WO2022027879A1 - Robot chirurgical léger - Google Patents

Robot chirurgical léger Download PDF

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Publication number
WO2022027879A1
WO2022027879A1 PCT/CN2020/132659 CN2020132659W WO2022027879A1 WO 2022027879 A1 WO2022027879 A1 WO 2022027879A1 CN 2020132659 W CN2020132659 W CN 2020132659W WO 2022027879 A1 WO2022027879 A1 WO 2022027879A1
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WO
WIPO (PCT)
Prior art keywords
instrument
control
execution
hand
control part
Prior art date
Application number
PCT/CN2020/132659
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English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010791410.8A external-priority patent/CN111904597A/zh
Priority claimed from CN202021639491.1U external-priority patent/CN212699108U/zh
Application filed by 山东威瑞外科医用制品有限公司 filed Critical 山东威瑞外科医用制品有限公司
Publication of WO2022027879A1 publication Critical patent/WO2022027879A1/fr

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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

Definitions

  • the invention relates to the field of medical instruments, in particular to a lightweight surgical robot.
  • Minimally invasive surgery has the advantages of less trauma, less pain and quick recovery, and is widely used in various departments.
  • 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.
  • 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
  • there is a certain degree of precision error which affects the precision of surgery, and then threatens the safety of surgery.
  • 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.
  • the lightweight surgical robot provided by the present invention includes:
  • 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.
  • it also includes:
  • a support frame arranged on the side of the operating bed and used to support the hand-held part
  • 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.
  • the 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.
  • two opposite sides of the operating bed are provided with hinged seats
  • the mechanical arm is connected to the hinged seat
  • the hinged seat is connected to the control part
  • 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.
  • 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.
  • 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.
  • two opposite sides of the operating bed are provided with sliding seats
  • the hinged seats are provided on the sliding seats
  • the sliding seats are connected to the control part
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the execution part is directly connected with the hand-held part.
  • 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.
  • 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.
  • FIG. 1 is a structural diagram of a lightweight surgical robot provided by a first specific embodiment of the present invention
  • Fig. 2 is the assembly diagram of the handle portion and the support portion in Fig. 1;
  • Fig. 3 is the structural diagram of the hand-held portion in Fig. 1;
  • FIG. 4 is a cross-sectional view of the firing button of the hand-held portion in FIG. 1;
  • FIG. 5 is a structural diagram of the trocar
  • FIG. 6 is a structural diagram of a lightweight surgical robot provided by a second specific embodiment of the present invention.
  • a rectangular frame 451 and a circular ring frame 452 are identical to A rectangular frame 451 and a circular ring frame 452 .
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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 .
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the control unit 5 can upload the stored data to the cloud database through the Internet, so as to further prevent data loss.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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;
  • 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 .
  • the installation manner of the execution unit 2 is not limited to this.
  • 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.
  • the manipulator 8 includes a hoisting beam, and the electro-permanent magnet seat is slidably arranged on the hoisting beam.
  • 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.
  • 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.
  • the purpose of the present invention can still be achieved by directly fixing the electro-permanent seat on the mechanical arm 8 .
  • the electric permanent magnet seat is provided with a positioning column, which is convenient for quick disassembly and assembly of the execution part 2 .
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • the sliding seat can be a hydraulic cylinder or a servo motor equipped with a screw nut pair.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control unit 5 in the present invention has a built-in patient database for storing patient information.
  • the doctor stores the patient information table of each patient in the patient database.
  • the doctor can use voice, touch screen, mouse and keyboard, etc.
  • 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.
  • 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 is a voice recognizer connected to the control unit 5 to collect the doctor's voice information.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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 .
  • the displacement detecting member 44 is used to detect the current moving distance of the firing button 41 , and can be a displacement sensor.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 is also provided with a rocker-type angle sensor 49 connected to the controller 5 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 6 is a structural diagram of a lightweight surgical robot provided by a second specific embodiment of the present invention.
  • 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.
  • 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. .

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

Robot chirurgical léger, comprenant un lit chirurgical (1), une partie d'exécution (2) disposée sur le lit chirurgical (1), une partie à instrument (3) disposée détachable au niveau de l'extrémité arrière de la partie d'exécution (2), une partie portative (4) tenue par un médecin et une partie de commande (5). Pendant une opération, le médecin déclenche la partie portative (4) selon les besoins ; la partie portative (4) envoie une instruction d'action de doigt à la partie de commande (5) ; et la partie de commande (5) commande la partie d'exécution (2) de manière à l'amener à entraîner la partie à instrument (3) de manière à l'amener à exécuter une action correspondante selon l'instruction d'action de doigt, de telle sorte que la partie à instrument (3) est utilisée pour effectuer une opération chirurgicale sur un patient. Grâce à la configuration de la partie portative (4), le médecin, qui est du côté surface latérale du lit chirurgical (1), peut commander de manière flexible la partie portative (4), de manière à permettre à la partie à instrument (3) d'exécuter l'action correspondante, ce qui facilite la maîtrise précise du médecin quant aux états des instruments, assistants et patient, ce qui est avantageux pour améliorer la précision d'action de la partie à instrument (3), et pour garantir que l'opération est sûre et fiable.
PCT/CN2020/132659 2020-08-07 2020-11-30 Robot chirurgical léger WO2022027879A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202021639491.1 2020-08-07
CN202010791410.8A CN111904597A (zh) 2020-08-07 2020-08-07 一种轻量化的手术机器人
CN202010791410.8 2020-08-07
CN202021639491.1U CN212699108U (zh) 2020-08-07 2020-08-07 一种轻量化的手术机器人

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WO2022027879A1 true WO2022027879A1 (fr) 2022-02-10

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US20170108930A1 (en) * 2012-09-27 2017-04-20 The Board Of Trustees Of The University Of Illinois Haptic augmented and virtual reality system for simulation of surgical procedures
CN107708595A (zh) * 2015-04-23 2018-02-16 Sri国际公司 超灵巧型手术***用户接口装置
CN109171977A (zh) * 2013-03-15 2019-01-11 Sri国际公司 超灵巧型手术***
CN109316239A (zh) * 2018-08-31 2019-02-12 天津大学 基于磁导航传感的微创手术机器人主操作手及***
CN109431611A (zh) * 2018-12-25 2019-03-08 吉林大学 一种柔性三臂式手术机器人
CN110604618A (zh) * 2018-06-15 2019-12-24 威博外科公司 具有夹持连杆的用户界面装置
CN111904597A (zh) * 2020-08-07 2020-11-10 山东威瑞外科医用制品有限公司 一种轻量化的手术机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170108930A1 (en) * 2012-09-27 2017-04-20 The Board Of Trustees Of The University Of Illinois Haptic augmented and virtual reality system for simulation of surgical procedures
CN109171977A (zh) * 2013-03-15 2019-01-11 Sri国际公司 超灵巧型手术***
CN107708595A (zh) * 2015-04-23 2018-02-16 Sri国际公司 超灵巧型手术***用户接口装置
CN110604618A (zh) * 2018-06-15 2019-12-24 威博外科公司 具有夹持连杆的用户界面装置
CN109316239A (zh) * 2018-08-31 2019-02-12 天津大学 基于磁导航传感的微创手术机器人主操作手及***
CN109431611A (zh) * 2018-12-25 2019-03-08 吉林大学 一种柔性三臂式手术机器人
CN111904597A (zh) * 2020-08-07 2020-11-10 山东威瑞外科医用制品有限公司 一种轻量化的手术机器人

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