WO2022027879A1

WO2022027879A1 - Lightweight surgical robot

Info

Publication number: WO2022027879A1
Application number: PCT/CN2020/132659
Authority: WO
Inventors: 孙胜波; 曹海莲; 马波; 和题; 朱东东; 谢探一
Original assignee: 山东威瑞外科医用制品有限公司
Priority date: 2020-08-07
Filing date: 2020-11-30
Publication date: 2022-02-10

Abstract

A lightweight surgical robot, comprising a surgical bed (1), an execution part (2) provided on the surgical bed (1), an instrument part (3) detachably provided at the tail end of the execution part (2), a handheld part (4) for a doctor to hold, and a control part (5). During an operation, the doctor triggers the handheld part (4) as required; the handheld part (4) sends a finger action instruction to the control part (5); and the control part (5) controls the execution part (2) to drive the instrument part (3) to execute a corresponding action according to the finger action instruction, so that the instrument part (3) is used to perform a surgical operation on a patient. By means of the configuration of the handheld part (4), the doctor at the side surface of the surgical bed (1) can flexibly control the handheld part (4), so as to enable the instrument part (3) to execute the corresponding action, thereby facilitating the doctor accurately mastering the conditions of instruments, assistants, and the patient, being beneficial for improving the action precision of the instrument part (3), and ensuring that the operation is safe and reliable.

Description

一种轻量化的手术机器人A lightweight surgical robot

本申请要求于2020年08月07日提交中国专利局、申请号为202010791410.8、发明名称为“一种轻量化的手术机器人”的中国专利申请的优先权，本申请还要求于2020年08月07日提交中国专利局、申请号为202021639491.1、发明名称为“一种轻量化的手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number of 202010791410.8 and the name of the invention "a lightweight surgical robot", which was submitted to the China Patent Office on August 7, 2020. This application also claims to be filed on August 7, 2020. The priority of the Chinese patent application with the application number of 202021639491.1 and the invention titled "A Lightweight Surgical Robot" filed with the China Patent Office on January 1, the entire contents of which are incorporated in this application by reference.

技术领域technical field

本发明涉及医疗器械领域，特别涉及一种轻量化的手术机器人。The invention relates to the field of medical instruments, in particular to a lightweight surgical robot.

背景技术Background technique

微创外科手术具备创伤小、疼痛轻、恢复快的优势，广泛应用于各科室，但传统的微创外科手术对医生的操作水平要求较高，且极易使医生的劳动强度过大，基于此，利用智能化的手术机器人替代医生对患者进行微创手术已成为医疗领域的未来发展趋势，手术机器人能够很大程度上消除传统微创外科手术的局限性。现有手术机器人因结构较复杂，故障率较高，故设计一款结构简单的轻量化的手术机器人发势在必行。Minimally invasive surgery has the advantages of less trauma, less pain and quick recovery, and is widely used in various departments. However, traditional minimally invasive surgery requires a higher level of operation for doctors, and it is easy to make doctors’ labor intensity too high. Therefore, the use of intelligent surgical robots to replace doctors to perform minimally invasive surgery on patients has become a future development trend in the medical field. Surgical robots can largely eliminate the limitations of traditional minimally invasive surgery. Due to the complex structure of the existing surgical robot and the high failure rate, it is imperative to design a lightweight surgical robot with a simple structure.

以达芬奇手术机器为例，现有的轻量化的手术机器人通常配置有操纵台、手术床及机械臂，医生通过操纵台控制机械臂对手术床上躺着的患者进行外科手术，现有机械臂靠近手术床设置，操作台因需占据较大的空间，使操作台与手术床之间的距离过远，致使医生仅能够通过操纵台观察手术状态，难以近距离肉眼观察，而图像识别信息通常存在一定程度的精度误差，影响手术精度，进而使手术安全性受到威胁。Taking the Da Vinci surgical machine as an example, the existing lightweight surgical robot is usually equipped with a console, an operating bed and a robotic arm. The doctor controls the robotic arm through the console to perform surgical operations on the patient lying on the operating bed. The arm is set close to the operating table, and the operating table needs to occupy a large space, so that the distance between the operating table and the operating table is too far, so that the doctor can only observe the operation status through the operating table, and it is difficult to observe with the naked eye at close range, and the image recognition information Usually there is a certain degree of precision error, which affects the precision of surgery, and then threatens the safety of surgery.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种轻量化的手术机器人，使医生可借助手持部近距离观察并操纵器械部，手术精度高，手术较安全。The purpose of the present invention is to provide a lightweight surgical robot, so that the doctor can observe and manipulate the instrument part at close range by means of the hand-held part, and the operation has high precision and safety.

本发明所提供的轻量化的手术机器人，包括：The lightweight surgical robot provided by the present invention includes:

手术床；operating bed;

设于手术床的执行部；It is located in the execution part of the operating table;

可拆卸地设于执行部末端的器械部；an instrument part detachably arranged at the distal end of the execution part;

用于供医生手持的手持部；Handpieces for doctors to hold;

分别与手术床、执行部、器械部及手持部电连接的控制部，控制部用于根据手持部反馈的手指动作指令在手术床侧面控制执行部带动器械部按手指动作指令执行相应动作。The control part is respectively electrically connected with the operating bed, the execution part, the instrument part and the hand-held part. The control part is used to control the execution part on the side of the operating bed to drive the instrument part to perform corresponding actions according to the finger motion instructions fed back by the hand-held part.

优选的，还包括：Preferably, it also includes:

设于手术床旁侧并用于支撑手持部的支撑架；A support frame arranged on the side of the operating bed and used to support the hand-held part;

设于支撑架且与控制部相连、用于支撑手臂的承托部；控制部用于根据承托部反馈的手臂动作指令配合手指动作指令控制执行部带动器械部动作。The support part is arranged on the support frame and connected with the control part and is used to support the arm; the control part is used to control the execution part to drive the instrument part according to the arm motion instruction fed back by the support part and the finger motion instruction.

优选的，还包括设于手术床并用于支撑执行部的机械臂；机械臂设有电永磁座；电永磁座与控制部相连，控制部用于根据手持部反馈的器械安装指令控制电永磁座得电以使执行部借助磁吸力吸附固定于电永磁座上，还用于根据手持部反馈的器械拆卸指令控制电永磁座失电以使执行部在电永磁座磁吸力消失后脱离电永磁座。Preferably, it also includes a mechanical arm arranged on the operating bed and used to support the execution part; the mechanical arm is provided with an electro-permanent permanent magnet seat; the electro-permanent permanent magnet seat is connected with the control part, and the control part is used to control the electric motor according to the instrument installation instruction fed back by the hand-held part. The permanent magnet seat is energized so that the execution part is fixed on the electric permanent magnet seat by means of magnetic attraction, and it is also used to control the electric permanent magnet seat to lose power according to the device disassembly instruction fed back by the hand-held part, so that the execution part is magnetically attracted on the electric permanent magnet seat. After disappearing, it will be removed from the permanent magnet holder.

优选的，手术床的两相对侧设有铰接座，机械臂与铰接座相连，铰接座与控制部相连，控制部用于根据手持部反馈的旋转摆动指令控制铰接座带动机械臂相对于手术床转动以使机械臂通过执行部带动器械部摆动。Preferably, two opposite sides of the operating bed are provided with hinged seats, the mechanical arm is connected to the hinged seat, and the hinged seat is connected to the control part, and the control part is used to control the hinged seat to drive the mechanical arm relative to the operating bed according to the rotation and swing instructions fed back by the hand-held part. Rotate so that the mechanical arm drives the instrument part to swing through the actuator part.

优选的，还包括设于铰接座的配重块，配重块与机械臂相连以对机械臂的重力进行补偿。Preferably, it also includes a counterweight block arranged on the hinge base, and the counterweight block is connected with the mechanical arm to compensate the gravity of the mechanical arm.

优选的，机械臂包括两根分别对称设于手术床两侧的伸缩柱，两根伸缩柱与控制部相连，控制部用于根据手持部反馈的高度调节指令控制两根伸缩柱同步伸缩以使机械臂通过执行部调整器械部的高度。Preferably, the robotic arm includes two telescopic columns symmetrically arranged on both sides of the operating bed, the two telescopic columns are connected to the control part, and the control part is used to control the two telescopic columns to synchronously expand and contract according to the height adjustment command fed back by the hand-held part to make the The robotic arm adjusts the height of the instrument section through the actuator section.

优选的，手术床的两相对侧设有滑动座，铰接座设于滑动座，滑动座与控制部相连，控制部用于根据手持部反馈的滑动调节指令控制滑动座带动机械臂沿手术床侧面所设的滑动槽滑动以使机械臂通过执行部带动器械部滑动。Preferably, two opposite sides of the operating bed are provided with sliding seats, the hinged seats are provided on the sliding seats, and the sliding seats are connected to the control part, and the control part is used to control the sliding seat to drive the mechanical arm along the side of the operating bed according to the sliding adjustment command fed back by the hand-held part. The provided sliding slot slides so that the mechanical arm drives the instrument part to slide through the execution part.

优选的，控制部用于根据手持部反馈的器械夹持指令控制执行部带动器械部执行夹持动作，还用于根据手持部反馈的器械旋转指令控制执行部带动器械部执行旋转动作，又用于根据手持部反馈的器械切割指令控制执行部带动器械部执行切割动作。Preferably, the control part is used to control the execution part to drive the instrument part to perform the clamping action according to the instrument clamping instruction fed back by the hand-held part, and also to control the execution part to drive the instrument part to perform the rotation action according to the instrument rotation instruction fed back by the hand-held part, and use The control execution part drives the instrument part to perform the cutting action according to the instrument cutting instruction fed back by the hand-held part.

优选的，手持部包括用于检测手指反馈力的反馈力检测件，反馈力检测件与控制部相连，控制部用于根据力反馈检测件发送的力反馈指令通过执行部调整器械部的夹持力。Preferably, the hand-held part includes a feedback force detection part for detecting the feedback force of the finger, the feedback force detection part is connected to the control part, and the control part is used for adjusting the clamping of the instrument part through the execution part according to the force feedback command sent by the force feedback detection part force.

优选的，还包括用于识别登陆用户身份的用户身份检测件，用户身份检测件与控制部相连，控制部用于根据用户身份检测件发送的用户登陆指令对应调用所存储的用户登陆模式。Preferably, it also includes a user identity detector for identifying the login user identity, the user identity detector is connected to the control part, and the control part is used for correspondingly calling the stored user login mode according to the user login instruction sent by the user identity detector.

优选的，还包括与控制部相连并用于检测器械部与障碍物之间距离的距离检测件，控制部用于根据距离检测件发送的信号在器械部与障碍物之间的距离达到预设距离时控制执行部停止动作。Preferably, it also includes a distance detection part connected to the control part and used to detect the distance between the instrument part and the obstacle, and the control part is used for the distance between the instrument part and the obstacle to reach a preset distance according to the signal sent by the distance detection part When the control execution part stops the action.

优选的，还包括分别与控制部相连的报警器和用于检测器械部是否处于安全区的安全位置检测件，控制部用于根据安全位置检测件发送的信号在器械部超出安全区启动报警器发出警报。Preferably, it also includes an alarm connected to the control part and a safety position detector for detecting whether the instrument part is in the safety zone, and the control part is used to activate the alarm when the instrument part exceeds the safety zone according to the signal sent by the safety position detector. Alert.

优选的，还包括与控制器相连并用于检测穿刺器***孔的当前牵扯力的牵扯力检测件，控制器用于根据牵扯力检测件发送的信号在当前牵扯力达到预设牵扯力时控制执行部调整器械部的***角度以使当前牵扯力小于预设牵扯力。Preferably, it also includes a pulling force detection part connected to the controller and used for detecting the current pulling force of the trocar insertion hole, the controller is used to control the execution part according to the signal sent by the pulling force detection part when the current pulling force reaches the preset pulling force Adjust the insertion angle of the instrument part so that the current pulling force is smaller than the preset pulling force.

优选的，执行部与手持部直接相连。Preferably, the execution part is directly connected with the hand-held part.

相对于背景技术，本发明所提供的轻量化的手术机器人包括手术床、执行部、器械部、手持部和控制部。手术时，医生按需触发手持部，手持部发送手指动作指令至控制部，控制部控制执行部带动器械部按手指动作指令执行相应的动作，从而利用器械部对患者进行外科手术。手持部的设置可使医生在手术床的侧面灵活地操纵手持部以使器械部执行相应的动作，方便医生近距离肉眼观察器械部动作，避免远距离观察或操纵器械部，降低器械部发生误动作的风险，有利于提升器械部的动作精度，保证手术安全可靠。Compared with the background art, the lightweight surgical robot provided by the present invention includes an operating bed, an execution part, an instrument part, a hand-held part and a control part. During the operation, the doctor triggers the hand-held part as needed, and the hand-held part sends finger motion instructions to the control part, and the control part controls the execution part to drive the instrument part to perform corresponding actions according to the finger motion instructions, so as to use the instrument part to perform surgical operations on the patient. The setting of the hand-held part allows the doctor to flexibly manipulate the hand-held part on the side of the operating bed to make the instrument part perform corresponding actions, which is convenient for the doctor to observe the action of the instrument part with the naked eye, avoid long-distance observation or manipulation of the instrument part, and reduce the error of the instrument part. The risk of action is conducive to improving the action accuracy of the instrument part and ensuring the safety and reliability of the operation.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

图1为本发明第一种具体实施例所提供的轻量化的手术机器人的结构图；1 is a structural diagram of a lightweight surgical robot provided by a first specific embodiment of the present invention;

图2为图1中手持部与承托部的组装图；Fig. 2 is the assembly diagram of the handle portion and the support portion in Fig. 1;

图3为图1中手持部的结构图；Fig. 3 is the structural diagram of the hand-held portion in Fig. 1;

图4为图1中手持部的击发按钮剖面图；4 is a cross-sectional view of the firing button of the hand-held portion in FIG. 1;

图5为穿刺器的结构图；Figure 5 is a structural diagram of the trocar;

图6为本发明第二种具体实施例所提供的轻量化的手术机器人的结构图。FIG. 6 is a structural diagram of a lightweight surgical robot provided by a second specific embodiment of the present invention.

附图标记如下：The reference numbers are as follows:

手术床1、执行部2、器械部3、手持部4、支撑架6、承托部7、机械臂8、显示屏9、穿刺器10和牵扯力检测件11； Operating bed 1, execution part 2, instrument part 3, hand-held part 4, support frame 6, support part 7, robotic arm 8, display screen 9, puncture device 10 and traction force detector 11;

击发按钮41、调节组件42、弹性件43、位移检测件44、检测架45和手柄46、移动按钮47、拨轮开关48和摇杆式角度传感器49；The firing button 41, the adjustment assembly 42, the elastic piece 43, the displacement detection piece 44, the detection frame 45 and the handle 46, the movement button 47, the dial switch 48 and the rocker type angle sensor 49;

衔铁杆421和固定线圈422； armature rod 421 and fixed coil 422;

矩形框架451和圆环形框架452。A rectangular frame 451 and a circular ring frame 452 .

具体实施方式detailed description

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

为了使本技术领域的人员更好地理解本发明方案，下面结合附图和具体实施例对本发明作进一步的详细说明。In order to make those skilled in the art better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

请参考图1至图5，图1为本发明第一种具体实施例所提供的轻量化的手术机器人的结构图；图2为图1中手持部与承托部的组装图；图3为图1中手持部的结构图；图4为图1中手持部的击发按钮剖面图；图5为穿刺器的结构图。Please refer to FIGS. 1 to 5. FIG. 1 is a structural diagram of a lightweight surgical robot provided by a first specific embodiment of the present invention; FIG. 2 is an assembly diagram of a hand-held part and a supporting part in FIG. 1; Fig. 1 is a structural view of the hand-held portion; Fig. 4 is a cross-sectional view of the firing button of the hand-held portion of Fig. 1; Fig. 5 is a structural view of the trocar.

本发明实施例公开了一种轻量化的手术机器人，包括手术床1、执行部2、器械部3、手持部4和控制部5。The embodiment of the present invention discloses a lightweight surgical robot, which includes an operating bed 1 , an execution part 2 , an instrument part 3 , a hand-held part 4 and a control part 5 .

手术床1包括床支架和床板，床板用于供患者躺卧，床支架用于支撑床板，床支架可以是升降式床支架，方便医生按需灵活调整床板的高度。The operating bed 1 includes a bed support and a bed board. The bed board is used for the patient to lie down. The bed support is used to support the bed board. The bed support can be a lift-type bed support, so that the doctor can flexibly adjust the height of the bed board as needed.

执行部2设于手术床1，用于带动器械部3动作。执行部2内置有驱动电机、齿轮传动部等部件，驱动电机与控制部5相连，由控制部5控制驱动电机转速及转向。执行部2的外壳密封性较好，为执行部2的高温高压灭菌提供条件。The execution part 2 is arranged on the operating bed 1 and is used to drive the instrument part 3 to act. The execution part 2 has built-in components such as a drive motor and a gear transmission part. The drive motor is connected to the control part 5 , and the control part 5 controls the rotation speed and steering of the drive motor. The casing of the execution part 2 has good sealing performance, which provides conditions for the high temperature and high pressure sterilization of the execution part 2 .

器械部3可拆卸地设于执行部2末端。器械部3可以是吻合器、抓钳、持针钳、电刀等腔镜手术器械，医生可按需将所需的器械部3安装至执行部2。执行部2与器械部3之间优选机械卡固的方式实现固连，机械卡固的结构具体可参考现有技术。执行部2可带动器械部3实现左右摆动、上下摆动、夹紧松开、前进后退及左旋右旋等动作。器械部3可以是一次性用品，手术结束后医生可在执行部2与手持部4断开连接后拆下器械部3。具体地，器械部3具有九个自由度，例如器械部3的前后移动、张合动作、开口的上下移动、左右移动、旋转动作、上下摆动、左右摆动、前后移动等动作。The instrument part 3 is detachably arranged at the end of the execution part 2 . The instrument part 3 can be a laparoscopic surgical instrument such as a stapler, grasping forceps, needle holding forceps, electric knife, etc. The doctor can install the required instrument part 3 to the execution part 2 as required. The execution part 2 and the instrument part 3 are preferably connected by means of mechanical clamping, and the structure of the mechanical clamping can refer to the prior art for details. The execution part 2 can drive the instrument part 3 to swing left and right, up and down, clamping and loosening, advancing and retreating, and turning left and right. The instrument part 3 can be a disposable product, and after the operation, the doctor can remove the instrument part 3 after the execution part 2 is disconnected from the hand-held part 4 . Specifically, the instrument part 3 has nine degrees of freedom, such as the forward and backward movement, the opening and closing movement, the up and down movement of the opening, the left and right movement, the rotation movement, the up and down swing, the left and right swing, and the back and forth movement of the instrument part 3 .

手持部4用于供医生手持，方便利用手持部4遥控器械器动作。手持部4的体积较小且重量较轻，方便医生灵活转移。The hand-held part 4 is used for the doctor to hold it, and it is convenient to use the hand-held part 4 to remotely control the action of the instrument. The hand-held part 4 is small in size and light in weight, which is convenient for doctors to transfer flexibly.

控制部5分别与手术床1、执行部2、器械部3及手持部4电连接。控制部5可以是CPU、MPU、MCU或FPGA等，用于信号的处理及存储。为提升安全性，控制部5优选包含主机和从机，实现双机热备功能，主机与从机采用定时通信，从机可在主机正常工作时仅备份数据，从机还可在主机故障时替代主机处理信息，从而利用安全冗余措施防止数据丢失，进而防止手术因数据丢失而中断，有利于提升手术安全性。进一步地，控制部5可通过互联网将存储的数据上传至云数据库中，进一步防止数据丢失。The control unit 5 is electrically connected to the operating bed 1 , the execution unit 2 , the instrument unit 3 and the hand-held unit 4 respectively. The control unit 5 may be a CPU, MPU, MCU, or FPGA, etc., and is used for signal processing and storage. In order to improve security, the control unit 5 preferably includes a master and a slave to realize the dual-machine hot backup function. The master and the slave use timed communication. The slave can only back up data when the master is working normally, and the slave can also be used when the master fails. Instead of the host computer to process information, safety redundancy measures are used to prevent data loss, thereby preventing surgery from being interrupted due to data loss, which is conducive to improving the safety of surgery. Further, the control unit 5 can upload the stored data to the cloud database through the Internet, so as to further prevent data loss.

控制部5内置有通信板卡，通信板卡可以是有线网卡、无线网卡、RS458通信、USB通信或CAN总线等，控制部5通过通信板卡与其他部件进行通信。手持部4、执行部2及控制部5之间优选无线通信，无线通信可以是蓝牙、uwb、zigbee或WLAN等通信方式，优选WLAN无线通信。控制部5的通信接口可以是WLAN或5G网口，为远距离传输信号提供条件，使控制部5适用于远程医疗或远程监控。The control part 5 has a built-in communication board, and the communication board can be wired network card, wireless network card, RS458 communication, USB communication or CAN bus, etc. The control part 5 communicates with other components through the communication board. Wireless communication is preferred between the handheld part 4 , the execution part 2 and the control part 5 , and the wireless communication may be a communication method such as Bluetooth, uwb, zigbee or WLAN, preferably WLAN wireless communication. The communication interface of the control unit 5 may be a WLAN or a 5G network port, which provides conditions for long-distance signal transmission, so that the control unit 5 is suitable for telemedicine or remote monitoring.

手术时，医生按需触发手持部4，手持部4发送手指动作指令至控制部5，控制部5控制执行部2带动器械部3按手指动作指令执行相应的动作，从而利用器械部3对患者进行外科手术。During the operation, the doctor triggers the hand-held part 4 as needed, the hand-held part 4 sends a finger motion command to the control part 5, and the control part 5 controls the execution part 2 to drive the instrument part 3 to execute the corresponding action according to the finger motion command, so as to use the instrument part 3 to perform the corresponding action on the patient. Perform surgery.

由上述可知，手持部4的设置可使医生在手术床1的侧面灵活地操纵手持部4以使器械部3执行相应的动作，方便医生近距离肉眼观察器械部3动作，避免远距离观察或操纵器械部3，降低器械部3发生误动作的风险，有利于提升器械部3的动作精度，保证手术安全可靠。It can be seen from the above that the setting of the hand-held part 4 enables the doctor to flexibly manipulate the hand-held part 4 on the side of the operating bed 1 to make the instrument part 3 perform corresponding actions, which is convenient for the doctor to observe the action of the instrument part 3 with the naked eye at a close distance, and avoids long-distance observation or operation. Manipulating the instrument part 3 reduces the risk of malfunction of the instrument part 3 , which is beneficial to improve the action accuracy of the instrument part 3 and ensure safe and reliable operation.

在第一种具体实施例中，本发明还包括支撑架6和承托部7，支撑架6位于手术床1侧面，并用于支撑手持部4。支撑架6可也可以是伸缩式支撑架6，方便医生根据自身身高调整支撑架6高度，使支撑架6的高度符合人机工程学。承托部7设于支撑架6顶部，用于支撑医生的手部，有利于减缓医生的工作强度。承托部7包括具有承托槽的承托块，承托块固定于支撑架6顶部。承托槽可增设缓冲垫，缓冲垫可由硅胶制成，避免手臂与承托槽刚性接触，有利于提升舒适性。In the first specific embodiment, the present invention further includes a support frame 6 and a support portion 7 , and the support frame 6 is located on the side of the operating bed 1 and used to support the hand-held portion 4 . The support frame 6 can also be a telescopic support frame 6, which is convenient for doctors to adjust the height of the support frame 6 according to their own height, so that the height of the support frame 6 is ergonomic. The support portion 7 is arranged on the top of the support frame 6 and is used to support the doctor's hand, which is beneficial to reduce the work intensity of the doctor. The support portion 7 includes a support block with a support groove, and the support block is fixed on the top of the support frame 6 . A buffer pad can be added to the support groove, which can be made of silicone to avoid rigid contact between the arm and the support groove, which is conducive to improving comfort.

为精确控制部5械部3动作，承托部7与控制部5电连接，使控制部5同时根据承托部7反馈的手臂动作指令及手持部4反馈的手指动作指令控制执行部2带动器械部3执行相应的动作。例如，当扣动手持部4的击发按钮且手臂用力下压承托部7时，手持部4反馈击发指令至控制部5使控制部5控制部5械部3夹持组织，同时承托部7反馈下压指令至控制部5控制增大器械部3的夹持力。需指明的是，手持部4反馈的手指动作指令主要用于控制部5械部3实现夹持、旋转或剪切等主功能，承托部7反馈的手臂动作指令主要用于控制部5械部3实现小幅度摆动、增大或减小夹持力或床体升降等辅助功能。In order to precisely control the movement of the mechanical part 3 of the part 5, the support part 7 is electrically connected to the control part 5, so that the control part 5 simultaneously controls the execution part 2 to drive according to the arm movement command fed back by the support part 7 and the finger movement command fed back by the hand-held part 4. The instrument part 3 performs corresponding actions. For example, when the firing button of the hand-held part 4 is pressed and the arm presses the supporting part 7 with force, the hand-held part 4 feeds back a firing command to the control part 5 so that the control part 5 controls the part 5 and the mechanical part 3 clamps the tissue, while the supporting part 7 Feedback the pressing command to the control part 5 to control the increase of the clamping force of the instrument part 3 . It should be pointed out that the finger motion commands fed back by the hand-held part 4 are mainly used for the control part 5 and the mechanical part 3 to realize the main functions such as clamping, rotation or shearing, and the arm motion commands fed back by the support part 7 are mainly used for the control part 5 mechanical parts. Part 3 realizes auxiliary functions such as small-amplitude swing, increasing or decreasing clamping force or bed body lifting.

本发明还包括设于手术床1的机械臂8，机械臂8用于支撑执行部2。机械臂8设有电永磁座，电永磁座与控制部5相连。当手持部4反馈的器械安装指令至控制部5，控制部5控制电永磁座得电，使执行部2借助磁吸力吸附固定于电永磁座上；当手持部4反馈的器械拆卸指令至控制部5时，控制部5控制电永磁座失电，使执行部2在电永磁座磁吸力消失后脱离电永磁座；方便拆装执行部2，方便执行部2实现快速消毒，或方便实现快速更换器械部3。当然，执行部2的安装方式不限于此。需说明的是，手持部4设有拆装按钮，当按下拆装按钮时，手持部4发送器械拆卸指令至控制部5；相反，手持部4持续发送器械安装指令至控制部5，使执行部2保持固定于电永磁座上。拆卸按钮可以是弹性按钮。The present invention also includes a robotic arm 8 disposed on the operating bed 1 , and the robotic arm 8 is used to support the execution part 2 . The mechanical arm 8 is provided with an electro-permanent permanent magnet seat, which is connected with the control part 5 . When the device installation instruction fed back by the hand-held part 4 is sent to the control part 5, the control part 5 controls the electro-permanent permanent magnet seat to be energized, so that the execution part 2 is adsorbed and fixed on the electro-permanent permanent magnet seat by means of magnetic attraction; When the control part 5 reaches the control part 5, the control part 5 controls the electric permanent magnet holder to lose power, so that the execution part 2 is separated from the electric permanent magnet base after the magnetic attraction force of the electric permanent magnet base disappears; , or to facilitate the rapid replacement of the instrument part 3 . Of course, the installation manner of the execution unit 2 is not limited to this. It should be noted that the hand-held part 4 is provided with a disassembly and assembly button. When the disassembly and assembly button is pressed, the hand-held part 4 sends an instrument disassembly instruction to the control part 5; The actuator 2 remains fixed on the permanent magnet holder. The removal button may be a flexible button.

在该具体实施例中，机械臂8包括吊装横梁，电永磁座可滑动地设于吊装横梁上，吊装横梁设有与电永磁座相连的横向驱动缸，横向驱动缸与控制部5电连接，手持部4可增设横向移位按钮，当下压横向移动按钮时，手持发送横向移动指令至控制部5，控制部5启动横向驱动缸伸缩，使横向驱动缸驱动电永磁座沿吊装横梁自动滑动至目标位置，方便调整执行部2的位置。考虑到可靠性，可在吊装横梁与电永磁座之间增设锁定部，当电永磁座滑动至目标位置时，控制部5控制锁定部将电永磁座锁定至吊装横梁上，防止电永磁座在手术过程中误动作，有利于提升手术安全性，锁定部可包括锁杆和锁孔，具体结构及工作原理可参考现有技术。当然，将电永磁座直接固定于机械臂8上仍能实现本发明的目的。为限定执行部2的安装位置，电永磁座设有定位柱，方便快速拆装执行部2。In this specific embodiment, the manipulator 8 includes a hoisting beam, and the electro-permanent magnet seat is slidably arranged on the hoisting beam. Connect, the hand-held part 4 can add a lateral shift button, when the lateral movement button is pressed, the hand-held sends a lateral movement command to the control part 5, and the control part 5 starts the lateral drive cylinder to expand and contract, so that the lateral drive cylinder drives the electro-permanent permanent magnet seat along the hoisting beam. Automatically slide to the target position, which is convenient to adjust the position of the execution part 2. Considering the reliability, a locking part can be added between the hoisting beam and the permanent magnet seat. When the permanent magnet seat slides to the target position, the control part 5 controls the locking part to lock the permanent magnet seat on the hoisting beam to prevent electrical The permanent magnet seat malfunctions during the operation, which is beneficial to improve the safety of the operation. The locking part may include a lock rod and a lock hole. The specific structure and working principle can refer to the prior art. Of course, the purpose of the present invention can still be achieved by directly fixing the electro-permanent seat on the mechanical arm 8 . In order to limit the installation position of the execution part 2 , the electric permanent magnet seat is provided with a positioning column, which is convenient for quick disassembly and assembly of the execution part 2 .

机械臂8与执行部2均由碳纤维加工而成，满足重量轻且弹性模量小等优势，方便快速拆装，有利于缩短手术时间。机械臂8与执行部2的轻量化设置，方便医生根据手术需求增设多个机械臂8或执行部2，免受一体式手术机器人的限制，使用较灵活。Both the robotic arm 8 and the execution part 2 are made of carbon fiber, which meets the advantages of light weight and small elastic modulus, convenient and quick disassembly and assembly, which is beneficial to shorten the operation time. The lightweight arrangement of the robotic arm 8 and the execution unit 2 is convenient for the doctor to add multiple robotic arms 8 or the execution unit 2 according to the needs of the operation, which is free from the limitation of the integrated surgical robot and is more flexible to use.

手术床1的两相对侧设有铰接座，机械臂8与铰接座相连，铰接座与控制部5电连接，当手持部4反馈旋转摆动指令至控制部5，控制部5控制铰接座旋转，铰接座带动机械臂8相对于手术床1转动，使机械臂8通过执行部2带动器械部3摆动，精确限定器械部3的位置。器械部3的最大翻转角度为180度。手持部4可增设旋转按钮，当旋转按钮时，手持部4发送反馈旋转摆动指令至控制部5。Two opposite sides of the operating bed 1 are provided with hinged seats, the mechanical arm 8 is connected with the hinged seats, and the hinged seats are electrically connected with the control part 5. When the hand-held part 4 feeds back a rotation and swing command to the control part 5, the control part 5 controls the hinged seat to rotate, The hinge seat drives the mechanical arm 8 to rotate relative to the operating bed 1 , so that the mechanical arm 8 drives the instrument part 3 to swing through the execution part 2 , and precisely defines the position of the instrument part 3 . The maximum turning angle of the instrument part 3 is 180 degrees. A rotary button can be added to the hand-held part 4 . When the button is rotated, the hand-held part 4 sends a feedback rotation and swing command to the control part 5 .

本发明还包括设于铰接座的配重块，配重块与机械臂8相连，以便利用配重块对机械臂8的重力进行补偿，避免机械臂8因负载过大而使其精度过低。机械臂8的设置数量可以是一个或多个，但最多不超过四个。The present invention also includes a counterweight block arranged on the hinge base, and the counterweight block is connected with the mechanical arm 8, so as to use the counterweight block to compensate the gravity of the mechanical arm 8, so as to prevent the precision of the mechanical arm 8 from being too low due to excessive load . The number of the robot arms 8 can be one or more, but not more than four at most.

机械臂8还包括两根分别对称设于手术床1两侧的伸缩柱，两根伸缩柱与控制部5相连，当手持部4反馈高度调节指令至控制部5，控制部5控制两根伸缩柱同步伸缩，使机械臂8通过执行部2调节器械部3的高度，进一步限定器械部3的位置。手持部4可增设高度调节按钮，当按压高度调节按钮时，高度调节按钮发送高度调节指令至控制部5。The robotic arm 8 also includes two telescopic columns symmetrically arranged on both sides of the operating bed 1, and the two telescopic columns are connected to the control part 5. When the hand-held part 4 feeds back a height adjustment command to the control part 5, the control part 5 controls the two telescopic columns. The column is synchronously extended and retracted, so that the mechanical arm 8 can adjust the height of the instrument part 3 through the execution part 2 and further limit the position of the instrument part 3 . A height adjustment button can be added to the handheld part 4 , and when the height adjustment button is pressed, the height adjustment button sends a height adjustment command to the control part 5 .

进一步地，手术床1的两侧设有滑动座，每一侧的铰接座对于设于同侧的滑动座上，滑动座与控制部5相连，当手持部4反馈的滑动调节指令至控制部5，控制部5控制滑动座沿手术床1侧面所设的滑动槽滑动，使滑动座通过执行部2带动器械部3相对于手术床1滑动至目标位置。滑动座可以是液压缸或配置有丝杠螺母副的伺服电机。相应地，手持部4设有滑动调节按钮，当按压滑动调节按钮时，手持部4发送滑动调节指令至控制部5。滑动座与铰接座之间可采用螺栓连接，但不限于此。Further, two sides of the operating bed 1 are provided with sliding seats, and the hinged seat on each side is connected to the sliding seat on the same side, and the sliding seat is connected with the control part 5. 5. The control part 5 controls the sliding seat to slide along the sliding groove provided on the side of the operating bed 1 , so that the sliding seat drives the instrument part 3 to slide relative to the operating bed 1 to the target position through the execution part 2 . The sliding seat can be a hydraulic cylinder or a servo motor equipped with a screw nut pair. Correspondingly, the hand-held part 4 is provided with a sliding adjustment button. When the sliding adjustment button is pressed, the hand-held part 4 sends a sliding adjustment command to the control part 5 . The sliding seat and the hinge seat may be connected by bolts, but not limited to this.

横向驱动缸、铰接座、伸缩柱及滑动座的设置方便医生在手术前依据患者的手术部位自动调整器械部3，并方便在手术过程中自动调整器械部3的位置。The setting of the transverse driving cylinder, the hinge seat, the telescopic column and the sliding seat is convenient for the doctor to automatically adjust the instrument part 3 according to the patient's surgical site before the operation, and to automatically adjust the position of the instrument part 3 during the operation.

此外，当手持部4发送器械夹持指令至控制部5时，控制部5控制执行部2带动器械部3执行夹持动作；当手持部4发送器械旋转指令至控制部5时，控制部5控制执行部2带动器械部3执行旋转动作；当手持部4发送器械切割指令至控制部5时，控制部5执行部2带动器械部3执行切割动作。相应地，手持部4设有用于生成器械夹持指令的击发按钮，还设有用于生成器械旋转指令的器械旋转按钮，又设有用于生成器械切割指令的器械剪切按钮。In addition, when the hand-held part 4 sends an instrument clamping command to the control part 5 , the control part 5 controls the execution part 2 to drive the instrument part 3 to perform the clamping action; when the hand-held part 4 sends an instrument rotation command to the control part 5 , the control part 5 The control execution part 2 drives the instrument part 3 to perform the rotating action; when the hand-held part 4 sends the instrument cutting instruction to the control part 5 , the control part 5 and the execution part 2 drives the instrument part 3 to perform the cutting action. Correspondingly, the hand-held part 4 is provided with a firing button for generating an instrument clamping instruction, an instrument rotation button for generating an instrument rotation instruction, and an instrument cutting button for generating an instrument cutting instruction.

为提升手术精度，手持部4设有用于检测手指反馈力的反馈力检测件，反馈力检测件与控制部5相连，当力反馈检测件发送力反馈指令至控制部5，控制部5通过执行部2调整器械部3的夹持力，方便医生在手术过程中按需自动调整器械部3的夹持力，使夹持力适当，避免过大的夹持力夹伤组织，保证手术安全。反馈力检测件可以是力检测传感器。In order to improve the precision of the operation, the hand-held part 4 is provided with a feedback force detection part for detecting the feedback force of the finger, and the feedback force detection part is connected with the control part 5. When the force feedback detection part sends a force feedback command to the control part 5, the control part 5 executes the feedback force. The part 2 adjusts the clamping force of the instrument part 3, which is convenient for the doctor to automatically adjust the clamping force of the instrument part 3 as needed during the operation, so as to make the clamping force appropriate, avoid the excessive clamping force from pinching the tissue, and ensure the safety of the operation. The feedback force detection member may be a force detection sensor.

本发明还包括用于识别登陆用户身份的用户身份检测件，用户身份检测件与控制部5相连，当用户身份检测件发送用户登陆指令至控制部5，控制部5调用所存储的用户登陆模式，使不同登陆用户自动进入对应的用户登陆模式，方便登陆用户快速查阅患者信息，同时方便保密患者信息。用户身份检测件可以利用虹膜、指纹、脸部或RAID刷卡识别等非接触式方式进行识别，登陆用户身份可以是工程师、医生或护士，以医生为例，医生登陆模式对应显示器械部3的夹持力、切割力、电流大小、位姿或使用次数等信息。再以工程师为例，工程师登陆模式对应显示器械部3的出厂信息、标准参数、生产批次或使用寿命等信息。The present invention also includes a user identity detection piece for identifying the identity of the logged-in user, the user identity detection piece is connected to the control part 5, when the user identity detection piece sends a user login instruction to the control part 5, the control part 5 calls the stored user login mode , so that different login users automatically enter the corresponding user login mode, which is convenient for login users to quickly check patient information, and at the same time, it is convenient to keep patient information confidential. The user identity detector can be identified by non-contact methods such as iris, fingerprint, face or RAID card swipe identification. The login user identity can be an engineer, doctor or nurse. Taking a doctor as an example, the doctor login mode corresponds to the clip of the display device part 3. Information such as holding force, cutting force, current size, pose or number of uses. Taking an engineer as an example again, the engineer login mode corresponds to displaying the factory information, standard parameters, production batch or service life of the instrument part 3 and other information.

本发明中的控制部5内置有用于存储病患信息的病患数据库，手术前医生将每个病患的病患信息表存储至病患数据库，手术时医生可借助语音、触摸屏或鼠标键盘等方式将病患的身份信息输入至控制部5，方便医生实时从病患数据库中调用与病患的身份信息相对应的病患信息表，并在手术过程中实时按需修改病患信息表。病患信息表可包含病患的CT检测结果或超声波检测结果等。医生可采用语音、触摸屏或鼠标键盘等方式调用病患信息表，与之对应地，可增设与控制部5相连以采集医生的语音信息的语音识别器或增设与控制相连以采集医生输入的调用信息的触摸屏。The control unit 5 in the present invention has a built-in patient database for storing patient information. Before the operation, the doctor stores the patient information table of each patient in the patient database. During the operation, the doctor can use voice, touch screen, mouse and keyboard, etc. In this way, the patient's identity information is input into the control unit 5, so that the doctor can call the patient information table corresponding to the patient's identity information from the patient database in real time, and modify the patient information table in real time during the operation. The patient information table may contain CT test results or ultrasound test results of the patient, etc. The doctor can call the patient information table by means of voice, touch screen or mouse and keyboard. Correspondingly, a voice recognizer connected to the control unit 5 to collect the doctor's voice information can be added or a call connected to the control to collect the doctor's input can be added. Information touch screen.

本发明还包括用于识别病患信息表中的CT检测结果的CT识别件和显示屏9，CT识别件与显示屏9均与控制部5相连。当CT识别件识别到病患信息表中的CT检测结果时，CT识别件发送信号至控制部5，控制部5控制显示屏9的显示亮度，方便医生准确查看CT检测结果。CT识别件可以是图像识别设备，在此不做具体限定。The present invention also includes a CT identification element and a display screen 9 for identifying the CT detection results in the patient information table, and both the CT identification element and the display screen 9 are connected to the control unit 5 . When the CT identification element recognizes the CT detection result in the patient information table, the CT identification element sends a signal to the control unit 5, and the control unit 5 controls the display brightness of the display screen 9, so that the doctor can accurately check the CT detection result. The CT identifier may be an image recognition device, which is not specifically limited here.

显示屏9可以是多个，多个显示屏9显示不同的信息。显示屏9优选触摸屏，可以是电阻式触摸或电容式触摸屏。显示屏9具有GA、HDMI、DP、DPmini等接口，显示屏9还设有用于外接键盘、鼠标或触摸板的USB接口。There can be multiple display screens 9, and the multiple display screens 9 display different information. The display screen 9 is preferably a touch screen, which can be a resistive touch screen or a capacitive touch screen. The display screen 9 has interfaces such as GA, HDMI, DP, and DPmini, and the display screen 9 is also provided with a USB interface for an external keyboard, mouse or touchpad.

本发明还包括用于检测器械部3手术状态的手术状态检测件，手术状态检测件与控制部5相连，控制部5根据手术状态检测件发送的信息控制显示屏9实时显示器械部3的手术状态。手术状态检测件可以是摄像头，但不限于此。The present invention also includes an operation state detector for detecting the operation state of the instrument part 3, the operation state detector is connected to the control part 5, and the control part 5 controls the display screen 9 to display the operation of the instrument part 3 in real time according to the information sent by the operation state detector state. The surgical state detection element can be a camera, but is not limited to this.

手持部4包括固定外壳，固定外壳一体式设有用于供医生手持的固定手柄，所有按钮均安装于固定外壳上，固定外壳安装有用于为手持部4独立供电的充电电池，固定外壳设有与充电电池相连的充电接口，充电接口与外接电源相连。充电接口设有用于状态显示屏9，状态显示屏9用于显示手持部4的电压、电流、电量等信息，状态显示屏9通过无线通信方式与控制部5相连。The hand-held part 4 includes a fixed casing. The fixed casing is integrally provided with a fixed handle for the doctor to hold. All buttons are installed on the fixed casing. The fixed casing is installed with a rechargeable battery for independently supplying power to the handheld part 4. A charging interface connected to the rechargeable battery, and the charging interface is connected to an external power supply. The charging interface is provided with a status display screen 9 , which is used to display information such as voltage, current, and power of the handheld portion 4 , and the status display screen 9 is connected to the control portion 5 through wireless communication.

手持部4还包括用于显示执行部2与器械部3连接状态的状态指示灯，相应地本发明还包括用于检测执行部2与器械部3连接状态的器械连接状态检测件，状态指示灯与器械连接状态检测件均与控制部5相连，当器械连接状态检测件检测到执行部2与器械部3未连接时，器械连接状态检测件发送信号至控制部5，控制部5控制状态指示灯发出红光；当器械连接状态检测件检测到执行部2与器械部3连接时，器械连接状态检测件发送信号至控制部5，控制部5控制状态指示灯发出绿光。状态指示灯可以是LED灯，器械连接状态检测件可以是接触传感器或压力传感器，在此不做具体限定。The hand-held part 4 also includes a state indicator for displaying the connection state between the execution part 2 and the instrument part 3. Correspondingly, the present invention also includes an instrument connection state detector for detecting the connection state between the execution part 2 and the instrument part 3. The state indicator light The device connection state detector is connected to the control part 5. When the device connection state detector detects that the execution part 2 and the device part 3 are not connected, the device connection state detector sends a signal to the control part 5, and the control part 5 indicates the control state. The lamp emits red light; when the instrument connection state detector detects that the execution part 2 is connected to the instrument part 3, the instrument connection state detector sends a signal to the control part 5, and the control state indicator light of the control part 5 emits a green light. The status indicator light may be an LED light, and the instrument connection status detection member may be a contact sensor or a pressure sensor, which is not specifically limited here.

手持部4还包括用于检测手持部4与执行部2连接状态的执行连接状态检测件及语音提示器，执行连接状态检测件及语音提示器均与控制部5相连，当执行连接状态检测件检测到手持部4与执行部2连接时，执行连接状态检测件发送信号至控制部5，控制部5控制语音提示器提升医生手持部4与执行部2已连接。执行连接状态检测件可以是通信连接检测设备。The hand-held part 4 also includes an execution connection state detection part and a voice prompter for detecting the connection state of the hand-held part 4 and the execution part 2. The execution connection state detection part and the voice prompter are both connected to the control part 5. When the execution connection state detection part is executed When it is detected that the hand-held part 4 is connected to the execution part 2 , the execution connection state detector sends a signal to the control part 5 , and the control part 5 controls the voice prompter to raise the doctor that the hand-held part 4 and the execution part 2 are connected. The performing connection state detection member may be a communication connection detection device.

本发明还包括与控制部5相连的距离检测件，距离检测件用于检测器械部3与障碍物之间的距离，距离检测件可以是距离检测传感器或障碍物检测传感器等，其中障碍物传感器可以是利用双面视觉或磁性定位等技术的障碍物传感器。例如，将标志贴贴于机械臂8和器械部3上，标志贴采用通用的编码形式，标志贴与控制部5相连，方便控制部5借助标志贴识别机械臂8和器械部3的位置，从而实现防碰撞。The present invention also includes a distance detection piece connected to the control part 5, the distance detection piece is used to detect the distance between the instrument part 3 and the obstacle, the distance detection piece can be a distance detection sensor or an obstacle detection sensor, etc., wherein the obstacle sensor It could be an obstacle sensor utilizing technologies such as double-sided vision or magnetic positioning. For example, stick the logo sticker on the robot arm 8 and the instrument part 3, the logo sticker adopts a general coding form, and the logo sticker is connected with the control part 5, so that the control part 5 can identify the position of the mechanical arm 8 and the instrument part 3 by means of the logo sticker. So as to achieve anti-collision.

控制部5根据距离检测件发送的信号在器械部3与障碍物之间的距离达到预设距离时控制执行部2停止动作，防止器械部3与障碍物发生碰撞，从而有效防止器械部3与机械臂8、手术床1或外界物体等发生碰撞，有利于提升手术安全性。预设距离是器械部3与障碍物即将发生碰撞时的距离，可预先输入至控制部5中。According to the signal sent by the distance detector, the control part 5 controls the execution part 2 to stop when the distance between the instrument part 3 and the obstacle reaches the preset distance, so as to prevent the instrument part 3 from colliding with the obstacle, thereby effectively preventing the instrument part 3 from colliding with the obstacle. The collision between the robotic arm 8, the operating bed 1 or an external object is beneficial to improve the safety of the operation. The preset distance is the distance when the instrument part 3 and the obstacle are about to collide, and can be input into the control part 5 in advance.

手持部4设有触发击发按钮41，击发按钮41包括同轴设置的触发凸缘和按钮本体，触发凸缘与按钮本体一体式相连，触发凸缘的横截面面积大于按钮本体的横截面面积。具体地，触发凸缘与按钮本体均呈圆柱状，触发凸缘的外径大于按钮本体的外径。击发按钮41可滑动地安装于有调节组件42，用于调节击发按钮41的触发力度。调节组件42可以是液压缸、气缸或磁感线圈等。调节组件42的具体结构及工作原理可参考下述内容。击发按钮41与调节组件42之间抵接有弹性件43，弹性件43始终保持压缩状态，为击发按钮41提供阻尼。弹性件43套于按钮本体上，具体为圆柱弹簧。弹性件43靠近击发按钮41的一端具体与触发凸缘相抵。The handle portion 4 is provided with a trigger button 41, the trigger button 41 includes a coaxial trigger flange and a button body, the trigger flange and the button body are integrally connected, and the cross-sectional area of the trigger flange is larger than that of the button body. Specifically, the trigger flange and the button body are both cylindrical, and the outer diameter of the trigger flange is larger than the outer diameter of the button body. The firing button 41 is slidably mounted on the adjusting assembly 42 for adjusting the triggering force of the firing button 41 . The adjustment assembly 42 may be a hydraulic cylinder, an air cylinder, a magnetic induction coil, or the like. For the specific structure and working principle of the adjustment component 42, reference may be made to the following contents. An elastic member 43 abuts between the firing button 41 and the adjustment assembly 42 , and the elastic member 43 is always kept in a compressed state to provide damping for the firing button 41 . The elastic member 43 is sleeved on the button body, and is specifically a cylindrical spring. One end of the elastic member 43 close to the firing button 41 is specifically abutted against the trigger flange.

考虑到调节组件42的工作精度，调节组件42选用磁感型，包括衔铁杆421和固定线圈422，衔铁杆421可滑动地套于击发按钮41。衔铁杆421具有与弹性件43相抵的抵接凸缘。抵接凸缘设于衔铁杆421靠近击发按钮41的一端，除了抵接弹性件43外，抵接凸缘还用于轴向限定衔铁杆421。当衔铁杆421向移动一定距离后，止挡凸缘与固定线圈422的左端相抵，防止衔铁杆421脱离固定线圈422。Considering the working accuracy of the adjusting assembly 42 , the adjusting assembly 42 is of a magnetic induction type, including an armature rod 421 and a fixed coil 422 , and the armature rod 421 is slidably sleeved on the firing button 41 . The armature rod 421 has an abutment flange that abuts against the elastic piece 43 . The abutting flange is disposed on one end of the armature rod 421 close to the firing button 41 , and in addition to abutting against the elastic member 43 , the abutting flange is also used to axially limit the armature rod 421 . When the armature rod 421 moves a certain distance, the stop flange abuts against the left end of the fixed coil 422 to prevent the armature rod 421 from being separated from the fixed coil 422 .

固定线圈422的位置相对固定，使衔铁杆421相对于固定线圈422轴向滑动。固定线圈422套于衔铁杆421外周，且固定线圈422与控制部5相连，控制部5根据力检测件发送的信号调整固定线圈422的电流，由此可调整固定线圈422的磁感应强度，从而调整固定线圈422的磁感应力，进而调整施加至衔铁杆421的作用力，实现依据力检测件精确调整衔铁杆421的滑动距离。The position of the fixed coil 422 is relatively fixed, so that the armature rod 421 axially slides relative to the fixed coil 422 . The fixed coil 422 is sleeved on the outer circumference of the armature rod 421, and the fixed coil 422 is connected to the control part 5. The control part 5 adjusts the current of the fixed coil 422 according to the signal sent by the force detection element, thereby adjusting the magnetic induction intensity of the fixed coil 422, thereby adjusting The magnetic induction force of the fixed coil 422 is fixed so as to adjust the force applied to the armature rod 421 , so as to accurately adjust the sliding distance of the armature rod 421 according to the force detection member.

具体地，固定线圈422设有锥型槽，衔铁杆421外周一体式设有锥型块，锥型块与锥型槽相配合，使固定线圈422的磁感应线长度保持一致，保证流经固定线圈422的电流与磁感应力呈线性关系，方便控制部5通过调节流经固定线圈422的电流精确地调整施加至衔铁杆421的磁感应力，为衔铁杆421的稳定滑动提供依据。Specifically, the fixed coil 422 is provided with a tapered groove, and the outer circumference of the armature rod 421 is integrally provided with a tapered block. The tapered block is matched with the tapered groove, so that the length of the magnetic induction line of the fixed coil 422 is kept the same, so as to ensure the flow through the fixed coil. The current of 422 has a linear relationship with the magnetic induction force, which is convenient for the control unit 5 to accurately adjust the magnetic induction force applied to the armature rod 421 by adjusting the current flowing through the fixed coil 422 , so as to provide a basis for the stable sliding of the armature rod 421 .

位移检测件44用于检测击发按钮41的当前移动距离，可以是位移传感器。当位移检测件44检测到击发按钮41的当前移动距离，位移检测件44发送信号至控制部5，控制部5根据存储的击发按钮41的当前移动距离与主驱动件的预预置输出驱动力之间的对应关系，控制主驱动件驱动电压和电流，使主驱动件精确输出相应驱动力，从而依据击发按钮1的移动距离精确控制钉仓组件3的组织压榨及切割力度，工作精度较高，进一步提升手术安全性。主驱动件可以为伺服电机或直流电机，用于驱动器械部3移动。The displacement detecting member 44 is used to detect the current moving distance of the firing button 41 , and can be a displacement sensor. When the displacement detecting element 44 detects the current moving distance of the firing button 41, the displacement detecting element 44 sends a signal to the control part 5, and the controlling part 5 outputs the driving force according to the stored current moving distance of the firing button 41 and the preset preset of the main driving element The corresponding relationship between the main driving components controls the driving voltage and current of the main driving components, so that the main driving components can accurately output the corresponding driving force, so as to accurately control the tissue pressing and cutting force of the staple cartridge assembly 3 according to the moving distance of the firing button 1, and the working accuracy is high. , to further improve the safety of surgery. The main driving part can be a servo motor or a DC motor, which is used to drive the instrument part 3 to move.

在该具体实施例中，手持部4还包括检测架45和手柄46，检测架45包括一体式相连的矩形框架451和圆环形框架452。In this specific embodiment, the hand-held part 4 further includes a detection frame 45 and a handle 46 , and the detection frame 45 includes a rectangular frame 451 and a circular frame 452 which are integrally connected.

矩形框架451的中性设有检测杆，手柄46的前端可滑动地装于检测杆，检测杆可增设用于检测手柄前后平移距离的平移检测件，平移检测件与控制部5相连，使控制器5依据平移检测件发送的信号控制执行部2沿机械臂8滑动，从而控制器械部3上下移动。平移检测件可以是位移传感器，但不限于此。The neutral of the rectangular frame 451 is provided with a detection rod. The front end of the handle 46 is slidably mounted on the detection rod. The detection rod can be provided with a translation detection piece for detecting the front and rear translation distance of the handle. The translation detection piece is connected with the control part 5, so that the control The actuator 5 controls the execution part 2 to slide along the mechanical arm 8 according to the signal sent by the translation detecting element, thereby controlling the instrument part 3 to move up and down. The translation detection member may be a displacement sensor, but is not limited thereto.

圆环形框架452可滑动地设于支撑架6，圆环形框架452随手腕施加的作用力沿垂向相对于支撑架6滑动。圆环形框架452与支撑架6之间可赠设用于辅助圆环形框架452复位的复位弹簧。本发明还可设置用于检测圆环形框架452移动距离的按压距离检测件，按压距离检测件与控制器5相连，按压距离检测件可以是位移传感器，使控制器根据按压距离检测件发送信号控制执行部2沿手术床1往复滑动。The annular frame 452 is slidably arranged on the support frame 6 , and the annular frame 452 slides relative to the support frame 6 in the vertical direction with the force exerted by the wrist. A return spring for assisting the return of the annular frame 452 can be provided between the annular frame 452 and the support frame 6 . The present invention can also be provided with a pressing distance detecting member for detecting the moving distance of the annular frame 452, the pressing distance detecting member is connected with the controller 5, and the pressing distance detecting member can be a displacement sensor, so that the controller sends a signal according to the pressing distance detecting member The control execution part 2 reciprocates and slides along the operating bed 1 .

手柄46设有击发按钮41，通过按压击发按钮41控制器械部3的钳口张合，自动执行夹取动作。手柄46还设有移动按钮47，移动按钮47与控制器5相连，方便利用移动按钮47控制器械部3执行切割吻合动作。手柄46设有拨轮开关48，拨轮开关48也与控制器5相连，以便利用拨轮开关48控制器械部3实现顺时针旋转或逆时针旋转。The handle 46 is provided with a firing button 41. By pressing the firing button 41, the jaws of the instrument part 3 are controlled to open and close, and the clamping action is automatically performed. The handle 46 is also provided with a moving button 47, which is connected to the controller 5, so that it is convenient to use the moving button 47 to control the instrument part 3 to perform cutting and anastomotic actions. The handle 46 is provided with a dial switch 48, and the dial switch 48 is also connected to the controller 5, so that the instrument part 3 can be controlled to rotate clockwise or counterclockwise by using the dial switch 48.

手柄46还设有与控制器5相连的摇杆式角度传感器49，摇杆式角度传感器49用于检测摇杆的摆动角度，使控制器5根据摇杆式角度传感器49发送的信号控制器械部3的钳口的开口大小。The handle 46 is also provided with a rocker-type angle sensor 49 connected to the controller 5 . The rocker-type angle sensor 49 is used to detect the swing angle of the rocker, so that the controller 5 controls the instrument part according to the signal sent by the rocker-type angle sensor 49 3. The opening size of the jaws.

当然，还可在矩形框架451的检测杆上增设摆动传感器，摆动传感器与控制器5相连，摆动传感器用于检测手柄的摆动角度，使控制器5根据摆动传感器发送的信号控制机械臂8摆动相对的角度，从而调整器械部3的工作角度。Of course, a swing sensor can also be added on the detection rod of the rectangular frame 451. The swing sensor is connected to the controller 5. The swing sensor is used to detect the swing angle of the handle, so that the controller 5 controls the robot arm 8 to swing relative to the signal sent by the swing sensor. angle, so as to adjust the working angle of the instrument part 3.

本发明还包括报警器和用于检测器械部3是否处于安全区的安全位置检测件，报警器与安全位置检测件均与控制部5相连，控制部5根据安全位置检测件发送的信号在器械部3超出安全区启动报警器发出警报，提醒医生中止手术，防止器械器误动作伤害病患。安全位置检测可以是限位开关、位移传感器或摄像头等，在此不做具体限定。当然，安全区的设定可以依据路径规划方式或电子围栏等进行设定，当器械部3一旦超出电子围栏围成的安全区，控制部5依据电子围栏发送的信号，在器械部3一旦超出电子围栏所围成的安全区使，控制部5控制执行部2停止动作。或者，将器械部3的运动路径实时反馈至控制部5，当器械部3的实际路径超出控制部5预存的运动路径时，控制部5控制执行部2停止动作。The present invention also includes an alarm device and a safety position detector for detecting whether the instrument part 3 is in a safe area. Both the alarm device and the safety position detector are connected to the control part 5, and the control part 5 sends a signal from the safety position detection part to the device. Section 3 activates an alarm when it exceeds the safety zone, reminding the doctor to suspend the operation and preventing the malfunction of the instrument from harming the patient. The safe position detection can be a limit switch, a displacement sensor or a camera, etc., which is not specifically limited here. Of course, the setting of the safety zone can be set according to the path planning method or the electronic fence. In the safety zone enclosed by the electronic fence, the control unit 5 controls the execution unit 2 to stop the operation. Alternatively, the motion path of the instrument part 3 is fed back to the control part 5 in real time, and when the actual path of the instrument part 3 exceeds the motion path pre-stored by the control part 5 , the control part 5 controls the execution part 2 to stop the action.

本发明还包括与控制器5相连的牵扯力检测件11，牵扯力检测件11用于检测穿刺器10***孔的当前牵扯力。牵扯力检测件11设于穿刺器的***孔内部，呈圆环状分布。牵扯力检测件11具体可以是压力传感器，但不限于此。The present invention also includes a pulling force detecting element 11 connected with the controller 5 , and the pulling force detecting element 11 is used for detecting the current pulling force of the insertion hole of the trocar 10 . The pulling force detecting element 11 is arranged inside the insertion hole of the trocar, and is distributed in an annular shape. The pulling force detection member 11 can be specifically a pressure sensor, but is not limited thereto.

当前牵扯力达到预设牵扯力时，控制器5根据牵扯力检测件11发送的信号控制执行部2动作，利用执行部2调整器械部3的***角度，使当前牵扯力小于预设牵扯力，避免器械部3因过大的牵扯力而刺伤器脏或组织，有利于提升手术安全性。When the current pulling force reaches the preset pulling force, the controller 5 controls the action of the execution part 2 according to the signal sent by the pulling force detection part 11, and uses the execution part 2 to adjust the insertion angle of the instrument part 3 so that the current pulling force is smaller than the preset pulling force, The instrument part 3 is prevented from stabbing the organs or tissues due to excessive pulling force, which is beneficial to improve the safety of the operation.

请参考图6，图6为本发明第二种具体实施例所提供的轻量化的手术机器人的结构图。Please refer to FIG. 6 , which is a structural diagram of a lightweight surgical robot provided by a second specific embodiment of the present invention.

相较于第一种具体实施例，第二种具体实施例中，执行部2与手持部4直线相连，使医生直接手动操纵器械部3进行手术，仍能实现本发明的目的。Compared with the first specific embodiment, in the second specific embodiment, the execution part 2 is connected with the hand-held part 4 in a straight line, so that the doctor can directly manually manipulate the instrument part 3 to perform surgery, and the purpose of the present invention can still be achieved.

以上对本发明所提供的轻量化的手术机器人进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。The lightweight surgical robot provided by the present invention has been introduced in detail above. Specific examples are used to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the method of the present invention and its implementation At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. To sum up, the content of this description should not be construed as a limitation to the present invention. .

Claims

一种轻量化的手术机器人，其特征在于，包括：A lightweight surgical robot, characterized by comprising:

手术床(1)；operating bed (1);

设于所述手术床(1)的执行部(2)；an execution part (2) arranged on the operating bed (1);

可拆卸地设于所述执行部(2)末端的器械部(3)；an instrument part (3) detachably provided at the end of the execution part (2);

用于供医生手持的手持部(4)；a hand-held part (4) for the doctor to hold;

分别与所述手术床(1)、所述执行部(2)、所述器械部(3)及所述手持部(4)电连接的控制部(5)，所述控制部(5)用于根据所述手持部(4)反馈的手指动作指令在所述手术床(1)侧面控制所述执行部(2)带动所述器械部(3)按所述手指动作指令执行相应动作。A control part (5) electrically connected to the operating bed (1), the execution part (2), the instrument part (3) and the hand-held part (4) respectively, the control part (5) is used for The execution part (2) is controlled on the side of the operating bed (1) according to the finger motion instruction fed back by the hand-held part (4) to drive the instrument part (3) to perform corresponding actions according to the finger motion instruction.
根据权利要求1所述的轻量化的手术机器人，其特征在于，还包括：The lightweight surgical robot according to claim 1, further comprising:

设于所述手术床(1)旁侧并用于支撑所述手持部(4)的支撑架(6)；a support frame (6) arranged on the side of the operating bed (1) and used for supporting the hand-held part (4);

设于所述支撑架(6)且与所述控制部(5)相连、用于支撑手臂的承托部(7)；所述控制部(5)用于根据所述承托部(7)反馈的手臂动作指令配合所述手指动作指令控制所述执行部(2)带动所述器械部(3)动作。A support portion (7) provided on the support frame (6) and connected with the control portion (5) for supporting the arm; the control portion (5) is used for the support portion (7) according to the The feedback arm motion instruction cooperates with the finger motion instruction to control the execution part (2) to drive the instrument part (3) to act.
根据权利要求1所述的轻量化的手术机器人，其特征在于，还包括设于所述手术床(1)并用于支撑所述执行部(2)的机械臂(8)；所述机械臂(8)设有电永磁座；所述电永磁座与所述控制部(5)相连，所述控制部(5)用于根据所述手持部(4)反馈的器械安装指令控制所述电永磁座得电以使所述执行部(2)借助磁吸力吸附固定于所述电永磁座上，还用于根据所述手持部(4)反馈的器械拆卸指令控制所述电永磁座失电以使所述执行部(2)在所述电永磁座磁吸力消失后脱离所述电永磁座。The lightweight surgical robot according to claim 1, characterized in that, further comprising a mechanical arm (8) provided on the operating bed (1) and used for supporting the execution part (2); the mechanical arm ( 8) An electric permanent magnet seat is provided; the electric permanent magnet seat is connected with the control part (5), and the control part (5) is used to control the device installation instruction according to the feedback of the hand-held part (4). The electric permanent magnet seat is powered so that the execution part (2) is adsorbed and fixed on the electric permanent magnet seat by means of magnetic attraction, and is also used for controlling the electric permanent magnet according to the device disassembly instruction fed back by the hand-held part (4). The magnetic seat is de-energized, so that the actuator (2) is separated from the permanent magnet seat after the magnetic attraction force of the permanent magnet seat disappears.
根据权利要求3所述的轻量化的手术机器人，其特征在于，所述手术床(1)的侧面设有铰接座，所述机械臂(8)与所述铰接座相连，所述铰接座与所述控制部(5)相连，所述控制部(5)用于根据所述手持部(4)反馈的旋转摆动指令控制所述铰接座带动所述机械臂(8)相对于所述手术床(1)转动以使所述机械臂(8)通过所述执行部(2)带动所述器械部(3)摆动。The lightweight surgical robot according to claim 3, characterized in that a hinge seat is provided on the side of the operating bed (1), the mechanical arm (8) is connected to the hinge seat, and the hinge seat is connected to the hinge seat. The control part (5) is connected, and the control part (5) is used for controlling the hinge base to drive the mechanical arm (8) relative to the operating bed according to the rotation and swing command fed back by the hand-held part (4). (1) Rotate so that the mechanical arm (8) drives the instrument part (3) to swing through the execution part (2).
根据权利要求4所述的轻量化的手术机器人，其特征在于，还包括设于所述铰接座的配重块，所述配重块与所述机械臂(8)相连以对所述机械臂(8)的重力进行补偿。The lightweight surgical robot according to claim 4, characterized in that it further comprises a counterweight block arranged on the hinge base, and the counterweight block is connected with the mechanical arm (8) to counteract the mechanical arm. (8) The gravity is compensated.
根据权利要求4所述的轻量化的手术机器人，其特征在于，所述机械臂(8)包括两根分别对称设于所述手术床(1)两侧的伸缩柱，两根所述伸缩柱与所述控制部(5)相连，所述控制部(5)用于根据所述手持部(4)反馈的高度调节指令控制两根所述伸缩柱同步伸缩以使所述机械臂(8)通过所述执行部(2)调整所述器械部(3)的高度。The lightweight surgical robot according to claim 4, wherein the mechanical arm (8) comprises two telescopic columns symmetrically arranged on both sides of the operating bed (1), and the two telescopic columns is connected with the control part (5), and the control part (5) is used for controlling the two telescopic columns to extend and retract synchronously according to the height adjustment instruction fed back by the hand-held part (4) to make the mechanical arm (8) The height of the instrument part (3) is adjusted by the execution part (2).
根据权利要求4所述的轻量化的手术机器人，其特征在于，所述手术床(1)的两相对侧设有滑动座，所述铰接座设于所述滑动座，所述滑动座与所述控制部(5)相连，所述控制部(5)用于根据所述手持部(4)反馈的滑动调节指令控制所述滑动座带动所述机械臂(8)沿所述手术床(1)侧面所设的滑动槽滑动以使所述机械臂(8)通过所述执行部(2)带动所述器械部(3)滑动。The lightweight surgical robot according to claim 4, characterized in that two opposite sides of the operating bed (1) are provided with sliding seats, the hinged seats are provided on the sliding seats, and the sliding seats are connected to the sliding seats. The control part (5) is connected to the control part (5), and the control part (5) is used for controlling the sliding seat to drive the mechanical arm (8) along the operating bed (1) according to the sliding adjustment command fed back by the hand-held part (4). ) The sliding slot provided on the side surface slides so that the mechanical arm (8) drives the instrument part (3) to slide through the execution part (2).
根据权利要求4至6任一项所述的轻量化的手术机器人，其特征在于，所述控制部(5)用于根据所述手持部(4)反馈的器械夹持指令控制所述执行部(2)带动所述器械部(3)执行夹持动作，还用于根据所述手持部(4)反馈的器械旋转指令控制所述执行部(2)带动所述器械部(3)执行旋转动作，又用于根据所述手持部(4)反馈的器械切割指令控制所述执行部(2)带动所述器械部(3)执行切割动作。The lightweight surgical robot according to any one of claims 4 to 6, characterized in that the control unit (5) is configured to control the execution unit according to the instrument gripping instruction fed back by the hand-held unit (4). (2) driving the instrument part (3) to perform a clamping action, and is also used to control the execution part (2) to drive the instrument part (3) to perform rotation according to the instrument rotation instruction fed back by the hand-held part (4) The action is also used to control the execution portion (2) to drive the instrument portion (3) to perform the cutting action according to the instrument cutting instruction fed back by the hand-held portion (4).
根据权利要求4至6任一项所述的轻量化的手术机器人，其特征在于，所述手持部(4)包括用于检测手指反馈力的反馈力检测件，所述反馈力检测件与所述控制部(5)相连，所述控制部(5)用于根据所述力反馈检测件发送的力反馈指令通过所述执行部(2)调整所述器械部(3)的夹持力。The lightweight surgical robot according to any one of claims 4 to 6, characterized in that the hand-held part (4) comprises a feedback force detector for detecting finger feedback force, and the feedback force detector is connected to the The control part (5) is connected to the control part (5), and the control part (5) is used to adjust the clamping force of the instrument part (3) through the execution part (2) according to the force feedback command sent by the force feedback detection element.
根据权利要求4至6任一项所述的轻量化的手术机器人，其特征在于，还包括用于识别登陆用户身份的用户身份检测件，所述用户身份检测件与所述控制部(5)相连，所述控制部(5)用于根据所述用户身份检测件发送的用户登陆指令对应调用所存储的用户登陆模式。The lightweight surgical robot according to any one of claims 4 to 6, characterized in that it further comprises a user identity detector for identifying the identity of the logged in user, the user identity detector and the control part (5) connected, and the control unit (5) is configured to correspondingly call the stored user login mode according to the user login instruction sent by the user identity detector.
根据权利要求4至6任一项所述的轻量化的手术机器人，其特征在于，还包括与所述控制部(5)相连并用于检测所述器械部(3)与障碍物之间距离的距离检测件，所述控制部(5)用于根据所述距离检测件发送的信号在所述器械部(3)与障碍物之间的距离达到预设距离时控制所述执行部(2)停止动作。The lightweight surgical robot according to any one of claims 4 to 6, characterized in that it further comprises a device connected to the control part (5) and used for detecting the distance between the instrument part (3) and an obstacle A distance detector, the control part (5) is configured to control the execution part (2) when the distance between the instrument part (3) and the obstacle reaches a preset distance according to a signal sent by the distance detector stop action.
根据权利要求4至6任一项所述的轻量化的手术机器人，其特征在于，还包括分别与所述控制部(5)相连的报警器和用于检测所述器械部(3)是否处于安全区的安全位置检测件，所述控制部(5)用于根据安全位置检测件发送的信号在所述器械部(3)超出安全区启动所述报警器发出警报。The lightweight surgical robot according to any one of claims 4 to 6, characterized in that it further comprises alarms respectively connected to the control part (5) and used to detect whether the instrument part (3) is in the A safety position detector in a safety zone, the control part (5) is used to activate the alarm to give an alarm when the instrument part (3) exceeds the safety zone according to a signal sent by the safety position detector.
根据权利要求4至6任一项所述的轻量化的手术机器人，其特征在于，还包括与所述控制器(5)相连并用于检测穿刺器(10)***孔的当前牵扯力的牵扯力检测件(11)，所述控制器(5)用于根据所述牵扯力检测件(11)发送的信号在所述当前牵扯力达到预设牵扯力时控制所述执行部(2)调整所述器械部(3)的***角度以使所述当前牵扯力小于所述预设牵扯力。The lightweight surgical robot according to any one of claims 4 to 6, characterized in that it further comprises a pulling force connected to the controller (5) and used for detecting the current pulling force of the insertion hole of the trocar (10) A detection element (11), the controller (5) is configured to control the execution part (2) to adjust the pulling force according to the signal sent by the pulling force detection element (11) when the current pulling force reaches a preset pulling force The insertion angle of the instrument part (3) is adjusted so that the current pulling force is smaller than the preset pulling force.
根据权利要求1至13任一项所述的轻量化的手术机器人，其特征在于，所述执行部(2)与所述手持部(4)直接相连。The lightweight surgical robot according to any one of claims 1 to 13, characterized in that, the execution part (2) is directly connected with the hand-held part (4).