CN109431601B - Endoscopic surgery robot combination system and use method thereof - Google Patents
Endoscopic surgery robot combination system and use method thereof Download PDFInfo
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- CN109431601B CN109431601B CN201811174831.5A CN201811174831A CN109431601B CN 109431601 B CN109431601 B CN 109431601B CN 201811174831 A CN201811174831 A CN 201811174831A CN 109431601 B CN109431601 B CN 109431601B
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention discloses an endoscope operation robot combination system and a use method thereof. The combined system of the invention utilizes the flexible operation tool controlled by the robot to replace the traditional endoscope hand tool, has better accessibility and positioning accuracy, relieves the operation difficulty of the traditional endoscope operation, improves the operation effect and is suitable for various transurethral endoscopic minimally invasive operations.
Description
Technical Field
The invention belongs to the field of medical instruments, and relates to an endoscopic surgery robot combination system and a using method thereof, in particular to an endoscopic surgery robot combination system for transurethral endoscopic surgery and a using method thereof.
Background
Minimally invasive surgery has occupied an important position in surgical operations due to its small wound and fast postoperative recovery. The existing da Vinci (DaVinci) Surgical robot of intuition Surgical company (American intuition Surgical company) assists doctors to complete the porous laparoscopic minimally invasive surgery, and has achieved great commercial success.
The minimally invasive surgery type develops single-port laparoscopic surgery and non-invasive surgery through natural orifices after the multi-port laparoscopic surgery, and the single-port laparoscopic surgery and the non-invasive surgery have less trauma to patients and higher postoperative output. However, in the non-invasive surgery through the natural cavity, all surgical instruments including the visual illumination module and the surgical operation arm reach the operation part through a single channel, which has very strict requirements on the preparation of the surgical instruments.
The transurethral minimally invasive surgery is a surgical mode which develops rapidly and matures in recent 20 years, can treat diseases of parts such as prostate, urethra, bladder, ureter and the like by utilizing an endoscope through the urethra, such as prostatic electrocision, bladder tumor electrocision, lower urinary tract stone and the like, and also becomes a conventional treatment method in some operative modes. However, since the diameter of the urethra is usually less than 8mm, no company has developed a transurethral surgical robot worldwide. For example, in cystoscopy, the surgeon needs to manipulate a long rod-like surgical instrument, cut through the elongated cystoscope cannula through the urethra and into the bladder for electrocautery, etc., and the accuracy of the procedure, the distal flexibility and reach of the instrument are greatly affected. This results in a high recurrence rate and an unsatisfactory therapeutic effect in current cystoscopic tumor resection.
Most of the existing surgical robots, including da Vinci, have difficulty in meeting the technical requirements of natural body cavity surgery, especially for urological surgery performed through urethra, due to their rigid structure, external dimensions and freedom configuration.
Disclosure of Invention
The invention aims to solve the problem that the prior manual endoscopic surgery optimizes the effect and the yield of the transurethral endoscopic urological surgery in the phenomena of flexibility, accessibility and deficiency of surgical tools. Meanwhile, the transurethral endoscopic surgery using the surgical robot can reduce the operation burden of the surgeon and increase the operation accuracy of the surgery.
In order to solve the above problems, the present invention provides an endoscopic surgical robot assembly system, which mainly integrates a plurality of devices including a surgical robot, an endoscope, a flexible surgical tool, an auxiliary surgical device, a trolley, an image processing device, an electronic control device, etc., and achieves stability and attainment of surgery, ensures positioning accuracy and precision, and reduces surgical risks by replacing a conventional manual tool with the flexible robotic surgical tool and by reasonable spatial arrangement.
Accordingly, in a first aspect, there is provided an endoscopic surgical robotic assembly (hereinafter sometimes simply referred to as "the system of the present invention") comprising a master trolley, a device trolley, at least one surgical trolley, and an endoscopic cannula kit, wherein
The main control trolley comprises a control device, a first display and an industrial personal computer, wherein a receiving module and a signal conversion module are arranged in the industrial personal computer;
the equipment trolley comprises a cabinet, a second display, endoscope module equipment, a cable, auxiliary operation equipment, a hub and an image processing device, wherein the endoscope module equipment, the auxiliary operation equipment, the hub (hub) and the image processing device are installed in the cabinet, and the display is fixed on the cabinet; the cables comprise a surgical trolley cable and a master-slave connecting cable; the main control trolley is connected with the equipment trolley through the main-slave connecting cable, and each operation trolley is connected with the equipment trolley through the operation trolley cable;
the operation trolley comprises a trolley chassis, a positioning mechanical arm, a linear module, a driving module, a flexible operation tool, a sleeve isolating device and a tool isolating device; the linear module is carried on the positioning mechanical arm, and the driving module is arranged on the linear module and can move back and forth along the longitudinal axis of the linear module; the flexible surgical tool comprises a drive transmission unit and a flexible continuum structure, wherein the flexible continuum structure comprises a far-end structure body, a middle connecting body and a near-end structure body which are sequentially arranged from a far end to a near end, the far-end structure body is provided with a surgical tool head or an endoscope, the flexible surgical tool of one surgical trolley is provided with the endoscope, and the flexible surgical tools of other surgical trolleys are provided with surgical tool heads; the far end of the driving module is connected with a driving transmission unit of the flexible surgical tool and controls the action of the flexible continuum structure; and
the sleeve isolation device is arranged at the far end of the linear module, and a through hole is formed in the sleeve isolation device so that the flexible surgical tool can pass through the through hole; the tool isolation device is mounted on the drive module.
The endoscope is provided with an image acquisition device.
In a second aspect, there is provided a method of assembling an endoscopic surgical robotic assembly of the present invention, the method comprising the steps of:
(1) moving the operating table trolley to one side of an operating table;
(2) installing the casing isolation device at the distal end of the linear die set and the tool isolation device on the drive die set;
(3) detachably connecting the channel adapter with a sleeve isolation device of an operation trolley carrying an endoscope;
(4) locking the trolley chassis of the operation trolley carrying the endoscope in the step (3), adjusting the posture of a positioning mechanical arm of the operation trolley to enable the through hole of the sleeve isolation device to be axially aligned with the cavity channel of the endoscope sleeve, and connecting the channel adapter and the endoscope sleeve together to enable the endoscope to enter the endoscope sleeve through one inlet of the channel adapter;
(5) locking a trolley chassis of an operation trolley carrying an operation tool head, and adjusting the posture of a positioning mechanical arm of the operation trolley to enable a through hole of a sleeve isolation device of the operation trolley to be axially aligned with an inlet of the channel adapter except an inlet of the channel adapter, wherein the inlet is to enter an endoscope; and
(6) and installing a driving transmission unit of a flexible surgical tool on a tool isolation device of each operation trolley, and enabling the flexible surgical tool to sequentially penetrate through the sleeve isolation device and the channel adapter to be pushed to the far end until the top end of the surgical tool head is exposed out of the far end of the endoscope sleeve.
In a third aspect, there is provided a method of use of the system of the invention, the method comprising the steps of:
(1) installing the casing isolation device at the distal end of the linear die set and the tool isolation device on the drive die set;
(2) detachably connecting the channel adapter with a sleeve isolation device of an operation trolley carrying an endoscope;
(3) locking the trolley chassis of the operation trolley carrying the endoscope in the step (2), adjusting the posture of a positioning mechanical arm of the operation trolley to enable the through hole of the sleeve isolation device to be axially aligned with the cavity of the endoscope sleeve, and connecting the channel adapter and the endoscope sleeve together to enable the endoscope to enter the endoscope sleeve through one inlet of the channel adapter;
(4) locking a trolley chassis of an operation trolley carrying an operation tool head, and adjusting the posture of a positioning mechanical arm of the operation trolley to enable a through hole of a sleeve isolation device of the operation trolley to be axially aligned with an inlet of the channel adapter except an inlet of the channel adapter, wherein the inlet is to enter an endoscope; and
(5) installing a driving transmission unit of the flexible surgical tool on a tool isolation device of each operation trolley, and enabling the flexible surgical tool to sequentially penetrate through the sleeve isolation device and the channel adapter to be pushed to the far end until the top end of the surgical tool head is exposed out of the far end of the endoscope sleeve;
(6) starting and setting a main control trolley and an equipment trolley;
(7) an operator pushes the endoscope into the endoscope sleeve by means of an operation trolley;
(8) pushing a flexible surgical tool carrying a surgical tool head to the surgical tool head to completely extend out of the endoscope sleeve through other surgical trolleys under the guidance of an endoscope;
(9) transmitting the acquired real-time stereo image signals to an equipment trolley by using image acquisition equipment on an operation trolley carrying an endoscope, processing the signals by an image processing device on the equipment trolley, and then respectively transmitting the signals to and displaying the signals on the first display and the second display;
(10) an operator operates the control equipment according to the real-time stereoscopic image displayed on the first display so as to generate a control signal and send the control signal to a receiving module of an industrial personal computer of the main control trolley; and
(11) the receiving module sends a control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, and sends the driving quantity parameter information to a hub on the equipment trolley, and then the driving quantity parameter information is sent to a driving module on the operation trolley by the hub; the driving module pushes and controls the flexible continuum structure to move according to the driving quantity parameter information so as to drive the surgical tool head to move.
In a fourth aspect, there is provided a method of performing transurethral endoscopic surgery using the system of the present invention, the method comprising the steps of:
(1) anaesthetizing the patient and disinfecting the urethral orifice;
(2) inserting an endoscope cannula into the bladder via the urethra;
(3) assembling the endoscopic surgical robot assembly system of the present invention according to the above-described assembling method;
(4) an operator pushes the endoscope into the endoscope sleeve by means of an operation trolley;
(5) pushing a flexible surgical tool carrying a surgical tool head to the surgical tool head to completely extend out of the endoscope sleeve through other surgical trolleys under the guidance of an endoscope;
(6) transmitting the acquired real-time stereo image signals to an equipment trolley by using image acquisition equipment on an operation trolley carrying an endoscope, processing the signals by an image processing device on the equipment trolley, and then respectively transmitting the signals to and displaying the signals on the first display and the second display;
(7) an operator operates the control equipment according to the operation real-time stereoscopic image displayed on the first display so as to generate a control signal and send the control signal to a receiving module of an industrial personal computer of the main control trolley; and
(8) the receiving module sends a control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, and sends the driving quantity parameter information to a hub on the equipment trolley, and then the driving quantity parameter information is sent to a driving module on the operation trolley by the hub; the driving module pushes and controls the flexible continuum structure to move according to the driving quantity parameter information so as to drive the surgical tool head to move to complete corresponding surgical actions.
The invention has the following beneficial effects:
1. the system of the invention utilizes the flexible operation tool controlled by the robot to replace the traditional endoscope hand tool, has better accessibility and positioning accuracy, relieves the operation difficulty of the traditional endoscope operation and improves the operation effect, such as tumor resection effect.
2. The system adopts the design of the positioning mechanical arm, and the positioning mechanical arm is fixed in the operation, so that the risks of patient injury and medical personnel injury caused by mutual collision of the positioning mechanical arms outside the body of the patient are thoroughly eliminated.
3. The system of the invention can be suitable for various endoscopic minimally invasive operations through the urethra, such as bladder tumor electrosection, bladder stone breaking, ureteral stone breaking and the like.
Drawings
FIG. 1 is a schematic diagram of the composition and arrangement of one embodiment of the system of the present invention.
Fig. 2 is a side schematic view of a master control trolley in the system of fig. 1.
Fig. 3 is a schematic front view of an equipment trolley in the system of fig. 1.
Fig. 4 is a side schematic view of the equipment trolley of fig. 3.
Fig. 5 is a schematic structural view of a surgical trolley in the system of fig. 1.
Fig. 6 is a detailed structural schematic diagram of the flexible surgical tool of fig. 5.
Fig. 7 is a schematic illustration of the connection of the flexible surgical tools of the three surgical trolleys with the channel adapter, endoscope sleeve, in the system of fig. 1.
FIG. 8 is a schematic view of the patient position and the insertion tube of the endoscope sheath in example 1.
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings, and it will be understood by those skilled in the art that the embodiments or examples described below with reference to the drawings are only illustrative of the best modes for carrying out the invention, and do not limit the scope of the invention to these embodiments. The present invention may be modified and varied in many ways based on the embodiments described below. Such modifications and variations are intended to be included within the scope of the present invention. Like reference numerals refer to like parts throughout the various embodiments of the invention shown in the figures.
Detailed Description
Definition of
Distal or distal end: in this specification, when referring to "distal or distal end", the term refers to the side relatively close to the surgical site of the patient or the end relatively far from the surgical trolley.
Proximal or proximal end: in this specification, when referring to "proximal or proximal end", the term refers to the side relatively distal to the surgical site of the patient, relatively near the end of the surgical trolley.
Front and rear: in the present specification, as previously mentioned, references to "front" and "rear" both refer to relative directions, wherein it is intended that the side relatively close to the surgical site of the patient is front and the side relatively far from the surgical site of the patient is rear.
The invention relates to an endoscopic surgery robot combination system
The system of the present invention comprises a master control trolley, an equipment trolley, at least one surgical trolley and an endoscope cannula kit, wherein
The main control trolley comprises a control device, a first display and an industrial personal computer, wherein a receiving module and a signal conversion module are arranged in the industrial personal computer;
the equipment trolley comprises a cabinet, a second display, endoscope module equipment, a cable, auxiliary operation equipment, a hub and an image processing device, wherein the endoscope module equipment, the auxiliary operation equipment, the hub and the image processing device are installed in the cabinet, and the display is fixed on the cabinet; the cables comprise a surgical trolley cable and a master-slave connecting cable; the main control trolley is connected with the equipment trolley through the main-slave connecting cable, and each operation trolley is connected with the equipment trolley through the operation trolley cable;
the operation trolley comprises a trolley chassis, a positioning mechanical arm, a linear module, a driving module, a flexible operation tool, a sleeve isolating device and a tool isolating device; the linear module is carried on the positioning mechanical arm, and the driving module is arranged on the linear module and can move back and forth along the longitudinal axis of the linear module; the flexible surgical tool comprises a drive transmission unit and a flexible continuum structure, wherein the flexible continuum structure comprises a far-end structure body, a middle connecting body and a near-end structure body which are sequentially arranged from a far end to a near end, the far-end structure body is provided with a surgical tool head or an endoscope, the flexible surgical tool of one surgical trolley is provided with the endoscope, and the flexible surgical tools of other surgical trolleys are provided with surgical tool heads; the far end of the driving module is connected with a driving transmission unit of the flexible surgical tool and controls the action of the flexible continuum structure; and
the sleeve isolation device is arranged at the far end of the linear module, and a through hole is formed in the sleeve isolation device so that the flexible surgical tool can pass through the through hole; the tool isolation device is mounted on the drive module.
In a preferred embodiment, the endoscope cannula kit includes an endoscope cannula and a channel adapter, the endoscope cannula and the channel adapter being connected together; the interior of the endoscope cannula is provided with one or more channels, the interior of the channel adapter is provided with at least one channel adapter channel communicating with the channel of the endoscope cannula and each channel adapter channel is provided with at least one inlet at the proximal end of the channel adapter for receiving the surgical tool head or the endoscope; an image acquisition device is arranged on the endoscope, and the image processing device is configured to receive image signals acquired by the image acquisition device, process the image signals and transmit and display the processed image signals to the first display and the second display respectively; and
the control equipment is configured to receive a control signal of an operator and send the control signal to a receiving module of an industrial personal computer, the receiving module sends the control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, sends the driving quantity parameter information to a hub on the equipment trolley, and then sends the driving quantity parameter information to a driving module on the operation trolley through the hub; the driving module pushes and controls the flexible continuum structure to move according to the driving quantity parameter information so as to drive the surgical tool head to move.
In the present invention, the master control trolley performs the function of providing the operator (preferably the master surgeon) with a platform for remotely operating the flexible surgical tool and viewing the intraoperative surgical field images. The operation trolley is used for controlling the movement of the flexible operation tool in the body of a patient and simultaneously plays a role in supporting and positioning the flexible operation tool. The equipment trolley is used for placing equipment such as endoscope module equipment, an image processing device and auxiliary operation equipment (such as an electrotome generator), receiving driving quantity parameter information sent by the main control trolley through the concentrator and sending the driving quantity parameter information to the driving module on the operation trolley so as to push and control the motion of the flexible continuous body.
In a preferred embodiment, the manipulation device is a handle telemanipulator for an operator to conveniently manipulate the flexible surgical tool, and various handle telemanipulators commonly used in the art may be used without limitation in the present invention.
In the present invention, the surgical tool head mounted on the flexible surgical tool may include various surgical tools commonly used in endoscopic surgery, for example, an electrocautery tool, an electrocoagulation tool, a scissors tool, and the like.
In the present invention, the design of the cannula and tool isolation devices is mainly based on the requirements of surgical sterile operation, and the function of the cannula and tool isolation devices is to serve as a barrier for isolating sterilized surgical tools or endoscopes from mechanical structures or devices such as drive modules and linear modules which cannot be sterilized, thereby ensuring the sterility of the surgical field. Those skilled in the art will appreciate that the cannula isolation device and the tool isolation device may be implemented in many ways, for example, a device that can be attached or fitted with a sterile plastic garment or drape (e.g., a sterile barrier as disclosed in another patent application publication No. CN106377315A of the present applicant, the entire contents of which are incorporated herein by reference) that can cover and isolate all non-sterile sections on a surgical cart, so long as it can achieve the purpose of isolating sterile and non-sterile sections, and the implementation of the device in the present invention is not limited.
In a preferred embodiment, the endoscope sleeve and channel adapter may be removably mounted together. In another preferred embodiment, the endoscope sleeve and channel adapter may be unitary. After reading this description, one skilled in the art can determine the manner in which the endoscope sleeve and channel adapter are connected depending on the particular application.
In the present invention, the master-slave connection cable may be a composite cable or a plurality of cables, and the form thereof is not limited, and the types thereof include but are not limited to: video transmission cable, optical fiber, equipment common ground wire and control signal transmission cable. The surgical trolley cable may also be a composite cable or a plurality of cables including, but not limited to, a 24V power cable, a device common ground, a CAN communication cable, an emergency stop switch cable, etc. In addition, the system of the present invention requires other commonly used cables, such as an output cable for connecting the electrosurgical generator to the surgical trolley, video connection fibers for connecting the endoscope to the equipment trolley, and the like. The hospital power supply system can also comprise an alternating current cable used for connecting the main control trolley and the equipment trolley with a hospital power supply.
In a preferred embodiment, the system of the invention comprises three surgical trolleys, the surgical trolley carrying the endoscope being located in the middle, the other two surgical trolleys being placed on either side.
As described above, the drive module moves back and forth on the linear module, and the flexible surgical tool moves under the control of the drive module, so that the position of the surgical tool head or endoscope and the flexible continuum structure relative to the linear module can be directly obtained by the sensor, whereas the relative position of the linear module in space cannot be directly obtained. Thus, in a preferred embodiment, in order to obtain the spatial relative position of the linear modules and thus the three-dimensional spatial positioning of the flexible surgical tool, the system of the present invention may further comprise an optical tracker, which may be fixed to the cabinet of the equipment trolley by a lockable fixing bracket, and one or more optical positioning markers; the optical positioning marker may be attached to the cannula spacer on the at least one surgical cart, preferably to a surgical cart on which an endoscope is mounted, and more preferably to all surgical carts.
In the present invention, the optical tracker and the optical positioning markers can be implemented using various optical tracking devices and positioning means known in the art. For example, the optical tracker comprises an infrared emitting device, one or more cameras and an image analysis device, while the optical locating markers consist of a plurality of reflecting spheres made of a special material. In the operation process, the infrared emitting device emits infrared light, the camera receives the infrared light reflected by the optical positioning identifier, and the image analysis device can analyze the optical information reflected by the optical positioning identifier through an image algorithm so as to obtain the positioning information of three coordinates and a space direction in a space. Because the optical positioning mark is arranged on the sleeve isolating device, the positioning information of the optical positioning mark reflects the spatial position information of the flexible surgical tool. Through the three-dimensional positioning of the optical positioning mark, the space relative position parameters of the flexible surgical tool and the endoscope can be obtained, and the space relative position parameters can be further used in a remote control operation algorithm of the flexible surgical tool and the endoscope to realize the accurate control of the flexible surgical tool.
In the present invention, the auxiliary surgical equipment may include auxiliary surgical instruments or equipment commonly used in transurethral surgery, such as an electric knife generator, a negative pressure aspirator, an irrigation device, and the like. In a preferred embodiment, the auxiliary surgical equipment comprises an electric knife, and the electric knife is connected with an industrial personal computer on the main control trolley so as to receive a control signal sent by an operator.
In the invention, the bending and multi-degree-of-freedom motion of the flexible surgical tool are controlled and driven by the driving module, and the driving module moves back and forth along the linear module to drive the flexible surgical tool to move back and forth. A flexible surgical tool known in the art may be employed as long as it has a linear module and a driving module and can carry various endoscopes and surgical tool heads. However, for better integration into the system of the present invention and to obtain more stable and accurate results, flexible surgical tools disclosed in the applicant's published patent application CN108245254A (the entire content of which is incorporated herein by reference), published patent application CN106175849A (the entire content of which is incorporated herein by reference), and published patent application CN106175851A (the entire content of which is incorporated herein by reference), etc., are preferred.
In particular, in chinese application CN106175849A, a single-port endoscopic surgical system based on a flexible surgical tool is disclosed, which comprises a flexible surgical tool, an imaging tool and a catheter body; the flexible surgical tool comprises a surgical actuator, a flexible arm body, a driving handle and a proximal end structural body, wherein the surgical actuator is associated with the distal end of the flexible arm body, the proximal end of the flexible arm body is associated with the driving handle through the proximal end structural body, and the driving handle drives the flexible arm body to realize bending movement; the imaging tool comprises an imaging illumination module, a bending joint and an imaging tool driving unit, wherein the imaging illumination module is associated with the far end of the bending joint, the near end of the bending joint is associated with the imaging tool driving unit, and the imaging tool driving unit drives the bending joint to realize bending motion; the catheter body is used for guiding the surgical actuator at the far end of the flexible arm body and the imaging illumination module at the far end of the bending joint to reach the same area, and guiding the parts behind the near ends of the flexible arm body and the bending joint to different spatial directions.
In chinese application CN106175851A, a single port laparoscopic surgical system based on a flexible arm body is disclosed, which comprises a flexible surgical tool, an imaging tool, a catheter body and a driving body; wherein the flexible surgical tool comprises a first flexible arm, a surgical implement associated with a distal end of the first flexible arm, and a first drive transmission unit associated with a proximal end of the first flexible arm; the imaging tool comprises a second flexible arm body, an imaging illumination module and a second driving transmission unit, wherein the imaging illumination module is associated with the far end of the second flexible arm body, and the second driving transmission unit is associated with the near end of the second flexible arm body; the catheter body comprises a catheter for guiding the first flexible arm body and a multi-cavity catheter body for guiding the second flexible arm body; the driving body comprises a framework and a plurality of driving modules, the framework is associated with the catheter body, and the driving modules are fixedly connected to the framework and are respectively associated with the first driving transmission unit and the second driving transmission unit; the driving module realizes the integral feeding freedom degree, the integral rotating freedom degree and the bending freedom degree of the first flexible arm body through the first driving transmission unit associated with the driving module; similarly, the driving module realizes the integral feeding freedom degree and the bending freedom degree of the second flexible arm body through the second driving transmission unit associated with the driving module.
In chinese application CN108245254A, a multi-purpose flexible surgical tool system is disclosed, which comprises a flexible surgical tool, a sterile barrier, a motor unit and a linear module; the flexible surgical tool includes a flexible continuum structure and a transmission drive unit; the flexible continuum structure comprises a distal structure, a proximal structure and a connector; the distal structure comprises a first distal segment and a second distal segment; the transmission driving unit is associated with the first distal end structure so as to drive the first distal end structure to perform bending motion; the second far-end structure is associated with the near-end structure through the connecting body, and the transmission driving unit is also associated with the near-end structure so as to drive the near-end structure to perform bending motion, so that the second far-end structure is indirectly driven to perform bending motion; the motor unit is connected with the flexible surgical tool through the sterile barrier and provides driving force for the transmission driving unit; the output end of the linear module is connected with the motor unit and used for driving the flexible surgical tool to realize linear feeding motion.
In the present invention, the endoscope may be selected from various endoscopic devices commonly used in transurethral minimally invasive surgery, such as a cystoscope (sometimes simply referred to herein as a "cystoscope", and it will be understood by those skilled in the art that the terms urethroscope, ureteroscope, and the like, referred to herein all refer to corresponding endoscopic devices, such as a urethroscope, ureteroscope, and the like), a urethroscope, a ureteroscope, and the like. For better integration into the system of the present invention, it is preferred to use endoscopes capable of integrating with the flexible surgical tools disclosed in the above-mentioned patent application publication numbers CN108245254A, CN106175849A and CN106175851A (the entire contents of these applications are incorporated herein by reference) or to directly use the endoscopic surgical system disclosed in the applicant's patent application publication number CN106175851A (the entire contents of this application are incorporated herein by reference).
In one embodiment, the system of the present invention further comprises an operating table. In this context, the operating table may be any operating table known in the art, as long as it is capable of carrying a patient and being used with the system of the present invention.
In a preferred embodiment, the image capturing device is preferably a three-dimensional image capturing device, such that the image signals captured thereby can be processed by the image processing device into a three-dimensional stereoscopic (3D) image and displayed on the first and second displays. Accordingly, the first and the second display are preferably 3D displays, respectively. In one embodiment, the second display may also display only 2D images for providing operating view, operating reminders and input instructions during the procedure to support personnel (e.g., a nurse).
In the present invention, the industrial personal computer, the image acquisition device and the image processing device may be implemented by selecting commercially available corresponding devices or software or hardware attached to a commercially available robotic surgery system according to the corresponding functions mentioned in the present specification, or may be obtained by improving or developing themselves on the basis of the commercially available corresponding devices or hardware, as long as they can implement the corresponding functions mentioned in the present invention. The systems and methods disclosed in applicant's CN106236268A and CN106137399A (both of which are incorporated herein by reference in their entirety) may also be specifically referenced or used.
FIG. 1 is a schematic diagram of the composition and arrangement of one embodiment of the system of the present invention. In the embodiment of fig. 1, the system of the present invention consists of one master control trolley 001, one equipment trolley 002, three surgical trolleys 003 arranged beside the surgical bed 004. It will be appreciated by those skilled in the art that although the system of the present invention includes three surgical trolleys 003 in the embodiment of fig. 1, in a particular application, a user may be provided with at least one surgical trolley 003 depending on the particular surgical procedure and the particular circumstances of the patient's condition. As shown in fig. 1, the main control trolley 001 includes a control device 103, an industrial personal computer and a first display 102, wherein an operator 101 observes a real-time operation image displayed on the first display 102, and controls the control device 103 (note: for simplicity, parts hidden in fig. 1, such as the industrial personal computer, are not labeled, and the functions of these parts are described above). As can also be seen from fig. 1, the equipment trolley 002 has mounted thereon an optical tracker 205. An assistant staff (typically a nurse) 104 stands beside the operation bed 004, and observes the operation field image, operation reminding and input instructions during the operation process displayed on the second display 201 on the equipment trolley, and provides related assistant work in time. Fig. 2 shows a schematic side view of the master control trolley, and fig. 2 shows the master slave connection cable 401 and the ac cable 403 of the master control trolley 001.
Fig. 3 is a schematic front view of an equipment trolley in the system of fig. 1. As shown in fig. 3, the equipment cart 002 includes a cabinet 208, a second display 201, an endoscope module apparatus 203, a master-slave connection cable 401, an operation cart cable 402, an ac cable 403, an auxiliary operation apparatus 202 (e.g., a knife generator), and a hub 203, wherein the endoscope module apparatus 201, the auxiliary operation apparatus 202, the hub 203, and an image processing device (not shown) are installed in the cabinet 208. As shown in fig. 3, the display 201 is fixed on the cabinet 208, and an image (which may be a 2D or 3D image), operation reminding and input of an operation field in an operation process, and the like can be displayed on the display 201. Fig. 4 is a side schematic view of the equipment trolley of fig. 3 showing the optical tracker 205 coupled to the equipment trolley 002 via a lockable bracket 207.
The main control trolley 001 and the equipment trolley 002 are connected by a master-slave connection cable 401. Each of the operation carriages 003 and the equipment carriage 002 are connected to each other by an operation carriage cable 402. The main control trolley 001 and the equipment trolley 002 are connected with a hospital power supply through a 220V alternating current cable 403 respectively. Cables between the main control carriage 001, the equipment carriage 002, and the operation carriage 003 are laid on the floor of the operating room.
Fig. 5 is a schematic structural view of a surgical trolley in the system of fig. 1. Fig. 6 is a detailed structural schematic diagram of the flexible surgical tool of fig. 5. As shown in fig. 5 and 6, the surgical cart 003 includes a cart chassis 306, a positioning robot 305, a linear module 303, a drive module 302, a flexible surgical tool 300, a drive transmission unit 307, a cannula spacer 3021 and a tool spacer 3031, wherein the positioning robot 305 is mounted on the cart chassis 306, the positioning robot 305 is mounted on the linear module 303, and the drive module 302 can move back and forth along the longitudinal axis of the linear module 303. The flexible surgical tool 300 includes a drive transmission unit 307 and a flexible continuous body structure 301, wherein the front end of the flexible continuous body structure 301 carries a surgical tool head 310 or an endoscope 304, and the drive transmission unit 307 is connected to a tool isolation device 3021 mounted on a drive module 302. The trolley chassis 306 can realize the movement and locking of the operation trolley 003 in an operating room, the positioning mechanical arm 305 can adjust the posture to control the position and the direction of the operation tool head after the trolley chassis 306 is locked, the linear module 303 can adjust the front-back movement of the operation tool head 310 after the positioning mechanical arm 305 is locked, and the driving module 302 can push and control the bending of the flexible continuum structure 301 to complete the spatial six-degree-of-freedom movement of the operation tool head 310.
As shown in fig. 6, a tool isolation device 3021 and a cannula isolation device 3031 are provided on the surgical trolley 003 for isolating non-sterile parts of the surgical trolley from the patient, wherein the cannula isolation device 3031 is mounted at the distal end of the linear module 303, and the cannula isolation device 3031 is provided with a through hole (not shown) so that the flexible surgical tool 300 can pass through the through hole; the tool isolation device 3021 is mounted on the drive module 302 and the drive transmission unit 307 is mounted on the tool isolation device 3021. In addition, the cannula isolation device 3031 is provided with an optical positioning mark 206 for positioning the operation trolley 003. In the present invention, the optical positioning indicator 206 may be attached only to the sleeve isolation device 3031 of the endoscope-mounted surgical cart 003, or may be attached to the sleeve isolation device 3031 of each surgical cart 003.
Fig. 7 is a schematic illustration of the connection of the flexible surgical tools of the three surgical trolleys with the channel adapter, endoscope sleeve, in the system of fig. 1. As shown in fig. 7, an endoscope sleeve 308 is coupled to the distal end of the channel adapter 307. The proximal end of the channel adapter 307 is provided with three inlets 309, which are arranged symmetrically at an angle. The channel of channel adapter 307 communicates with the channel of endoscope cannula 308, and surgical tool-carrying flexible surgical tool 300 enters through left and right access ports 309, while flexible surgical tool 300 carrying endoscope 304 enters through middle access port 309.
The invention relates to an assembly method of an endoscopic surgery robot combined system
The assembling method of the endoscopic surgical robot assembly system of the present invention may comprise the steps of:
(1) moving the operating table trolley to one side of an operating table;
(2) installing the casing isolation device at the distal end of the linear die set and the tool isolation device on the drive die set;
(3) removably connecting (e.g., screwing, snap-fitting, etc.) the channel adapter to a cannula spacer of an endoscope-carrying surgical cart;
(4) locking the trolley chassis of the operation trolley carrying the endoscope in the step (3), adjusting the posture of a positioning mechanical arm of the operation trolley to enable the through hole of the sleeve isolation device to be axially aligned with the cavity channel of the endoscope sleeve, and connecting the channel adapter and the endoscope sleeve together to enable the endoscope to enter the endoscope sleeve through one inlet of the channel adapter;
(5) locking a trolley chassis of an operation trolley carrying an operation tool head, and adjusting the posture of a positioning mechanical arm of the operation trolley to enable a through hole of a sleeve isolation device of the operation trolley to be axially aligned with an inlet of the channel adapter except an inlet of the channel adapter, wherein the inlet is to enter an endoscope; and
(6) and installing a driving transmission unit of a flexible surgical tool on a tool isolation device of each operation trolley, and enabling the flexible surgical tool to sequentially penetrate through the sleeve isolation device and the channel adapter to be pushed to the far end until the top end of the surgical tool head is exposed out of the far end of the endoscope sleeve.
In a preferred embodiment of the above assembling method, in the step (2), an optical positioning mark may be further installed on the sleeve spacer.
In a preferred embodiment of the above assembling method, the channel adapter and the endoscope sheath are designed as an integral structure, so that the step of connecting the channel adapter and the endoscope sheath in the step (3) can be omitted.
The method for assembling the endoscopic surgical robotic assembly system of the present invention prior to performing a surgery is described below with the aid of the embodiment illustrated in fig. 1-7:
1. move the surgical trolley 003 to one side of the surgical table 004;
2. mounting the cannula isolation device 3031 at the distal end of the linear module 303 and the tool isolation device 3021 on the drive module 302;
3. detachably connecting the channel adapter 307 to a sleeve isolator 3031 of a surgical cart 003 carrying the endoscope 304;
4. moving the operation trolley 003 carrying the endoscope 304 in the step (3) into position, locking the trolley chassis 306 of the operation trolley 003, adjusting the posture of the positioning mechanical arm 305 of the operation trolley 003 to make the through hole of the sleeve isolator 3031 axially aligned with the cavity of the endoscope sleeve 308, and connecting the channel adapter 307 and the endoscope sleeve 308 together to make the endoscope 304 enter the endoscope sleeve 308 through the middle entrance of the channel adapter 307;
5. moving the surgical cart 003 carrying the surgical tool head 310 into position, locking the cart chassis 306 of the surgical cart 003, adjusting the posture of the positioning robot arm 205 of the surgical cart 003 so that the through hole of the cannula spacer 3031 of the surgical cart 003 is axially aligned with the other inlet 309; and
6. the drive transmission unit 307 of the flexible surgical tool 300 is mounted on the tool isolation device 3021 of each surgical trolley 003, and the flexible surgical tool 300 is advanced distally through the cannula isolation device 3031 and the channel adapter 307 in sequence until the tip of the surgical tool head 310 is exposed at the distal end of the endoscope cannula 308.
Method of use of the system of the invention
The method of using the system of the present invention may comprise the steps of:
(1) installing the casing isolation device at the distal end of the linear die set and the tool isolation device on the drive die set;
(2) detachably connecting the channel adapter with a sleeve isolation device of an operation trolley carrying an endoscope;
(3) locking the trolley chassis of the operation trolley carrying the endoscope in the step (2), adjusting the posture of a positioning mechanical arm of the operation trolley to enable the through hole of the sleeve isolation device to be axially aligned with the cavity of the endoscope sleeve, and connecting the channel adapter and the endoscope sleeve together to enable the endoscope to enter the endoscope sleeve through one inlet of the channel adapter;
(4) locking a trolley chassis of an operation trolley carrying an operation tool head, and adjusting the posture of a positioning mechanical arm of the operation trolley to enable a through hole of a sleeve isolation device of the operation trolley to be axially aligned with an inlet of the channel adapter except an inlet of the channel adapter, wherein the inlet is to enter an endoscope; and
(5) installing a driving transmission unit of the flexible surgical tool on a tool isolation device of each operation trolley, and enabling the flexible surgical tool to sequentially penetrate through the sleeve isolation device and the channel adapter to be pushed to the far end until the top end of the surgical tool head is exposed out of the far end of the endoscope sleeve;
(6) starting and setting a main control trolley and an equipment trolley;
(7) an operator pushes the endoscope into the endoscope sleeve by means of an operation trolley;
(8) pushing a flexible surgical tool carrying a surgical tool head to the surgical tool head to completely extend out of the endoscope sleeve through other surgical trolleys under the guidance of an endoscope;
(9) transmitting the acquired real-time stereo image signals to an equipment trolley by using image acquisition equipment on an operation trolley carrying an endoscope, processing the signals by an image processing device on the equipment trolley, and then respectively transmitting the signals to and displaying the signals on the first display and the second display;
(10) an operator operates the control equipment according to the operation real-time stereoscopic image displayed on the first display so as to generate a control signal and send the control signal to a receiving module of an industrial personal computer of the main control trolley; and
(11) the receiving module sends a control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, and sends the driving quantity parameter information to a hub on the equipment trolley, and then the driving quantity parameter information is sent to a driving module on the operation trolley by the hub; the driving module pushes and controls the flexible continuum structure to move according to the driving quantity parameter information so as to drive the surgical tool head to move.
In a preferred embodiment of the above method, the optical tracker may receive optical information reflected by the optical positioning markers and transmit the optical information to the industrial personal computer for determining the three-dimensional spatial position of the surgical tool head and the endoscope.
Transurethral endoscopic surgery method
Transurethral endoscopic surgery can be performed using the system of the present invention, and the method can include the steps of:
(1) anaesthetizing the patient and disinfecting the urethral orifice;
(2) inserting an endoscope cannula into the bladder via the urethra;
(3) assembling the endoscopic surgical robot assembly system of the present invention according to the above-described assembling method;
(4) an operator pushes the endoscope into the endoscope sleeve by means of an operation trolley;
(5) pushing a flexible surgical tool carrying a surgical tool head to the surgical tool head to completely extend out of the endoscope sleeve through other surgical trolleys under the guidance of an endoscope;
(6) transmitting the acquired real-time stereo image signals to an equipment trolley by using image acquisition equipment on an operation trolley carrying an endoscope, processing the signals by an image processing device on the equipment trolley, and then respectively transmitting the signals to and displaying the signals on the first display and the second display;
(7) an operator operates the control equipment according to the operation real-time stereoscopic image displayed on the first display so as to generate a control signal and send the control signal to a receiving module of an industrial personal computer of the main control trolley; and
(8) the receiving module sends the control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, and sends the driving quantity parameter information to a hub on the equipment trolley, and then the driving quantity parameter information is sent to a driving module on the operation trolley by the hub; the driving module slides along the linear module and pushes and controls the flexible continuum structure to move according to the driving quantity parameter information, so that the surgical tool head is driven to move to complete corresponding surgical actions.
The method steps for performing transurethral endoscopic surgery with the endoscopic surgical robotic assembly system of the present invention are described below with the aid of the embodiment illustrated in fig. 1-7:
1. anaesthetizing the patient and disinfecting the urethral orifice;
2. inserting the endoscope cannula 308 into the bladder via the urethra;
3. assembling the endoscopic surgical robot assembly system of the present invention in accordance with the assembling method with reference to fig. 1 to 7 in the above "assembling method of endoscopic surgical robot assembly system of the present invention";
4. the operator pushes the endoscope 304 into the endoscope cannula 308 by means of a surgical trolley 003;
5. the flexible surgical tool 300 carrying the surgical tool head 310 is pushed to fully extend the endoscope sleeve 308 via the other surgical trolley 003 under the guidance of the endoscope 304;
6. transmitting the acquired real-time stereoscopic image signals of the operation to the equipment trolley 002 by using an image acquisition device on the operation trolley 003 carrying the endoscope 304, processing the signals by an image processing device on the equipment trolley 002, and respectively transmitting the signals to and displaying the signals on the first display 102 and the second display 201;
7. an operator 101 operates the control device 103 according to the operation real-time stereoscopic image displayed on the first display 102 to generate a control signal and send the control signal to a receiving module of an industrial personal computer of the main control trolley 001; and
8. the receiving module of the industrial personal computer sends the control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, and sends the driving quantity parameter information to the concentrator 203 on the equipment trolley 002, and then the concentrator 203 sends the driving quantity parameter information to the driving module 302 on the operation trolley 003; the driving module 302 slides along the linear module 303 and pushes and controls the flexible continuum structure 301 to move according to the driving amount parameter information so as to drive the surgical tool head 310 to move, thereby completing the corresponding surgical action.
Example 1
In this embodiment, a method of performing cystoscopy using the system of the present invention is illustrated.
The endoscopic surgical robotic assembly system employed in the present embodiment employs the configuration and arrangement illustrated in FIG. 1, wherein endoscope 304 is cystoscope 304 (note: it is equipped with a bending joint in CN106308937A that can be bent in any direction), endoscope cannula 308 is cystoscope cannula 308, and flexible surgical tool 300 is a multi-purpose flexible surgical tool system as claimed in the applicant's published patent application CN 108245254A.
As shown in fig. 8, the patient takes a lithotomy position on the operating bed 004. Anaesthetizing the patient and disinfecting the urethral orifice. The cystoscope cannula 308 is inserted into the bladder through the urethra. Then, the operation is performed according to the following steps:
1. cables between the main control carriage 001, the equipment carriage 002, and the operation carriage 003 are connected in accordance with the connection method of the surgical robot system. Operation platform truck 003 is put in patient's foot side, and main control platform truck 001 can be put in the spacious and noiseless position in operating room, and putting of equipment platform truck 002 then is with convenient cable connection, the convenient observation of nurse for the purpose.
2. The main control trolley 001 and the equipment trolley 002 are started, and the operation robot system is self-checked.
3. The tunnel adapter 307 is connected to the cannula spacer 3031 of the operation cart 003 on which the cystoscope 304 is mounted.
4. The nurse 104 pushes the operation trolley 003 carrying the cystoscope 304 to the side of the operation bed 004, moves the operation trolley 003 to a proper position according to the position of the cystoscope sleeve 308, locks, adjusts the positioning arm 305, adjusts the central through hole of the sleeve isolation device 3031 to be approximately consistent with the orientation of the cystoscope sleeve 308, and then quickly connects the channel adapter 307 with the cystoscope sleeve 308.
5. The nurse connects and locks the drive transmission unit 307 of the flexible surgical tool 300 on which the surgical tool head 310 is mounted to the tool isolation device 3021 of the drive module 302 of the other two surgical carts 003. The nurse then advances the surgical tool tip 310 through the cannula spacer 3031, the lumen of the access adapter 307, and the cystoscope cannula 308 in that order in the direction of the patient until the tip of the surgical tool tip 310 is exposed to the position of the cystoscope cannula 308.
6. The surgeon 101, under visual guidance of the cystoscope 304, advances the surgical tool tip 310 until the flexible arms 301 are fully extended out of the cystoscope cannula 308.
7. The operation trolley 003 carrying the cystoscope 304 collects a real-time three-dimensional image of the operation and transmits the image to the equipment trolley 002; the device cart 002 processes the received image, displays the processed image on the display 201 of the device cart 002, and simultaneously transmits the processed image to the main control cart 001 to be displayed on the 3D display 102 of the main control cart 001. The surgeon 101 manipulates the device 103 to control the motion of the flexible surgical tool 300 as guided by the 3D display 102 image.
8. When the operation is completed or the surgical tool head 310 needs to be withdrawn for replacement, the main surgeon 101 withdraws the surgical tool head 310 to a position where the tip end thereof just exposes the cystoscope cannula 308 through the main control trolley 001.
9. The nurse 104 withdraws the surgical tool head 310 completely outside the body, and then unlocks the surgical tool head 310 from the drive module 302 and removes it for proper storage.
10. After completion of the procedure, nurse 104 removes access adapter 307 from cystoscope cannula 308. The surgical trolley 003 is then disconnected from the patient, and the surgical trolley 003 is removed from the side of the operating bed 004 and stored properly. Finally, the cystoscope cannula 308 is removed from the patient.
While particular embodiments of the present invention have been illustrated and described, it would be obvious to those skilled in the art that various other changes and modifications can be made without departing from the spirit and scope of the invention. It is therefore intended to cover in the appended claims all such changes and modifications that are within the scope of this invention.
Claims (11)
1. An endoscope operation robot combination system is characterized by comprising a main control trolley, an equipment trolley, at least one operation trolley and an endoscope sleeve set, wherein
The main control trolley comprises a control device, a first display and an industrial personal computer, wherein a receiving module and a signal conversion module are arranged in the industrial personal computer;
the equipment trolley comprises a cabinet, a second display, endoscope module equipment, a cable, auxiliary operation equipment, a hub and an image processing device, wherein the endoscope module equipment, the auxiliary operation equipment, the hub and the image processing device are installed in the cabinet, and the display is fixed on the cabinet; the cables comprise a surgical trolley cable and a master-slave connecting cable; the main control trolley is connected with the equipment trolley through the main-slave connecting cable, and each operation trolley is connected with the equipment trolley through the operation trolley cable;
the operation trolley comprises a trolley chassis, a positioning mechanical arm, a linear module, a driving module, a flexible operation tool, a sleeve isolating device and a tool isolating device; the linear module is carried on the positioning mechanical arm, and the driving module is arranged on the linear module and can move back and forth along the longitudinal axis of the linear module; the flexible surgical tool comprises a drive transmission unit and a flexible continuum structure, wherein the flexible continuum structure comprises a far-end structure body, a middle connecting body and a near-end structure body which are sequentially arranged from a far end to a near end, the far-end structure body is provided with a surgical tool head or an endoscope, the flexible surgical tool of one surgical trolley is provided with the endoscope, and the flexible surgical tools of other surgical trolleys are provided with surgical tool heads; the far end of the driving module is connected with a driving transmission unit of the flexible surgical tool and controls the action of the flexible continuum structure; and
the sleeve isolation device is arranged at the far end of the linear module, and a through hole is formed in the sleeve isolation device so that the flexible surgical tool can pass through the through hole; the tool isolation device is mounted on the drive module.
2. An endoscopic surgical robotic assembly system according to claim 1, wherein said endoscopic cannula kit includes an endoscopic cannula and a channel adapter, said endoscopic cannula and said channel adapter being connected together; the interior of the endoscope cannula is provided with one or more channels, the interior of the channel adapter is provided with at least one channel adapter channel communicating with the channel of the endoscope cannula and each channel adapter channel is provided with at least one inlet at the proximal end of the channel adapter for receiving the surgical tool head or the endoscope;
the endoscope is provided with an image acquisition device; the image processing device is configured to receive image signals acquired by the image acquisition equipment, process the image signals and transmit and display the processed image signals to and on the first display and the second display respectively; and
the control equipment is configured to receive a control signal of an operator and send the control signal to a receiving module of an industrial personal computer, the receiving module sends the control signal to the signal conversion module, the signal conversion module converts the control signal into driving quantity parameter information, sends the driving quantity parameter information to a hub on the equipment trolley, and then sends the driving quantity parameter information to a driving module on the operation trolley through the hub; the driving module pushes and controls the flexible continuum structure to move according to the driving quantity parameter information so as to drive the surgical tool head to move.
3. An endoscopic surgical robotic assembly system according to claim 2, wherein said endoscope sleeve and said channel adapter are detachably mounted or integral.
4. An endoscopic surgical robotic assembly system according to claim 1, wherein said manipulation device is a handle telemanipulator and said auxiliary surgical device comprises an electric knife connected to said industrial personal computer.
5. The endoscopic surgical robotic assembly system according to claim 1, wherein said cables further comprise video transmission cables, optical fibers, device common ground and control signal transmission cables.
6. An endoscopic surgical robot assembly system according to claim 1, wherein said system comprises three surgical carts, said surgical cart carrying an endoscope being positioned in the middle, and two other surgical carts carrying surgical tool heads being positioned on both sides.
7. An endoscopic surgical robotic assembly system according to claim 1, wherein said system further comprises an optical tracker secured to a cabinet of said equipment trolley by a lockable securing bracket, and one or more optical positioning markers; the optical positioning mark is installed on the operation trolley.
8. An endoscopic surgical robot assembly according to any of claims 1, 4-7, characterized in that said endoscope comprises a bladder endoscope, a urethra endoscope and a ureteral endoscope.
9. An endoscopic surgical robot assembly system according to claim 2 or 3, characterized in that said endoscope comprises a bladder endoscope, a urethra endoscope and a ureter endoscope.
10. A method of assembling the endoscopic surgical robotic assembly system of claim 2 or 3 or 9, said method comprising the steps of:
(1) moving the operating table trolley to one side of an operating table;
(2) installing the casing isolation device at the distal end of the linear die set and the tool isolation device on the drive die set;
(3) detachably connecting the channel adapter with a sleeve isolation device of an operation trolley carrying an endoscope;
(4) locking the trolley chassis of the operation trolley carrying the endoscope in the step (3), adjusting the posture of a positioning mechanical arm of the operation trolley to enable the through hole of the sleeve isolation device to be axially aligned with the cavity channel of the endoscope sleeve, and connecting the channel adapter and the endoscope sleeve together to enable the endoscope to enter the endoscope sleeve through one inlet of the channel adapter;
(5) locking a trolley chassis of an operation trolley carrying an operation tool head, and adjusting the posture of a positioning mechanical arm of the operation trolley to enable a through hole of a sleeve isolation device of the operation trolley to be axially aligned with an inlet of the channel adapter except an inlet of the channel adapter, wherein the inlet is to enter an endoscope; and
(6) and installing a driving transmission unit of a flexible surgical tool on a tool isolation device of each operation trolley, and enabling the flexible surgical tool to sequentially penetrate through the sleeve isolation device and the channel adapter to be pushed to the far end until the top end of the surgical tool head is exposed out of the far end of the endoscope sleeve.
11. The method of claim 10, wherein the endoscope comprises a bladder endoscope, a urethra endoscope, and a uretero endoscope.
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| CN202011191564.XA CN112190336B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot system |
| CN201811174831.5A CN109431601B (en) | 2018-10-09 | 2018-10-09 | Endoscopic surgery robot combination system and use method thereof |
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| CN201811174831.5A CN109431601B (en) | 2018-10-09 | 2018-10-09 | Endoscopic surgery robot combination system and use method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112190336B (en) | 2023-12-05 |
| CN109431601A (en) | 2019-03-08 |
| CN112190336A (en) | 2021-01-08 |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |