipment acquired image signal is acquired by described image, handle described image signal and believe processed image
It number is transmitted separately to and is shown on described first and the second display；And
The controlling equipment is configured to receive the control signal of operator and the control signal is sent to industrial personal computer
Receiving module, the receiving module sends control signals to the signal conversion module, and the signal conversion module will be controlled
Signal processed is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information,
The driving mould group being sent to again by the hub on operation trolley；The driving mould group according to drive volume parameter information push and
Flexible Continuum Structure movement is controlled to drive operation tool head to move.
In the present invention, the function that master control trolley is realized is to provide remote control operation for operator (preferably operating doctor)
The platform of operating field image in flexible operation tool and observation art.Trolley of performing the operation is for controlling flexible operation tool in patient's body
Interior movement, while playing the role of support, positioning flexible operation tool.The effect of equipment trolley is to place endoscope module to set
The equipment such as standby, image processing apparatus and auxiliary surgical equipment (for example, electric knife generator), and master station is received by hub
The drive volume parameter information that vehicle issues, and the driving mould group on operating table vehicle is sent to push and control the fortune of flexible non-individual body
It is dynamic.
In a preferred embodiment, the controlling equipment is the distant behaviour's device of handle, is easily manipulated convenient for operator soft
Property operation tool, can use the distant behaviour's device of various handles commonly used in the art, it is unrestricted in the present invention.
In the present invention, the operation tool head carried on flexible operation tool may include normal in various endoscopic surgeries
Operation tool, for example, fulguration tool, coagulation tool, scissors tool etc..
In the present invention, the design of casing off device and tool isolating device is mainly based upon wanting for operation sterile working
Ask, function be the operation tool crossed as barrier for disinfection and isolation or endoscope with the driving mould group that can not be carried out disinfection and
Mechanical structures or the equipment such as linear mould group, so that it is guaranteed that field of operation is sterile.It will be understood by those skilled in the art that casing off
Device and tool isolating device can be realized using many modes, for example, can connect or install aseptic plastic clothing or cloth list
Device (for example, sterile barrier disclosed in another patent application publication number CN106377315A of the applicant, this application
Full content is by being incorporated herein), the plastic cloth or cloth list can cover and perform the operation on trolley all are isolated and not sterilize
Part, as long as its purpose that isolation sterile part and non-sterilization section may be implemented, the in the present invention realization of the device
Mode is unrestricted.
In a preferred embodiment, endoscope casing tube and channel adapter can be removably mounted on together.?
In another preferred embodiment, endoscope casing tube and channel adapter can be integral type.After having read this specification,
Those skilled in the art can determine the connection type of endoscope casing tube and channel adapter according to specific applicable cases.
In the present invention, principal and subordinate link cable can be a composite cable or more cables, and form is unrestricted,
Type includes but is not limited to: transmission of video cable, optical fiber, equipment are total to ground wire, control signal transmission cable.Operating table fare cable
It can be a composite cable or more cables, including but not limited to 24V power cable, equipment common ground, CAN communication line
Cable, emergency stop switch cable etc..In addition, system of the invention also needs some other common cable, for example, operation trolley also needs
The output cord of electric knife generator is connected, endoscope is connected with the video of equipment trolley and connects optical fiber etc..Can also include
Ac cable, for master control trolley and equipment trolley to be connected with hospital power supply.
In a preferred embodiment, system of the invention includes three operation trolleys, the operation equipped with endoscope
Trolley is located at centre, other two operation trolleys are placed on two sides.
As described above, driving mould group is moved forward and backward in linear mould group, flexible operation tool is under the control of driving mould group
Movement, therefore operation tool head or endoscope and flexible Continuum Structure can pass through sensing relative to the position of linear mould group
Device directly obtains, however the relative position of linear mould group in space cannot but directly obtain.Therefore, a preferred implementation side
In case, in order to obtain the three dimension location of the relative space position of linear mould group and then the flexible operation tool of understanding, the present invention
System can also include optical tracker and one or more optical alignments mark, wherein the optical tracker can pass through
Can the fixed bracket of locking be fixed on the cabinet of the equipment trolley；The optical alignment mark may be mounted at described at least one
On the casing off device that platform is performed the operation on trolley, it is preferably mounted on the operation trolley equipped with endoscope, is more preferably mounted on
On all operation trolleys.
In the present invention, a variety of optical tracking dresses as known in the art can be used in optical tracker and optical alignment mark
It sets with positioning means and realizes.For example, optical tracker includes infrared launcher, one or more cameras and image analysis
Device, and optical alignment mark is made of multiple reflection spheres made of special material.During performing the operation progress, infrared emission
Device emits infrared light, and camera receives optical alignment and identifies reflected infrared light, and image analysis apparatus is calculated by image
Method can carry out analysis to reflected optical information is identified by optical alignment to obtain three coordinates and space side in space
To location information.Since optical alignment mark is mounted on casing off device, the location information of optical alignment mark
Just reflect the spatial positional information of flexible operation tool.Pass through the three-dimensional localization identified to optical alignment, so that it may obtain
The relative space position parameter of flexible operation tool and endoscope, and these relative space position parameters can be further used for it is soft
Property operation tool and endoscope remote control operation algorithm in, realize accurate control to flexible operation tool.
In the present invention, auxiliary surgical apparatus may include common para-operational device or setting in Transurethral Operation
It is standby, such as electric knife generator, vacuum extractor, lavage apparatus etc..In a preferred embodiment, auxiliary surgical apparatus includes
Electric knife, electric knife are connected to receive the control signal of operator's sending with the industrial personal computer on master control trolley.
In the present invention, the bending of flexible operation tool and multifreedom motion are controlled and are driven by driving mould group, driving
Mould group is moved forward and backward along linear mould group drives flexible operation tool to be moved forward and backward.It can be using flexible operation as known in the art
Tool, as long as it has linear mould group and driving mould group and can carry various endoscopes and operation tool head.However, being
Preferably it is integrated in system of the invention and obtains more stable, more accurate effect, preferably the applicant discloses specially
Benefit application CN108245254A (all the contents of the application are by being incorporated herein), public patent application
CN106175849A (all the contents of the application are by being incorporated herein) and public patent application CN106175851A (this
The full content of application is by being incorporated herein) etc. disclosed in flexibility operation tool.
Specifically, a kind of single hole hysteroscope hand based on flexible operation tool is disclosed in China application CN106175849A
Art system, the system include flexible operation tool, imaging tool and catheter body；Wherein, the flexible operation kit includes operation
Actuator, flexible arm body, driving handle and near structure body, the operation actuator are associated with the flexible arm body distal end, institute
It states flexible arm body and is associated with proximally by the near structure body with the driving handle, the driving handle drives the flexible arm
Body realization curves movement；The imaging tool includes imaging illumination mould group, curves joint and imaging tool driving unit, it is described at
As illumination module with it is described curve joint distal end be associated with, the joint proximal end that curves is associated with the imaging tool driving unit,
Joint realization, which is curved, described in the imaging tool driving unit driving curves movement；The catheter body is used for the flexible arm body
The operation actuator of distal end and the imaging illumination mould group guidance for curving joint distal end reach the same area, while will be located at institute
It states flexible arm body and curves the later part in joint proximal end and guided to space different directions.
A kind of single-hole laparoscopic surgery system based on flexible arm body is disclosed in China application CN106175851A, it should
System includes flexible operation tool, imaging tool, catheter body and driving body；Wherein, it is soft to include first for the flexible operation kit
Property arm body, is associated with the operation actuator of the first flexible arm body distal end, and be associated with the first flexible arm body proximal end
First driving gear unit；Imaging tool includes the second flexible arm body, is associated with the imaging of the second flexible arm body distal end
Illumination module, and gear unit is driven with the second flexible arm body proximal end associated second；The catheter body includes being used for
Guide the conduit of the first flexible arm body, and the multi-cavity tube body for guiding the second flexible arm body；The driving body
Including with the associated skeleton of the catheter body, and be fastenedly connected on the skeleton and respectively single with the first driving transmission
Member and the second driving associated multiple driving mould groups of gear unit；The driving mould group passes through first driving being associated
Gear unit realizes the whole feeding freedom degree of the first flexible arm body, rotates integrally freedom degree and curve freedom degree；It is similar
, the driving mould group pass through the second driving gear unit being associated realize the second flexible arm body it is whole into
To freedom degree and curve freedom degree.
A kind of multiduty flexible operation tool system is disclosed in China application CN108245254A comprising flexible
Operation tool, sterile barrier, electric train unit and linear mould group；The flexible operation kit includes flexible Continuum Structure and biography
Dynamic driving unit；The flexibility Continuum Structure includes far structure body, near structure body and connector；The far structure body
Including the first distal end structure section and the second distal end structure section；The gear drive unit is associated with the first distal end structure section, with driving
The first distal end structure section carries out curving movement；The second distal end structure section is closed by the connector and the near structure body
Connection, the gear drive unit is also associated with near structure body, to drive the near structure body to carry out curving movement, thus
The second distal end structure section of driving is connect to carry out curving movement；The electricity train unit passes through the sterile barrier and the flexible work of performing the operation
Tool connection, provides driving force for the gear drive unit；The output end of the linear mould group is connect with the electric train unit,
For driving the flexible operation tool to realize linear feeding movement.
In the present invention, endoscope can in per urethra Minimally Invasive Surgery common various endoscopic apparatus, for example, wing
Guang endoscope is (herein sometimes referred to as " cystoscope ", it will be appreciated by those skilled in the art that the urethra being previously mentioned herein
The terms such as mirror, ureteroscope refer both to corresponding endoscopic apparatus, for example, urethra endoscope, ureterorenoscope etc.), in urethra
Sight glass, ureterorenoscope etc..In order to be preferably integrated into system of the invention, it is preferable to use can with it is above-mentioned specially
(contents of these applications are by drawing by sharp application publication number CN108245254A, CN106175849A and CN106175851A
With being incorporated herein) disclosed in flexibility operation Tool integration endoscope or directly use the patent application publication number of the applicant
Endoscope surgery system disclosed in CN106175851A (all the contents of the application are by being incorporated herein).
In one embodiment, system of the invention further includes operating table.Herein, operating table can use ability
Any operating table well known to domain, as long as it can carry patient and be able to cooperate system use of the invention.
In a preferred embodiment, image collecting device is preferably three-dimensional image acquisition apparatus, thus its acquisition
Picture signal can become 3 D stereo (3D) image after image processing apparatus is handled, and show on the first and second displays
Show.Therefore correspondingly, described first and the second display be preferably 3D display device.In one embodiment, the second display
Device can also only show 2D image, for providing the operating field image in surgical procedure, operation for support staff (such as nurse)
It reminds and input indicates.
In the present invention, industrial personal computer, image collecting device and image processing apparatus can be previously mentioned according in this specification
Corresponding function select bundled software or the hardware of commercially available related device or available machinery people's surgery systems to realize, or
It improves on its basis or self-developing obtains, as long as it can be realized corresponding function mentioned in the present invention.May be used also
Referring in particular to or using the applicant CN106236268A and CN106137399A (two application full contents pass through reference
Be incorporated herein) disclosed in system and method.
Fig. 1 is the composition and arrangement schematic diagram of an embodiment of system of the invention.In the implementation of figure 1,
System of the invention is by 001, equipment trolley 002 of a master control trolley, three operation trolleys being arranged in by operating bed 004
003 composition.It will be apparent to one skilled in the art that although system of the invention includes three hands in the implementation of figure 1
Art trolley 003, but in a particular application, user can be equipped at least according to specific modus operandi and conditions of patients concrete condition
One operation trolley 003.As shown in Figure 1, master control trolley 001 includes controlling equipment 103, industrial personal computer and the first display 102, behaviour
Shown operation real-time imaging in the first display 102 of observation of author 101, manipulation controlling equipment 103 (note: for simplicity,
The component such as industrial personal computer for not having mark part hiding in Fig. 1, the function of these components is referring to narration above).May be used also from Fig. 1
To see, optical tracker 205 is installed on equipment trolley 002.104 station of support staff (usually nurse) is in operating bed 004
Side, operating field image, operation on the second display 201 on observation device trolley in shown surgical procedure are reminded
It is indicated with input, relevant back work is provided in time.Fig. 2 shows the side schematic view of master control trolley, shows master in Fig. 2
Control trolley 001 principal and subordinate link cable 401 with exchange cable 403.
Fig. 3 is the front schematic view of the equipment trolley in the system of Fig. 1.As shown in figure 3, equipment trolley 002 includes cabinet
208, second display 201, endoscope module equipment 203, principal and subordinate link cable 401, operating table fare cable 402, ac cable
403, surgical apparatus 202 (for example, electric knife generator) and hub 203 are assisted, wherein the endoscope module equipment 201, auxiliary
Surgical apparatus 202, hub 203, image processing apparatus (not shown) is helped to be mounted in the cabinet 208.Such as Fig. 3 institute
Show, display 201 is fixed on cabinet 208, can show that the image of operating field in surgical procedure (can be on display 201
2D or 3D image), operation remind and input etc..Fig. 4 is the side schematic view of the equipment trolley of Fig. 3, the figure show optics with
Track device 205 is connect with equipment trolley 002 by a lockable bracket 207.
It is connected between master control trolley 001 and equipment trolley 002 by principal and subordinate link cable 401.Every operation trolley 003 with
It is connected between equipment trolley 002 by operating table fare cable 402.Master control trolley 001 and equipment trolley 002 are each by one
220V ac cable 403 is connected with hospital's power supply.Master control trolley 001, equipment trolley 002, operation trolley 003 between cable
It is laid in the ground of operating room.
Fig. 5 is the structural schematic diagram of the operation trolley in the system of Fig. 1.Fig. 6 is the detailed of the flexible operation tool in Fig. 5
Structural schematic diagram.As shwon in Figures 5 and 6, operation trolley 003 includes trolley chassis 306, positioning mechanical arm 305, linear mould group
303, mould group 302, flexible operation tool 300, driving gear unit 307, casing off device 3021 and tool isolation dress are driven
3031 are set, wherein positioning mechanical arm 305 is mounted on trolley chassis 306, and linear mould group 303 is carried on positioning mechanical arm 305, is driven
Dynamic model group 302 can be moved forward and backward along the longitudinal axis of linear mould group 303.Flexible operation tool 300 includes driving 307 He of gear unit
Operation tool head 310 or endoscope 304, driving are carried in flexible Continuum Structure 301, the front end of flexible Continuum Structure 301
Gear unit 307 is connect with the tool isolating device 3021 being mounted in driving mould group 302.Hand may be implemented in trolley chassis 306
Art trolley 003 can adjust posture after 306 locking of trolley chassis in the indoor movement of operation and locking, positioning mechanical arm 305
Operation tool head position and direction are controlled, linear mould group 303 can adjust operation tool head after the locking of positioning mechanical arm 305
310 move forward and backward, drives mould group 302 that can push and control the bending completion operation tool head 310 of flexible Continuum Structure 301
Space six-freedom motion.
As shown in Figure 6, tool isolating device 3021 is provided on operation trolley 003 and casing off device 3031 is used to
The non-sterilization section of isolation operation trolley and patient, wherein casing off device 3031 is mounted on the far-end of linear mould group 303, and
Casing off device 3031 is equipped with through-hole (not shown) and flexible operation tool 300 is enabled to pass through the through-hole；Tool
Isolating device 3021 is mounted in driving mould group 302, and driving gear unit 307 is mounted in tool isolating device 3021.In addition,
It is provided with optical alignment mark 206 on casing off device 3031, is responsible for operation trolley 003 and positions.In the present invention, optics
Positioning identifier 206 can be installed only on the casing off device 3031 for the operation trolley 003 for being equipped with endoscope, can also be every
It is all installed on the casing off device 3031 of one operation trolley 003.
Fig. 7 is that the flexible operation tool of three operation trolleys in the system of Fig. 1 is connect with channel adapter, endoscope casing tube
Schematic diagram.As shown in fig. 7, endoscope casing tube 308 and the distal end of channel adapter 307 link together.Channel adapter 307
Proximal end setting there are three entrance 309, three entrances are arranged symmetrically at an angle.The cavity of channel adapter 307 is peeped with interior
The cavity of mirror sleeve pipe 308 is connected, and the flexible operation tool 300 for carrying operation tool head passes through the entrance 309 of left and right side
Into, and the flexible operation tool 300 for carrying endoscope 304 enters through intermediate entrance 309.
The assembly method of endoscopic surgery robot combined system of the invention
The assembly method of endoscopic surgery robot combined system of the invention may comprise steps of:
(1) the operation trolley is moved to the side of operating table；
(2) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and by the tool isolating device
It is mounted in the driving mould group；
(3) the casing off device of the channel adapter and the operation trolley for carrying endoscope is detachably connected
(for example, screw connects, is clasped)；
(4) by the trolley chassis locking of the operation trolley of carrying endoscope described in step (3), the operation trolley is adjusted
The posture of positioning mechanical arm the through-hole of described sleeve pipe isolating device and the cavity of endoscope casing tube are axially aligned, will be described
Channel connector links together with the endoscope casing tube enables the endoscope to enter by one of channel connector
Mouth enters the endoscope casing tube；
(5) the trolley chassis locking that will carry the operation trolley of operation tool head, adjusts the localization machine of the operation trolley
The posture of tool arm makes the through-hole of the casing off device of the operation trolley and the channel adapter enter endoscope
Entrance other than entrance axially align；And
(6) the driving gear unit of flexible operation tool is mounted in the tool isolating device of each operation trolley, and
Make that the flexible operation tool sequentially passes through described sleeve pipe isolating device and the channel adapter is distally advanced until described
Expose the distal end of the endoscope casing tube in the top of operation tool head.
In a preferred embodiment of above-mentioned assembly method, in step (2), it can also be isolated in described sleeve pipe and fill
Set installation optical alignment mark.
In a preferred embodiment of above-mentioned assembly method, the channel adapter is set with the endoscope casing tube
Integrated structure is counted, therefore can be omitted the Connection Step of the channel connector and endoscope casing tube in step (3).
Illustrate that endoscopic surgery robot combined system of the invention exists below by way of Fig. 1-Fig. 7 embodiment illustrated
Implement preoperative assembly method:
1, trolley 003 of performing the operation is moved to the side of operating table 004；
2, casing off device 3031 is mounted on to the far-end of linear mould group 303, and tool isolating device 3021 is pacified
In driving mould group 302；
3, the casing off device 3031 of channel adapter 307 and the operation trolley 003 for carrying endoscope 304 is detachable
Ground connection；
4, the operation trolley 003 that endoscope 304 is carried in moving step (3) is in place, by the trolley bottom of the operation trolley 003
306 locking of disk, adjust the positioning mechanical arm 305 of the operation trolley 003 posture make the through-hole of casing off device 3031 with
The cavity of endoscope casing tube 308 is axially aligned, and channel connector 307 is linked together with endoscope casing tube 308 so that interior peep
Mirror 304 can enter endoscope casing tube 308 by the medial inlet of channel connector 307；
5, the mobile operation trolley 003 for carrying operation tool head 310 is in place, by the trolley chassis 306 of the operation trolley 003
Locking, the posture for adjusting the positioning mechanical arm 205 of the operation trolley 003 make the casing off device of the operation trolley 003
3031 through-hole is axially aligned with other entrance 309；And
6, the driving gear unit 307 of flexible operation tool 300 is mounted on to the tool isolation dress of each operation trolley 003
It sets on 3021, makes that flexible operation tool 300 sequentially passes through casing off device 3031 and channel adapter 307 is distally advanced directly
Expose the distal end of endoscope casing tube 308 to the top of operation tool head 310.
The application method of system of the invention
The application method of system of the invention may comprise steps of:
(1) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and by the tool isolating device
It is mounted in the driving mould group；
(2) the casing off device of the channel adapter and the operation trolley for carrying endoscope is detachably connected；
(3) by the trolley chassis locking of the operation trolley of carrying endoscope described in step (2), the operation trolley is adjusted
The posture of positioning mechanical arm the through-hole of described sleeve pipe isolating device and the cavity of endoscope casing tube are axially aligned, will be described
Channel connector links together with the endoscope casing tube enables the endoscope to enter by one of channel connector
Mouth enters the endoscope casing tube；
(4) the trolley chassis locking that will carry the operation trolley of operation tool head, adjusts the localization machine of the operation trolley
The posture of tool arm makes the through-hole of the casing off device of the operation trolley and the channel adapter enter endoscope
Entrance other than entrance axially align；And
(5) the driving gear unit of the flexible operation tool is mounted on to the tool isolating device of each operation trolley
On, and make the flexible operation tool sequentially pass through described sleeve pipe isolating device and the channel adapter be distally advanced until
Expose the distal end of the endoscope casing tube in the top of the operation tool head；
(6) open and be arranged master control trolley and equipment trolley；
(7) endoscope is pushed into endoscope casing tube by operator by an operation trolley；
(8) the flexible operation tool of operation tool head will be carried under the guidance of endoscope via other operation trolley push
To the fully extended endoscope casing tube of the operation tool head；
(9) utilize the image capture device of carrying endoscope performed the operation on trolley by the real-time three-dimensional image signal of acquisition
It is transferred to equipment trolley and by being transmitted separately to after the image processing apparatus processing on the equipment trolley and being shown in described the
One and the second display on；
(10) operator operates the controlling equipment according to art real-time stereo images shown on first display
To generate control signal and the control signal is sent to the receiving module of the industrial personal computer of the master control trolley；And
(11) receiving module sends control signals to the signal conversion module, and the signal conversion module will be controlled
Signal processed is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information,
The driving mould group being sent to again by the hub on operation trolley；The driving mould group according to drive volume parameter information push and
Flexible Continuum Structure movement is controlled to drive operation tool head to move.
In a preferred embodiment of the above method, optical tracker can receive the light of optical alignment mark reflection
Information is learned, and optical information transmission to industrial personal computer is used to determine the three-dimensional space position of operation tool head and endoscope.Through urinating
Road endoscopic surgery method
It can use system of the invention and execute per urethra endoscopic surgery, this method may comprise steps of:
(1) anesthesia, disinfection urethral orifice are implemented to patient；
(2) endoscope casing tube is per urethram inserted into bladder；
(3) endoscopic surgery robot combined system of the invention is assembled according to above-mentioned assembly method；
(4) endoscope is pushed into endoscope casing tube by operator by an operation trolley；
(5) the flexible operation tool of operation tool head will be carried under the guidance of endoscope via other operation trolley push
To the fully extended endoscope casing tube of the operation tool head；
(6) utilize the image capture device of carrying endoscope performed the operation on trolley by the real-time three-dimensional image signal of acquisition
It is transferred to equipment trolley and by being transmitted separately to after the image processing apparatus processing on the equipment trolley and being shown in described the
One and the second display on；
(7) operator according to art real-time stereo images shown on first display operate the controlling equipment from
And it generates control signal and the control signal is sent to the receiving module of the industrial personal computer of the master control trolley；And
(8) receiving module sends control signals to signal conversion module, and signal conversion module will control signal and turn
It changes drive volume parameter information into, and sends the hub on equipment trolley for the drive volume parameter information, then sent out by hub
The driving mould group being sent on operation trolley；The driving mould group slided along linear mould group and according to drive volume parameter information push and
Flexible Continuum Structure movement is controlled to drive the movement of operation tool head to complete corresponding surgical action.
Illustrate to utilize endoscopic surgery robot combination system of the invention below by way of Fig. 1-Fig. 7 embodiment illustrated
System executes the method and step of per urethra endoscopic surgery:
1, anesthesia, disinfection urethral orifice are implemented to patient；
2, endoscope casing tube 308 is per urethram inserted into bladder；
3, according to-Fig. 7 referring to Fig.1 in " assembly method of endoscopic surgery robot combined system of the invention " above
Assembly method assemble endoscopic surgery robot combined system of the invention；
4, endoscope 304 is pushed into endoscope casing tube 308 by operator by an operation trolley 003；
5, the flexible operation tool 300 of operation tool head 310 will be carried under the guidance of endoscope 304 via other operations
Trolley 003 pushes to fully extended endoscope casing tube 308；
6, the operation of acquisition is stood in real time using the image capture device on the operation trolley 003 for carrying endoscope 304
Body picture signal is transferred to equipment trolley 002 and by being transmitted separately to after the image processing apparatus processing on the equipment trolley 002
And it is shown on first display 102 and second display 201；
7, operator 101 operates controlling equipment 103 according to operation real-time stereo images shown on the first display 102
To generate control signal and send control signals to the receiving module of the industrial personal computer of master control trolley 001；And
8, the receiving module of industrial personal computer sends control signals to signal conversion module, and signal conversion module will control signal
It is converted into drive volume parameter information, and sends the hub 203 on equipment trolley 002 for the drive volume parameter information, then by
Hub 203 is sent to the driving mould group 302 on operation trolley 003；Driving mould group 302 is slided along linear mould group 303, and according to
Drive volume parameter information pushes and controls the flexible movement of Continuum Structure 301 to drive operation tool head 310 to move, thus complete
At corresponding surgical action.
Embodiment 1
In this embodiment, the method for implementing bladder videoendoscopic surgery using system of the invention is illustrated.
In the present embodiment used endoscopic surgery robot combined system using configuration shown in Fig. 1 and
Its arrangement, wherein endoscope 304 be cystoscope 304 (note: the cystoscope be equipped in CN106308937A can Xiang Renyi
What direction curved curves joint), endoscope casing tube 308 is cystoscope casing 308, and flexible operation tool 300 is the applicant
The CN108245254A of public patent application claimed in multiduty flexible operation tool system.
As shown in figure 8, patient takes lithotomy position on operating bed 004.Anesthesia is implemented to patient, is carried out disinfection to urethral orifice.
308 per urethra of cystoscope casing is inserted into bladder.Then it performs the operation by the following step:
1. will be between master control trolley 001, equipment trolley 002, operation trolley 003 according to surgical robot system connection type
Cable be attached.Operation trolley 003 is placed in patient's foot side, master control trolley 001 can be placed in operating room it is spacious and
Glitch-free position, equipment trolley 002 are put, for the purpose of facilitating cable connection, nurse to facilitate observation.
2. master control trolley 001, equipment trolley 002 are switched on, surgical robot system self-test.
3. channel adapter 307 and the casing off device 3031 for the operation trolley 003 for being equipped with cystoscope 304 are connected
It connects.
4. the nurse 104 operation trolleys 003 for being equipped with cystoscope 304 are pushed into 004 side of operating bed, according to bladder mirror sleeve
The position of pipe 308, mobile operation trolley 003 to suitable position and locking, adjusts registration arm 305, by casing off device 3031
Center through hole is adjusted to about consistent with the direction of cystoscope casing 308, then by channel adapter 307 and cystoscope casing 308
It is quickly connected.
5. nurse is by the driving gear unit 307 of the flexible operation tool 300 equipped with operation tool head 310 and another two
The tool isolating device 3021 performed the operation in the driving mould group 302 of trolley 003 is connected, and locks.Then, nurse is by operation tool
First 310 sequentially pass through casing off device 3031, the cavity of channel adapter 307 and cystoscope casing to patient's body direction
308 feedings are until the position of cystoscope casing 308 is exposed on the top of operation tool head 310.
6. it is complete that operation tool head 310 is pushed to flexible arm 301 under the vision guide of cystoscope 304 by operative doctor 101
It is complete to stretch out cystoscope casing 308.
7, it carries the real-time stereo-picture of the acquisition operation of operation trolley 003 of cystoscope 304 and is transmitted to equipment trolley
002；Equipment trolley 002 after treatment, shows the image received on the display 201 of equipment trolley 002, and
Simultaneous transmission is shown on the 3D display device 102 of master control trolley 001 to master control trolley 001.Operative doctor 101 is according to 3D display
The guidance of 102 image of device, controlling equipment 103 control the movement of flexible operation tool 300.
8. complete operation or need to exit operation tool head 310 and replaced, operating doctor 101 passes through master control trolley
001 retreats to operation tool head 310 position that cystoscope casing 308 has just been exposed on its top.
9. nurse 104 exits completely operation tool heads 310 to external, then by operation tool head 310 from driving mould group
It unlocks and removes on 302 and be under lock and key.
10. nurse 104 removes channel adapter 307 from cystoscope casing 308 after completing operation.Then, it slips out of the hand
Operation trolley 003 is removed and is under lock and key from 004 side of operating bed by the connection of art trolley 003 and patient.Finally, by cystoscope
Casing 308 takes out from patient's body.
Although specific embodiments of the present invention have had been illustrated and described, those skilled in the art are come
It says it is readily apparent that various other changes and modification can be made in the case where not departing from spirit and scope of the present invention.Cause
This, includes all these changes and the modification belonged in the scope of the invention in appended claims.
Claims (10)
1. a kind of endoscopic surgery robot combined system, which is characterized in that including master control trolley, equipment trolley, at least one
Operation trolley and endoscope casing tube external member, wherein
The master control trolley includes controlling equipment, the first display and industrial personal computer, wherein set in the industrial personal computer receiving module and
Signal conversion module；
The equipment trolley include cabinet, second display, endoscope module equipment, cable, auxiliary surgical apparatus, hub and
Image processing apparatus, wherein the endoscope module equipment, auxiliary surgical apparatus, hub and image processing apparatus are mounted on institute
It states in cabinet, the display is fixed on the cabinet；The cable includes operating table fare cable and principal and subordinate link cable；Institute
It states master control trolley and is connect with the equipment trolley by the principal and subordinate link cable, and every operation trolley and the equipment trolley
It is connected by the operating table fare cable；
The operation trolley include trolley chassis, positioning mechanical arm, linear mould group, driving mould group, flexible operation tool, casing every
From device and tool isolating device；The linear mould group is mounted on the positioning mechanical arm, and the driving mould group is configured to
It can be moved forward and backward in the linear mould group along the longitudinal axis of the linear mould group；The flexible operation kit includes driving transmission
Unit and flexible Continuum Structure, the flexibility Continuum Structure include the far structure body set gradually from distal end to proximal end,
Middle connection body and near structure body, equipped with operation tool head or endoscope in the far structure body, wherein an operation
Equipped with endoscope on the flexible operation tool of trolley, equipped with operation tool on the flexible operation tool of other operation trolleys
Head；The distal end of the driving mould group is connected with the driving gear unit of the flexible operation tool and controls described flexible continuous
The movement of body structure；And
Described sleeve pipe isolating device is mounted on the far-end of the linear mould group, and described sleeve pipe isolating device makes equipped with through-hole
The through-hole can be passed through by obtaining the flexible operation tool；The tool isolating device is mounted in the driving mould group.
2. endoscopic surgery robot described in claim 1 combined system, it is characterised in that the endoscope casing tube external member packet
Endoscope casing tube and channel adapter are included, the endoscope casing tube links together with the channel adapter；The endoscope
The inside of casing is equipped with one or more cavities, the cavity of the channel connector being internally provided with the endoscope casing tube
At least one channel adapter cavity and each channel adapter cavity of connection are set in the proximal end of the channel adapter
At least one entrance is equipped with for receiving the operation tool head or the endoscope；
The endoscope is equipped with image capture device；Described image processing unit, which is configured to receive, acquires equipment by described image
Acquired image signal handles described image signal and is transmitted separately to processed picture signal and shows described the
One and the second display on；And
The controlling equipment is configured to receive the control signal of operator and the control signal is sent to connecing for industrial personal computer
Module is received, the receiving module sends control signals to the signal conversion module, and the signal conversion module believes control
It number is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information, then by
The hub is sent to the driving mould group on operation trolley；The driving mould group is pushed and is controlled according to drive volume parameter information
Flexible Continuum Structure movement is to drive operation tool head to move.
3. endoscopic surgery robot described in claim 1 combined system, it is characterised in that the endoscope casing tube and described
Channel adapter is to be removably installed or integral type.
4. endoscopic surgery robot described in claim 1 combined system, it is characterised in that the controlling equipment is that handle is distant
Device is grasped, the auxiliary surgical apparatus includes electric knife, and the electric knife is connected with the industrial personal computer.
5. endoscopic surgery robot described in claim 1 combined system, it is characterised in that the cable further includes that video passes
Defeated cable, optical fiber, equipment are total to ground wire and control signal transmission cable.
6. endoscopic surgery robot described in claim 1 combined system, it is characterised in that the system comprises three operations
Trolley, the operating table parking stall equipped with endoscope are put in centre, the operation trolley of other two carrying operation tool heads
It sets in two sides.
7. endoscopic surgery robot described in claim 1 combined system, it is characterised in that the system also includes optics with
Track device and one or more optical alignment mark, wherein the optical tracker is by can be described in the fixed bracket of locking is fixed on
On the cabinet of equipment trolley；The optical alignment mark is mounted on the operation trolley.
8. endoscopic surgery robot of any of claims 1-7 combined system, it is characterised in that the endoscope
Including cystoscopes, urethra endoscope and ureterorenoscope.
9. a kind of application method of such as endoscopic surgery robot of any of claims 1-8 combined system, described
Method the following steps are included:
(1) described sleeve pipe isolating device is mounted on to the far-end of the linear mould group, and the tool isolating device is installed
In the driving mould group；
(2) the casing off device of the channel adapter and the operation trolley for carrying endoscope is detachably connected；
(3) by the trolley chassis locking of the operation trolley of carrying endoscope described in step (2), determining for the operation trolley is adjusted
The posture of position mechanical arm axially aligns the through-hole of described sleeve pipe isolating device and the cavity of endoscope casing tube, by the channel
Connector and the endoscope casing tube link together enable the endoscope by an entrance of channel connector into
Enter the endoscope casing tube；
(4) the trolley chassis locking that will carry the operation trolley of operation tool head, adjusts the positioning mechanical arm of the operation trolley
Posture make the through-hole of casing off device and the entering into endoscope for the channel adapter of the operation trolley
Entrance other than mouthful is axially aligned；And
(5) the driving gear unit of the flexible operation tool is mounted in the tool isolating device of each operation trolley, and
Make that the flexible operation tool sequentially passes through described sleeve pipe isolating device and the channel adapter is distally advanced until described
Expose the distal end of the endoscope casing tube in the top of operation tool head；
(6) open and be arranged master control trolley and equipment trolley；
(7) endoscope is pushed into endoscope casing tube by operator by an operation trolley；
(8) the flexible operation tool for carrying operation tool head is pushed into institute via other operation trolleys under the guidance of endoscope
State the fully extended endoscope casing tube of operation tool head；
(9) the real-time three-dimensional image signal of acquisition is transmitted using the image capture device on the operation trolley for carrying endoscope
To equipment trolley and by being transmitted separately to after the image processing apparatus processing on the equipment trolley and being shown in first He
On the second display；
(10) operator operates the controlling equipment according to real-time stereo images shown on first display to raw
The receiving module of the industrial personal computer of the master control trolley is sent at control signal and by the control signal；And
(11) receiving module sends control signals to the signal conversion module, and the signal conversion module believes control
It number is converted into drive volume parameter information, and sends the hub on the equipment trolley for the drive volume parameter information, then by
The hub is sent to the driving mould group on operation trolley；The driving mould group is pushed and is controlled according to drive volume parameter information
Flexible Continuum Structure movement is to drive operation tool head to move.
10. method as claimed in claim 9, it is characterised in that the endoscope includes cystoscopes, urethra endoscope and defeated
Urinary catheter endoscope.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811174831.5A CN109431601B (en) | 2018-10-09 | 2018-10-09 | Endoscopic surgery robot combination system and use method thereof |
| CN202011191564.XA CN112190336B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811174831.5A CN109431601B (en) | 2018-10-09 | 2018-10-09 | Endoscopic surgery robot combination system and use method thereof |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011191564.XA Division CN112190336B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot system |
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| CN110811838A (en) * | 2019-11-01 | 2020-02-21 | 山东大学 | Double-operation mode surgical robot capable of realizing multi-hole single-hole interchange |
| CN110897659A (en) * | 2019-12-11 | 2020-03-24 | 山东大学 | Modular surgical robot capable of realizing conversion between single hole and multiple holes |
| CN111700654A (en) * | 2019-08-13 | 2020-09-25 | 微创（上海）医疗机器人有限公司 | Single-hole surgical instrument platform |
| CN113520611A (en) * | 2020-04-13 | 2021-10-22 | 上海微创医疗机器人（集团）股份有限公司 | Sterile isolation mechanism, mirror holding arm and mirror holding robot |
| CN114504388A (en) * | 2022-03-15 | 2022-05-17 | 山东大学齐鲁医院 | Flexible surgical robot system and control method thereof |
| CN115281587A (en) * | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | Method and device for controlling flexible endoscope robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112190336A (en) | 2021-01-08 |
| CN109431601B (en) | 2021-03-09 |
| CN112190336B (en) | 2023-12-05 |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |