CN114469353A - Robot-assisted hysteroscopic surgery system - Google Patents
Robot-assisted hysteroscopic surgery system Download PDFInfo
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- CN114469353A CN114469353A CN202210400944.2A CN202210400944A CN114469353A CN 114469353 A CN114469353 A CN 114469353A CN 202210400944 A CN202210400944 A CN 202210400944A CN 114469353 A CN114469353 A CN 114469353A
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/42—Gynaecological or obstetrical instruments or methods
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/42—Gynaecological or obstetrical instruments or methods
- A61B2017/4216—Operations on uterus, e.g. endometrium
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The invention provides a robot-assisted hysteroscopy surgery system which comprises an improved cervical clamp, a first mechanical arm, a hysteroscopy scope body, a second mechanical arm, a surgical instrument and a third mechanical arm, wherein one end of the cervical clamp is clamped on a cervix and fixes the opposite position of the cervix, the first mechanical arm is connected with the other end of the cervical clamp and is used for controlling the cervical clamp to clamp the cervix and setting the fixed position to be unchanged, and the cervix cannot move along with the cervical clamp when the hysteroscopy scope body is inserted into a uterine cavity. Through being connected the second arm of robot with the hysteroscope body, the third arm is connected with the traditional hysteroscope surgical instruments after being changed, introduces automation in clinical environment, and the operator is supplementary on the platform of the platform remote control combined robot to accomplish the action such as the gos forward, retreat, rotate, swing of hysteroscope, and the gos forward, retreat, rotate, open and shut of hysteroscope apparatus, and introduce the 3-D technique in hysteroscope field of vision, increase operation precision, harmony, promote operation efficiency and operation security.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a robot-assisted hysteroscopic surgery system.
Background
Hysteroscopy techniques have been rapidly developed and rapidly popularized in China. The hysteroscope operation can diagnose and treat the intrauterine lesion effectively and minimally invasively. Complications of hysteroscopy operations, such as water poisoning, gas embolism and the like, may cause a risk of death, and affect the application and development of hysteroscopy techniques. The method is related to the self characteristics of hysteroscopy operation, such as uterine expansion medium, energy equipment, narrow operation space and the like, which are different from the traditional operation, and is also related to the operation level of operators which is uneven and can not be fully trained. Especially for intrauterine diseases needing operation treatment, such as intrauterine adhesion, hysteromyoma, uterine malformation and the like, more complicated operation skills are needed, and the requirements on operators are higher.
In order to better exert the advantages of basic research and clinical application of the surgical robot, further promote the development of the gynecological minimally invasive surgery technology, provide the optimal surgical treatment mode for patients, and research a robot-assisted hysteroscopic surgery system.
Disclosure of Invention
The invention aims to provide a robot-assisted hysteroscopic surgery system, which solves the existing technical problems. The mechanical arm of the robot is connected with the traditional hysteroscope surgical instrument, automation is introduced in the clinical environment, and the operator remotely controls the combined robot bench to assist in the bench so as to complete the forward, backward, rotation, swing and opening and closing of the hysteroscope and the forward, backward, rotation, opening and closing and other actions of the hysteroscope instrument, so that the precision and the harmony of the surgical operation are increased, and the surgical efficiency and the surgical safety are improved.
The robot-assisted surgery system has the unique advantages of 3D high-definition surgery visual field, multi-joint automatic control, no shaking of mechanical arms and the like, and can enable surgery operation to be more flexible, coordinated and accurate, so that surgery safety is improved, occupational diseases such as labor intensity and strain of surgeons are reduced, the learning cost of minimally invasive surgery instruments is reduced, and remote surgery support and guidance can be provided under the support of 5G technology. Currently, there is no technology that fully combines a robotic-assisted surgical system with a hysteroscope. Therefore, it is important to search a new technique capable of organically combining the two techniques from the viewpoint of operation accuracy and operation safety.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a robot-assisted hysteroscopy surgery system comprises improved cervical clamps, a first mechanical arm, a hysteroscopy scope body, a second mechanical arm, a surgical instrument and a third mechanical arm, wherein one end of each cervical clamp is clamped on a cervix, used for fixing the cervical orifice, a first mechanical arm is connected with the other end of the cervical clamp, the first mechanical arm is used for controlling the cervical clamp to clamp the cervix and setting the fixed position unchanged, a hysteroscope body extends into the uterine cavity, a second mechanical arm is connected with the hysteroscope body, the second mechanical arm controls the hysteroscope body to move forwards, backwards, rotate and swing, the hysteroscope body continuously tracks the operation pictures required by the operator, meanwhile, the distance between the front end or the side edge of the hysteroscope body and the inner wall of the uterine cavity is detected, one end of the changed traditional hysteroscope surgical instrument is connected with the third mechanical arm, the surgical instrument penetrates through the hysteroscope body and enters the uterine cavity, and the surgical instrument is used for performing an operation in the uterine cavity.
Further, the uterine cavity automatic control device further comprises a controller device, an artificial hand speed operating table and a display screen, wherein the controller device is connected with the first mechanical arm, the second mechanical arm and the third mechanical arm to control the mechanical arm to move, the artificial hand speed operating table and the display screen are both connected with the controller device, the display screen is used for displaying an operation picture in the uterine cavity and a three-dimensional model structure diagram of the uterine cavity, the distance between the hysteroscope body and the inner wall of the uterine cavity is shortest, when the distance is detected to be smaller than a set distance, a prompt is sent, and the artificial hand speed operating table is used for manually controlling the second mechanical arm and the third mechanical arm to move the uterine cavity.
Furthermore, a hollow surgical instrument channel is arranged in the middle of the hysteroscope body, the front end of the hysteroscope body is provided with a pressure sensing section and a distance measuring section, the pressure sensing section is in contact with the inner wall of the cervix, the distance measuring section is arranged in the uterine cavity and is arranged at the front end of the pressure sensing section, a pressure sensor array is arranged on the outer side of the pressure sensing section, a distance sensor array is arranged on the outer side of the distance measuring section, the pressure sensing section is used for detecting the pressure of the outer side of the hysteroscope body and the pressure of the cervical orifice in real time, and the distance measuring section is used for detecting the distance of the inner wall of the uterine cavity and generating a three-dimensional model drawing of the inner wall of the uterine cavity on three-dimensional coordinates according to detected distance data.
Further, when the hysteroscope body moves forwards or backwards, the pressure sensing section senses the pressure around the hysteroscope body and the cervix, when the pressure on one side is increased, the cervical orifice is not parallel when the hysteroscope body moves forwards or backwards, the detected pressure is transmitted to the controller device, the controller device controls the adjusting direction of the second mechanical arm, when the pressure on one side is increased, the adjusting direction of the second mechanical arm is deviated in the direction opposite to the pressure increase for setting an angle, then the pressure on the same ring on the pressure sensing section is detected, when the error range of the pressure on one ring is larger, the hysteroscope body is parallel to the cervical canal, the controller device controls the second mechanical arm to further control the hysteroscope body to move forwards or backwards, and the closed-loop control is repeated until the forward movement or the backward movement is stopped.
Further, the specific process of detecting the distance by the ranging segment is as follows: when each distance sensor on the distance sensor array is installed, a label is set, each label corresponds to a specific coordinate, each sensor detects the distance with the inner wall of the uterine cavity, then the detected distance is transmitted to the controller device, the controller device takes the hysteroscope body as an X axis, the horizontal direction vertical to the X axis is a Y axis, the vertical direction is a Z axis, then the contact position with the cervical orifice is an origin, then the distance detected by each distance sensor is marked on a three-dimensional coordinate, and then the coordinate is taken as an integral variable, and the coordinate is subjected to integral operation by taking two adjacent points as the integral variable to obtain a three-dimensional model drawing of the inner wall of the uterine cavity.
Furthermore, the working action flow of the system is that the improved cervical clamp is manually clamped at the cervix, the hysteroscope body is placed into the uterine cavity through the vagina and the cervical canal, and the uterus expanding operation is completed, at the moment, the manual operation is carried out, the pressure sensing section does not work, the first mechanical arm is connected with the cervical clamp, a fixed position is set, the second mechanical arm is connected with the hysteroscope body, the third mechanical arm is connected with the surgical instrument, the operation process is that a doctor operates the manual operation operating platform, controls the second mechanical arm to drive the hysteroscope body to move forwards through the controller device, the pressure sensing section senses the pressure between the periphery of the hysteroscope body and the cervix during the moving forwards process and returns to the controller device, the entry of the parallel cervical canal is realized, then the doctor operates the manual operation operating platform, controls the third mechanical arm to drive the surgical instrument to carry out the cutting operation on the inner wall of the uterine cavity through the controller device, after the point of carrying out the cutting operation, the controller device records the three-dimensional coordinate of the cutting operation point, the point is an action point, in the following tracking operation process of a doctor, the controller device marks the coordinate of the cutting point on a three-dimensional uterine cavity inner wall model picture, then the doctor can avoid repeated occurrence and the position of the cutting hand speed when searching the cutting point, the doctor searches and checks the next non-cutting point, the operation process is repeated until the cutting is completed, the robot exits from the hysteroscope with the assistance, the pressure induction section induces the pressure between the periphery of the hysteroscope body and the cervix, the cervix is prevented from being rubbed and injured, the robot is released from being connected with an operation instrument, the vagina and the external opening of the cervix are disinfected again by manpower, and the cervical clamp and the vaginal speculum are removed.
Further, the third mechanical arm controls the actions of the surgical instrument including advancing, retreating, rotating and opening and closing.
Furthermore, the first mechanical arm controls the position of the cervical clamp to be kept unchanged all the time, and the relative position of the outer side of the hysteroscope and the cervical orifice to be unchanged, so that the motion track of the hysteroscope body has the cervical orifice as a reference when the hysteroscope body advances, retreats, rotates and swings by taking the cervical orifice as an original point.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the invention can realize accurate self-positioning of the hysteroscope under the assistance of the robot in space, realize the coordination and unification of the operation actions of the robot-assisted hysteroscope operation system, realize a set of high-precision, coordinated and safe hysteroscope operation system proposal, connect the mechanical arm of the robot with the traditional hysteroscope operation instrument, the automation is introduced in the clinical environment, the operator remotely controls the combined robot platform under the platform to assist, so as to complete the actions of advancing, retreating, rotating and swinging of the hysteroscope, advancing, retreating, rotating, opening and closing of the hysteroscope instruments and the like, and 3-D technology of the field of vision of the hysteroscope is introduced, so that the accuracy and coordination of the operation are improved, the operation efficiency and the operation safety are improved, the labor intensity of operators and occupational diseases such as strain are reduced, and remote operation support and guidance can be provided under the support of 5G technology.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a cross-sectional view of the front end of the hysteroscope body of the present invention;
fig. 3 is a block diagram of the principle architecture of the present invention.
In the attached drawing, 1-uterine cavity, 2-improved cervical clamp, 3-first mechanical arm, 4-hysteroscope body, 4.1-surgical instrument channel, 4.2-pressure sensing section, 4.3-distance measuring section, 4.4-pressure sensor array, 4.5-distance sensor array, 5-second mechanical arm, 6-surgical instrument and 7-third mechanical arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings by way of examples of preferred embodiments. It should be noted, however, that the numerous details set forth in the description are merely for the purpose of providing the reader with a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.
As shown in fig. 1-3, the robot-assisted hysteroscopy surgery system comprises an improved cervical clamp 1, a first mechanical arm 2, a hysteroscope scope body 4, a second mechanical arm 5, a surgical instrument 6 and a third mechanical arm 7, wherein one end of the cervical clamp 1 is clamped on a cervical orifice for fixing the cervical orifice, the first mechanical arm 2 is connected with the other end of the cervical clamp 1, the first mechanical arm 2 is used for controlling the cervical clamp 1 to clamp the cervical orifice and setting the fixed position to be unchanged, the hysteroscope body 4 extends into the uterine cavity, the second mechanical arm 5 is connected with the hysteroscope body 4, the second mechanical arm 5 controls the hysteroscope body 4 to advance, retreat, rotate and swing, the hysteroscope body 4 continuously tracks operation pictures required by an operator, simultaneously detects the distance between the front end or the side edge of the hysteroscope body 4 and the inner wall of the uterine cavity, one end of the surgical instrument 6 is connected with the third mechanical arm 7, the surgical instrument 6 passes through the hysteroscope body 4 to enter the uterine cavity, the surgical instrument 6 is used for performing surgery on the inner wall of the uterine cavity.
The first mechanical arm 2 is connected with the improved cervical clamp, one end of the cervical clamp is clamped on the cervix and used for fixing the relative position of the cervix, the first mechanical arm is connected with the other end of the cervical clamp and used for controlling the cervical clamp to clamp the cervix and setting the fixed position to be unchanged, and thus, when the hysteroscope body is inserted into the uterine cavity, the cervix cannot move along with the cervix. Thus, the internal cervical os may be considered the origin of the robot-assisted hysteroscopic surgery system. In the operation process, the setting of the original point is beneficial to accurate positioning of all parts of the hysteroscope and operation instruments in space, and can be beneficial to an automatic system to intelligently identify the accurate motion tracks of the hysteroscope and the operation instruments. Can avoid the hysteroscope from falling out of the uterine cavity in the operation process or complications such as perforation of the uterus and the like. Under the assistance of an automatic control system, the maximum distance between the robot-assisted hysteroscope surgery system and the uterine cavity can be artificially set according to the specific conditions of a patient, such as the depth of the uterine cavity, and the alarm is given in due time, so that the surgery safety is improved.
The second mechanical arm 5 is connected with the hysteroscope body, and can accurately, dynamically and continuously track the operation pictures required by the operator through the key actions of advancing, retreating, 360-degree rotation and 360-degree swinging. In order to ensure the safety of the operation, the maximum amplitude of the four actions is set according to the individual difference conditions of the depth of the uterus, the size of the uterus, the shape of the uterus and the like of a patient, the moving range of the hysteroscope can be automatically identified by combining a pressure sensor, and an alarm is given when the moving range is larger than a limit value. In addition, the cervical orifice is specially set as the movable origin of the hysteroscope body, and before the operation is started, the cervical orifice is manually identified and the setting is completed. The motion trail of the hysteroscope body is all based on the original point as the reference. The advantages are that: the coordination and consistency of the hysteroscope operation are ensured, and the operation can be performed in a tracking way; the length of the part of the hysteroscope above the internal opening of the cervix is reduced, so that the maximum moving range of the part during swinging is reduced, and the operation risk is reduced; the original point is a fixed point, the position is relatively fixed, the damage to the internal opening of the cervix caused by the movement of the hysteroscope body can be effectively avoided, and the function of the cervix of a patient is protected.
The third mechanical arm 7 controls the operation instrument, and the specific actions include the forward movement, the backward movement, the opening and closing and the 360-degree rotation of the instrument.
In the embodiment of the invention, as shown in fig. 3, the uterine cavity treatment device further comprises a controller device, a manual operation operating table and a display screen, wherein the controller device is connected with the first mechanical arm 2, the second mechanical arm 5 and the third mechanical arm 7 to control the mechanical arms to move, the manual operation operating table and the display screen are both connected with the controller device, the display screen is used for displaying an operation picture in the uterine cavity and a three-dimensional model structure diagram of the uterine cavity and displaying the shortest distance between the hysteroscope body 4 and the inner wall of the uterine cavity, when the detected distance is smaller than the set distance, a prompt is sent, and the manual operation operating table is used for manually controlling the second mechanical arm 5 and the third mechanical arm 7 to move the uterine cavity.
In the embodiment of the invention, as shown in fig. 2, a hollow surgical instrument channel 4.1 is arranged in the middle of a hysteroscope body 4, a pressure sensing section 4.2 and a distance measuring section 4.3 are arranged at the front end of the hysteroscope body 4, the pressure sensing section 4.2 is arranged in contact with the inner wall of a cervix uteri, the distance measuring section 4.3 is arranged in the uterus uteri, the distance measuring section 4.3 is arranged at the front end of the pressure sensing section 4.2, a pressure sensor array 4.4 is arranged on the outer side of the pressure sensing section 4.2, a distance sensor array 4.5 is arranged on the outer side of the distance measuring section 4.3, the pressure sensing section 4.2 is used for detecting the pressure between the outer side of the hysteroscope body 4 and the cervix uteri in real time, and the distance measuring section 4.3 is used for detecting the distance between each wall in the uterus cavity and generating a three-dimensional intrauterine wall model diagram on three-dimensional coordinates according to the detected distance data.
In the embodiment of the invention, when the hysteroscope body 4 moves forwards or backwards, the pressure sensing section 4.2 senses the pressure around the hysteroscope body 4 and the cervix, when the pressure on one side is increased, the cervical orifice is not parallel when the hysteroscope body moves forwards or backwards, then the detected pressure is transmitted to the controller device, the controller device controls the second mechanical arm 5 to adjust the direction, when the pressure on one side is increased, the second mechanical arm 5 adjusts the direction to deviate a set angle in the direction opposite to the pressure increase, then the pressure on the same ring on the pressure sensing section 4.2 is detected, when the error range of the pressure on one ring is larger, the hysteroscope body 4 is parallel to the cervical orifice, the controller device controls the second mechanical arm 5 to further control the hysteroscope body 4 to move forwards or backwards, and the closed-loop repeated control is carried out until the forward movement or the backward movement is stopped.
In the embodiment of the invention, the specific process of distance detection by the distance measuring section 4.3 is as follows: when being installed, each distance sensor on the distance sensor array 4.5 is set with a label, each label corresponds to a specific coordinate, each sensor detects the distance with the inner wall of the uterine cavity, then the detected distance is transmitted to the controller device, the controller device takes the hysteroscope body 4 as an X axis, the horizontal direction vertical to the X axis is a Y axis, the vertical direction is a Z axis, then the contact part with the cervical orifice is an origin, then the distance detected by each distance sensor is marked on a three-dimensional coordinate, and then the coordinate is taken as an integral variable to carry out integral operation on the coordinate to obtain a three-dimensional model drawing of the inner wall of the uterine cavity by taking the coordinate as the integral variable and two adjacent points as the integral variable.
Before the operation, after completing anesthesia, routine disinfection and tissue spreading and gynecological examination, manually clamping the cervical clamp 1 at the cervix, disinfecting the vagina and the external opening of the cervix again, placing the hysteroscope body 4 into the uterine cavity through the vagina and the cervical canal, and completing uterine expansion operation, wherein at the moment, the pressure sensing section 4.2 does not work, connecting the first mechanical arm 2 with the cervical clamp 1, setting a fixed position, connecting the second mechanical arm 5 with the hysteroscope body 4, connecting the third mechanical arm 7 with the operation instrument 6, the operation process is that a doctor operates the manual operation operating table, controls the second mechanical arm 5 to drive the hysteroscope body 4 to advance through the controller device, senses the pressure around the hysteroscope body 4 and the cervix in the advancing process, returns to the controller device, realizes the entry of the parallel cervical canal, and then controls the third mechanical arm 7 to drive the operation instrument 6 to enter the uterine cavity through the controller device, and the doctor operates the manual operation operating table to drive the operation instrument 6 through the controller device The wall is cut, after the point of cutting operation is executed, the controller device records the three-dimensional coordinate of the cutting operation point, then the point is an action point, in the following doctor tracking operation process, the controller device marks the coordinate of the cut point on the model diagram of the inner wall of the three-dimensional uterine cavity, then the doctor can avoid the repeated appearance and the position of the cut operation when searching the cut point, the doctor searches and checks the next uncut point, the operation process is repeated until the cutting is finished, the robot is assisted to withdraw from the hysteroscope, the pressure sensing section 4.2 senses the pressure between the periphery of the hysteroscope body 4 and the cervix, the cervix is prevented from being rubbed and injured, the robot is disconnected with the operation instrument, the vagina and the external opening of the cervix are sterilized again manually, and the cervical clamp and the vaginoscope are detached.
The third mechanical arm 7 controls the operation of the surgical instrument 6 to move forward, backward, rotate and open and close, the first mechanical arm 2 controls the position of the cervical clamp 1 to be kept unchanged all the time, and the relative position of the outer side of the hysteroscope and the inner cervix is unchanged, so that when the hysteroscope body 4 is moved forward, backward, rotate and swing by taking the inner cervix as an original point, the motion track of the hysteroscope body has the inner cervix as a reference.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (8)
1. Supplementary hysteroscope surgery system of robot, its characterized in that: the improved cervical clamp comprises an improved cervical clamp (1), a first mechanical arm (2), a hysteroscope body (4), a second mechanical arm (5), a surgical instrument (6) and a third mechanical arm (7), wherein one end of the cervical clamp (1) is clamped on a cervix and used for fixing the relative position of the cervix, the first mechanical arm (2) is connected with the other end of the cervical clamp (1), the first mechanical arm (2) is used for controlling the cervical clamp (1) to clamp the cervix and setting the fixed position to be unchanged, and when the hysteroscope body is inserted into a uterine cavity, the cervix cannot move along with the cervical clamp; the hysteroscope (4) is stretched into the uterine cavity, the second mechanical arm (5) is connected with the hysteroscope (4), the second mechanical arm (5) controls the hysteroscope (4) to advance, retreat, rotate and swing, the hysteroscope (4) continuously tracks the operation pictures required by the operator, the distance between the front end or the side edge of the hysteroscope (4) and the inner wall of the uterine cavity is detected, one end of the operation instrument (6) is connected with the third mechanical arm (7), the operation instrument (6) passes through the hysteroscope (4) and enters the uterine cavity, and the operation instrument (6) is used for performing the operation on the inner wall of the uterine cavity.
2. The robot-assisted hysteroscopic surgical system of claim 1, wherein: still include the controller device, manual operation panel and display screen, the controller device and first arm (2), second arm (5) and third arm (7) are connected, control the arm action, manual operation panel and display screen all are connected with the controller device, the display screen is used for showing the three-dimensional model structure picture of the operation picture in the palace chamber and palace chamber, and show hysteroscope mirror body (4) and the shortest distance of palace intracavity wall distance, when detecting that the distance is than setting for the distance hour, send the suggestion, the manual operation panel is used for manual control second arm (5) and third arm (7) to move the palace chamber.
3. The robot-assisted hysteroscopic surgical system of claim 2, wherein: the hysteroscope is characterized in that a hollow surgical instrument channel (4.1) is arranged in the middle of the hysteroscope body (4), the front end of the hysteroscope body (4) is provided with a pressure sensing section (4.2) and a distance measuring section (4.3), the pressure sensing section (4.2) is in contact with the inner wall of the cervix, the distance measuring section (4.3) is arranged in the uterus, the distance measuring section (4.3) is arranged at the front end of the pressure sensing section (4.2), the outer side of the pressure sensing section (4.2) is provided with a pressure sensor array (4.4), the outer side of the distance measuring section (4.3) is provided with a distance sensor array (4.5), the pressure sensing section (4.2) is used for detecting the pressure of the outer side of the hysteroscope body (4) and the opening of the cervix in real time, the distance measuring section (4.3) is used for detecting the distance of each wall in the uterus, and the detected distance data generates a three-dimensional intrauterine cavity inner wall model diagram on a three-dimensional coordinate.
4. The robot-assisted hysteroscopic surgical system of claim 3, wherein: when the hysteroscope (4) moves forwards or backwards, the pressure sensing section (4.2) senses the pressure between the periphery of the hysteroscope (4) and the cervix, when the pressure on one side is increased, the cervical orifice is not parallel when the hysteroscope moves forwards or backwards, then the detected pressure is transmitted to a controller device which controls the second mechanical arm (5) to adjust the direction, when the pressure on one side is increased, the second mechanical arm (5) is adjusted to be shifted by a set angle in the direction opposite to the increase of the pressure, then the pressure on the same ring on the pressure sensing section (4.2) is detected, when the error range of the pressure of one ring is within, and (3) explaining that the hysteroscope body (4) is parallel to the cervical orifice, controlling the second mechanical arm (5) by the controller device to further control the hysteroscope body (4) to move forwards or backwards, and repeatedly controlling in a closed loop until the moving forwards or backwards stops.
5. The robot-assisted hysteroscopic surgical system of claim 3, wherein: the specific process of the distance measurement section (4.3) for detecting the distance is as follows: when each distance sensor on the distance sensor array (4.5) is installed, a label is set, each label corresponds to a specific coordinate, each sensor detects the distance between the sensor and the inner wall of the uterine cavity, then the detected distance is transmitted to the controller device, the controller device takes the hysteroscope body (4) as an X axis, the horizontal direction vertical to the X axis is a Y axis, the vertical direction is a Z axis, then the contact position with the inner opening of the cervix is an origin, then the distance detected by each distance sensor is marked on a three-dimensional coordinate, and then the coordinate is taken as an integral variable to carry out integral operation on the coordinate by taking two adjacent points as the integral variable to obtain a three-dimensional model drawing of the inner wall of the uterine cavity.
6. The robot-assisted hysteroscopic surgical system of claim 3, wherein: the system work action flow is that the cervical clamp (1) is manually clamped at the cervix, the hysteroscope body (4) is placed into the uterine cavity through the vagina and the cervical canal, the uterus expanding operation is completed, at the moment, the pressure sensing section (4.2) does not work, the first mechanical arm (2) is connected with the cervical clamp (1), the fixed position is set, the second mechanical arm (5) is connected with the hysteroscope body (4), the third mechanical arm (7) is connected with the surgical instrument (6), the operation process is that a doctor operates the manual operation operating platform to control the second mechanical arm (5) to drive the hysteroscope body (4) to advance through the controller device, the pressure sensing section (4.2) senses the pressure between the periphery of the hysteroscope body (4) and the cervix and returns to the controller device in the advancing process, the entrance of a parallel cervical orifice is realized, and then the doctor operates the manual operation operating platform to control the third mechanical arm (7) to drive the surgical instrument (6) to cut the inner wall of the uterine cavity through the controller device After the point of the cutting operation is executed, the controller device records the three-dimensional coordinates of the cutting operation point, the point is an action point, in the following doctor tracking operation process, the controller device marks the coordinates of the cut point on a three-dimensional uterine cavity inner wall model diagram, then a doctor can avoid repeated occurrence and cut positions when searching the cut point, the doctor searches and looks over the next uncut point, the operation process is repeated until the cutting is completed, the robot exits from the hysteroscope with the assistance, the pressure sensing section (4.2) senses the pressure of the periphery of the hysteroscope body (4) and the cervix, the cervix is prevented from being rubbed and injured, the robot is released from being connected with the surgical instrument, the vagina and the external cervix are manually disinfected again, and the cervical clamp and the vaginal speculum are detached.
7. The robot-assisted hysteroscopic surgical system of claim 6, wherein: the third mechanical arm (7) controls the actions of the surgical instrument (6) including advancing, retreating, rotating and opening and closing.
8. The robot-assisted hysteroscopic surgical system of claim 1, wherein: the first mechanical arm (2) controls the position of the cervical clamp (1) to be kept unchanged all the time and the relative position of the outer side of the hysteroscope and the inner cervical opening to be unchanged, so that when the hysteroscope body (4) advances, retreats, rotates and swings by taking the inner cervical opening as an original point, the motion trail of the hysteroscope body has the inner cervical opening as a reference.
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Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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