CN109431604B - Flexible surgical robot for single-hole minimally invasive surgery and use method thereof - Google Patents
Flexible surgical robot for single-hole minimally invasive surgery and use method thereof Download PDFInfo
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- CN109431604B CN109431604B CN201811174941.1A CN201811174941A CN109431604B CN 109431604 B CN109431604 B CN 109431604B CN 201811174941 A CN201811174941 A CN 201811174941A CN 109431604 B CN109431604 B CN 109431604B
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- A61B34/30—Surgical robots
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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
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Abstract
The invention relates to a flexible surgical robot for single-hole minimally invasive surgery and a using method thereof.A main control trolley of the system is connected with an equipment trolley through a main control cable, the operation trolley is connected with the equipment trolley through an operation trolley cable, the front end of a driving module of a first operation trolley is connected with a laparoscope through a flexible operation arm and can drive the posture of the flexible operation arm, so that the laparoscope provides different visual angles; the front end of the far-end structural body of the second operation trolley is provided with an operation tool for controlling the movement of the operation tool, and the front end of the driving module of the second operation trolley is connected with the operation tool through a flexible operation arm and can drive the posture of the flexible operation arm, so that the operation tool has different postures; the equipment trolley is used for positioning the operation trolley and receiving a control signal sent by the main control trolley to provide power and a control signal for the operation trolley; the single-hole puncture outfit is used for puncturing at a preset position and can close a puncture part and guide laparoscopic tools and surgical tools.
Description
Technical Field
The invention relates to a flexible surgical robot for single-hole minimally invasive surgery and a using method thereof, and relates to the technical field of surgical robots.
Background
Compared with the porous laparoscopic minimally invasive surgery, the single-port laparoscopic minimally invasive surgery has smaller wound scale and higher postoperative yield, and is increasingly emphasized in the surgical operation. The existing da Vinci (DaVinci) SP Surgical robot system of intuitional Surgical company (American intuition surgery company) assists doctors to complete single-port laparoscopic minimally invasive surgery, and creates a precedent for putting single-port laparoscopic Surgical robots into application. The system consists of a patient side trolley, a doctor main control end and a vision trolley. The patient side trolley is provided with three operation arms and a vision arm by a positioning arm with the capability of positioning a far-end motion center to complete the operation. In the operation, a doctor refers to the real-time information provided by the vision trolley, operates the master control end of the doctor to input motion, and controls each functional unit of the trolley on the patient side to drive the operation tool and the vision tool to work. The far end structure of the existing surgical tool is mainly formed by serially connecting and hinging a plurality of rod pieces, and the surgical tool is driven by the tension of a steel wire rope to realize the bending of a hinged joint.
The existing patient side trolley uses a single positioning arm to carry a plurality of operation arms and vision arms, is limited by load and dynamic response requirements, is large in size, only aims at single-hole minimally invasive operation type research and development, is poor in multi-operation type adaptation flexibility, and can not adjust the quantity of working arms according to operation complexity. In the operation process, a plurality of positioning arms need to move outside the patient body to adjust the posture of a tool in the patient body, and collision is easy to generate to bring risks to the patient and equipment. In addition, the steel wire rope used in the distal end structure of the existing surgical instrument needs to be kept in a continuous tensioning state through a pulley, and the driving mode is difficult to realize further miniaturization of the surgical instrument and further difficult to improve the motion performance of the instrument.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a flexible surgical robot for single-hole minimally invasive surgery capable of avoiding interference of surgical tools during surgery and a method for using the same.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides a flexible surgical robot for single-hole minimally invasive surgery, which comprises a main control trolley, an equipment trolley, a first surgical trolley, at least one second surgical trolley and a single-hole puncture outfit, wherein the main control trolley is connected with the equipment trolley through a main control cable; the first operation trolley and the second operation trolley respectively comprise a flexible operation arm, a positioning mechanical arm, a linear module and a driving module, wherein the flexible operation arm comprises a flexible continuum structure, the flexible continuum structure comprises a far-end structure body, a near-end structure body and a middle connecting body, the far-end structure body comprises a far-end structure section, and the far-end structure section comprises a far-end spacing disc, a far-end fixing disc and a structural bone; the proximal structure body comprises proximal structure sections with the number equal to that of the distal structure sections, and the proximal structure sections comprise proximal spacing discs, proximal fixing discs and structural bones; the movable end of the positioning mechanical arm is provided with the linear module, the top of the linear module is slidably provided with the driving module, and the linear module is used for driving the driving module to feed along the axial direction of the driving module; a laparoscope tool is arranged at the front end of the far-end structural body of the first operation trolley and used for controlling the movement of the laparoscope tool, and the front end of the driving module of the first operation trolley is connected with the laparoscope through the flexible operation arm and can drive the posture of the flexible operation arm, so that the laparoscope can provide different visual angles; the front end of the far-end structural body of the second operation trolley is provided with an operation tool for controlling the movement of the operation tool, and the front end of the driving module of the second operation trolley is connected with the operation tool through the flexible operation arm and can drive the posture of the flexible operation arm, so that the operation tool has different postures; the equipment trolley is used for positioning the operation trolley and receiving a control signal sent by the main control trolley to provide power and a control signal for the linear module and the driving module; the single-hole puncture outfit comprises a puncture needle and a single-hole puncture outfit sheath, and is used for puncturing at a preset position, and when the puncturing is completed, the single-hole puncture outfit sheath can seal a puncturing part and guide the laparoscopic tool and the surgical tool after the puncture needle is pulled out.
Furthermore, the master control cable is a composite cable or a plurality of cables, and the master control cable is a video transmission cable, an optical fiber, a device common ground wire and a control signal transmission cable.
Furthermore, the operation trolley cable is a composite cable or a plurality of cables, and the operation trolley cable comprises a power cable, an equipment public ground wire, a CAN communication cable, an emergency stop switch cable and a cable special for an operation tool.
Further, the surgical tool dedicated cable is a laparoscopic video cable for a laparoscopic tool mounted on the first surgical cart; in the surgical tool mounted on the second surgical cart, the surgical tool dedicated cable is an electric knife generator output cable.
Further, the main control trolley comprises a remote operation handle and a 3D display, the 3D display is used for displaying the stereoscopic image of the operation part with the depth information, and an operator controls the remote operation handle to send a signal to the equipment trolley according to the guidance of the stereoscopic image of the operation part.
Further, the device trolley comprises a trolley body, a rocker arm, a 2D display and an optical positioning device; the equipment platform truck is used for placing required equipment among all kinds of operation processes, platform truck body top fixed connection the rocking arm bottom, fixed setting on the rocking arm the 2D display, the fixed setting of movable end of rocking arm optical positioning equipment, the platform truck body is through a plurality of operation platform truck cable corresponding connection first operation platform truck and second operation platform truck, the equipment platform truck still passes through the transmission of video cable the image and transmission arrive in the art that the peritoneoscope instrument observed 2D display and the master control platform truck show.
Furthermore, the 2D display is also provided with an operation reminding function and an input function, so that an assistant operator can operate the 2D operation part image.
Further, the single-hole penetrator sheath includes at least two branching sheaths.
Further, a tool sterile barrier is arranged on the driving module, a puncture device sterile barrier is fixedly arranged on the linear module, the puncture device sterile barrier is detachably connected with one of the branch sheaths in a detachable mode, the laparoscopic tool and the surgical tool are both detachably connected with the other two branch sheaths through the corresponding tool sterile barrier, and an optical positioning mark is fixedly arranged on the puncture device sterile barrier.
In a second aspect, the present invention also provides a method for using a single-hole minimally invasive flexible surgical robot, comprising the following steps:
step 1): the method comprises the following steps of arranging a flexible surgical robot comprising a main control trolley, an equipment trolley, a first operation trolley, at least one second operation trolley and a single-hole puncture outfit, wherein each of the first operation trolley and the second operation trolley comprises a flexible surgical arm, a positioning mechanical arm, a linear module and a driving module, each flexible surgical arm comprises a flexible continuum structure, each flexible continuum structure comprises a far-end structure body, a near-end structure body and a middle connector, each far-end structure body comprises a far-end structure section, and each far-end structure section comprises a far-end spacing disc, a far-end fixing disc and a structure bone; the proximal structure body comprises proximal structure sections with the number equal to that of the distal structure sections, and the proximal structure sections comprise proximal spacing discs, proximal fixing discs and structural bones; the movable end of the positioning mechanical arm is provided with a linear module, the top of the linear module is slidably provided with the driving module, and the linear module is used for driving the driving module to feed along the axial direction of the driving module; the front end of the far-end structural body of the first operation trolley is provided with a laparoscope tool for controlling the movement of the laparoscope tool, and the front end of the driving module of the first operation trolley is connected with the laparoscope through a flexible operation arm and can drive the posture of the flexible operation arm, so that the laparoscope provides different visual angles; the front end of the far-end structural body of the second operation trolley is provided with an operation tool for controlling the movement of the operation tool, and the front end of the driving module of the second operation trolley is connected with the operation tool through a flexible operation arm and can drive the posture of the flexible operation arm, so that the operation tool has different postures; the single-hole puncture outfit comprises a puncture needle and a single-hole puncture outfit sheath, and is used for puncturing at a preset position, and when the puncture is finished, the single-hole puncture outfit sheath can seal a puncture part and guide a laparoscopic tool and an operation tool after the needle is pulled out;
step 2): placing a first operation trolley, a second operation trolley and a main control trolley at the peripheral positions of an operation bed; the main control trolley is connected with the equipment trolley through a main control cable, the first operation trolley, the second operation trolley and the equipment trolley are connected through operation trolley cables, and the main control trolley and the equipment trolley are both connected with an external power supply through power cables;
step 3): starting the main control trolley and the equipment trolley, and performing self-checking on the flexible surgical robot;
step 4): the operating trolley is provided with a tool sterile barrier and a puncture outfit sterile barrier, and the puncture outfit sterile barrier and the tool sterile barrier are respectively connected with two branch sheath sheaths of a sheath of the single-hole puncture outfit;
step 5): identifying the optical positioning marks of the first operation trolley and the second operation trolley by adopting optical positioning equipment of the equipment trolley to complete the positioning of the first operation trolley and the second operation trolley;
step 6): moving the first operation trolley and the second operation trolley according to the operation type position, and adjusting positioning mechanical arms of the first operation trolley and the second operation trolley to enable the positions and the directions of the linear modules and the driving modules of the first operation trolley and the second operation trolley to meet the operation type requirement;
step 7): connecting and locking a laparoscope tool and an operation tool with a driving module of a corresponding operation trolley through a tool sterile barrier;
step 8): pushing the laparoscopic tool to a preset position under the guidance of vision, and feeding the surgical tool to the direction of the preset position until the surgical tool extends out of the single-hole puncture outfit;
step 9): an operator sends out a control signal of the movement of the flexible surgical arm according to the image teleoperation collected by the laparoscope tool, the main control trolley converts the control signal into a driving signal of a driving module of a first surgical trolley and a driving signal of a driving module of a second surgical trolley and sends the driving signals to the equipment trolley, and the equipment trolley forwards the received driving signals to the corresponding first surgical trolley and the second surgical trolley;
step 10): after the operation is completed, the laparoscopic tool and the surgical tool are completely withdrawn to a position where the single-hole puncture instrument is exposed.
Further, the method also comprises the following steps:
step 11): unlocking the laparoscopic tool and the surgical tool from the driving module, and taking down and storing the laparoscopic tool and the surgical tool;
step 12): the single-hole penetrator sheath is removed from the penetrator sterile barrier and stored.
Further, in the step 5), the optical positioning device adopts a visual camera, the optical positioning identifier adopts a positioning tracker, and the visual camera confirms the position of each surgical trolley by shooting the positioning tracker arranged on the surgical trolley.
Furthermore, the flexible surgical robot comprises a main control trolley, an equipment trolley, a first surgical trolley and two second surgical trolleys, the front end of the first surgical trolley driving module is connected with a laparoscope tool through a flexible surgical arm, and the front ends of the two second surgical trolley driving modules are connected with corresponding surgical tools through the flexible surgical arm.
Furthermore, the flexible surgical robot comprises a main control trolley, an equipment trolley, a first surgical trolley and three second surgical trolleys, the front end of a driving module of the first surgical trolley is connected with a laparoscope tool through a flexible surgical arm, and the front ends of driving modules of the three second surgical trolleys are respectively connected with corresponding surgical tools through the flexible surgical arm.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the operation trolley collects operation three-dimensional images in real time and transmits the images to the equipment trolley through the video cable; after the received image is processed, the 2D operation portion image is displayed on the 2D display 23 and is simultaneously transmitted to the 3D display of the main control trolley to display the three-dimensional image with the depth information, an operator controls the remote operation handle to control the movement of the flexible operation arm according to the guidance of the 3D display image and sends a signal to the equipment trolley, the equipment trolley drives the corresponding movement completed by the flexible operation arm according to the control signal of the main control trolley and the operation trolley according to the received control quantity, thereby avoiding the manual insertion mode to guide instruments such as a laparoscope and the like to reach the operation portion for operation, effectively reducing the pain of a patient and improving the accuracy of the operation; meanwhile, the movement of the positioning mechanical arm is accurate, the repeatability is good, the stable maintenance can be realized without operation input, the operation can be carried out by operating the operation tool under the state of keeping the visual field without being beside a sickbed by virtue of the movement operation switching capability of the main control trolley;
2. the front end of the driving module of the surgical trolley is connected with the flexible surgical arm, and drives the posture of the flexible surgical arm on the replaceable surgical tool to complete the full-dimensional motion of various surgical tools, so that the possibility is provided for further miniaturization of surgical instruments, and the motion performance of the instruments can be further improved;
3. the movement function of the flexible operation arm is realized without moving the positioning mechanical arm in the operation process to expand the movement capability of the operation tool, so that the possibility of external collision of the positioning mechanical arm in the operation process is completely avoided, and the safety is obviously improved;
4. the operation trolley arranged independently is convenient for an operator to flexibly adjust the number and the arrangement position of the operation trolleys according to the complexity of an operation, so that the space utilization efficiency of the sickbed side is improved, and the difficulty in carrying and storing equipment is reduced;
in conclusion, the invention can be widely applied to single-hole minimally invasive surgery.
Drawings
FIG. 1 is a schematic view of the construction of a surgical robot of the present invention;
FIG. 2 is a schematic structural view of the master control trolley of the present invention;
FIG. 3 is a schematic view of the structure of the apparatus trolley of the present invention;
FIG. 4 is a schematic view of the construction of the surgical trolley of the present invention;
FIG. 5 is a schematic view of the construction of a flexible surgical arm of the present invention;
FIG. 6 is a schematic structural view of a distal segment of the present invention;
FIG. 7 is a schematic structural view of a flexible surgical robot according to an embodiment of the cholecystectomy procedure of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, the flexible surgical robot for performing single-port minimally invasive surgery of a doctor according to the present invention includes a main control cart 1, an equipment cart 2, at least two surgical carts 3 beside a surgical bed, and a single-port puncture outfit 4, wherein a first surgical cart 3 carries a laparoscope tool to collect an image of a surgical site, and other second surgical carts 3 carry surgical tools to perform surgery.
Wherein, the main control platform truck 1, equipment platform truck 2 and operation platform truck 3 arrange with quantity can adjust according to the demand of different art formulas, do not do the restriction here, and operation platform truck 3 is placed in operation table one side usually during the use, and patient's sick bed is kept away from as far as possible to main control platform truck 1. The main control trolley 1 is used for providing a platform for operating the operation trolley 3 and observing the image of the operation part by remote control for an operator, and the equipment trolley 2 is used for positioning the operation trolley 3, receiving signals from the main control trolley 1 and providing power and control signals for tools carried by the operation trolley 3.
The main control trolley 1 is connected with the equipment trolley 2 through a main control cable 4, wherein the main control cable 4 can adopt a composite cable or a cable formed by connecting a plurality of cables, the main control cable 4 comprises but is not limited to a video transmission cable, an optical fiber, an equipment common ground wire and a control signal transmission cable, in addition, the main control trolley 1 and the equipment trolley 2 are both connected with an external power supply through a power supply cable 6, and the power supply cable 6 can adopt a 220V alternating current cable.
All CAN be connected through operation platform truck cable 5 between every operation platform truck 3 and the equipment platform truck 2, wherein, operation platform truck cable 5 CAN adopt a compound cable or many cables that form with the cable connection, operation cable 5 contains but not limited to 24V power cable, the public ground wire of equipment, CAN communication cable, scram switch cable and the special cable of surgical tool, to carrying on the peritoneoscope instrument on first operation platform truck 3, the special cable of surgical tool is peritoneoscope video cable, to carrying on the surgical tool at second operation platform truck 3, the special cable of surgical tool is electrotome generator output cable.
The single-hole puncture outfit 4 comprises a puncture needle and a single-hole puncture outfit sheath, and is used for puncturing at a preset position, and when the puncturing is completed, the single-hole puncture outfit sheath can close the puncture part and guide laparoscopic tools and surgical tools after the puncture needle is pulled out.
In this embodiment, the single-hole penetrator sheath preferably comprises at least two branching sheaths.
In this embodiment, as shown in fig. 2, preferably, the main control trolley 1 includes a trolley body 11, a teleoperation handle 12 and a 3D display 13 are disposed on the trolley body, the 3D display 13 is used for displaying a stereoscopic image with depth information, and an operator controls the teleoperation handle 12 to send a signal to the device trolley 2 according to guidance of the image displayed by the 3D display 13.
In this embodiment, preferably, as shown in fig. 3, the device trolley 2 includes a trolley body 21, a 2D display 23, a swing arm 22, and an optical positioning device 24, the top of the trolley body 21 is fixedly connected to the bottom of the swing arm 22, the swing arm 22 is fixedly provided with the 2D display 23, and the movable end of the swing arm 22 is fixedly provided with the optical positioning device 24, and preferably, the optical positioning device 24 may include a visual camera, and the visual camera is used for recognizing the surgical trolley 3 so as to determine the position of the surgical trolley 3. The trolley body 21 is correspondingly connected with each operation trolley 3 through a plurality of operation trolley cables 5, and the equipment trolley 2 also transmits the intraoperative images observed by the laparoscope through video cables and transmits the intraoperative images to the 2D display 23 and the 3D display 13 of the main control trolley 1 for displaying. In addition, the device trolley 2 can also be used for placing devices required in various surgical procedures, such as a laparoscope vision module device, and the 2D display 23 of the device trolley 2 is further provided with an operation reminding function and an input function for assisting an operator to operate the 2D surgical site images.
In this embodiment, preferably, as shown in fig. 4 to 6, the operation trolley 3 is used for controlling the movement of the flexible operation arm in the patient, and plays a role of supporting and positioning at the same time, and the first operation trolley 3 and the second operation trolley 3 have substantially the same structure, and both include a flexible operation arm 30, a trolley base 31, a positioning mechanical arm 32, a linear module 33, a driving module 34, a laparoscope or an operation tool 35, an optical positioning identifier 36, a tool sterile barrier 37 and a puncture instrument sterile barrier 38; the flexible surgical arm 30 comprises a flexible continuous body structure, the flexible continuous body structure comprises a distal structural body 301, a proximal structural body 302 and a middle connecting body 303, the distal structural body 301 comprises a distal structural section 304, and the distal structural section 304 comprises a distal spacing disc 305, a distal fixing disc 306 and a structural bone 307; proximal structure 302 includes proximal segments equal in number to the distal segments, including proximal spacer disks, proximal fixation disks, and structural bone. The top of the trolley base 31 is fixedly provided with the bottom of a positioning mechanical arm 32, the movable end of the positioning mechanical arm 32 carries a linear module 33, the top of the linear module 33 is slidably provided with a driving module 34, and the linear module 33 is used for driving the driving module 34 to feed along the axial direction of the driving module 34. A laparoscope tool is arranged at the front end of the distal structure body 301 of the first operation trolley 3 and used for controlling the motion of the laparoscope tool, and the front end of the driving module 34 of the first operation trolley 3 is connected with the laparoscope tool through the flexible operation arm 30 and can drive the posture of the flexible operation arm 30, so that the laparoscope tool can provide different visual angles; the front end of the far-end structure body 301 of the second operation trolley 3 is provided with an operation tool for controlling the movement of the operation tool, the front end of the driving module 34 of the second operation trolley 3 is connected with the operation tool through the flexible operation arm 30 and can drive the posture of the flexible operation arm 30, so that the operation tool has different postures, and the full-dimensional movement of the operation tool is completed; preferably, the distal end of flexible surgical arm 30 carries surgical tools, of the type including, but not limited to, surgical tool tips such as needle holders, bipolar forceps, and Maryland forceps. In addition, a tool sterile barrier 37 is provided on the drive module 34, and a puncture instrument sterile barrier 38 is fixedly provided at the front end of the linear module 33, both the tool sterile barrier 37 and the puncture instrument sterile barrier 38 being used to isolate the non-sterile part of the operation trolley from the patient. The penetrator sterile barrier 38 is removably coupled to one of the branching sheaths and the laparoscopic and surgical tools are removably coupled to the other branching sheath through the respective tool sterile barrier 38. In addition, an optical positioning mark 36 is arranged on the puncture device sterile barrier 38, and the optical positioning mark 36 can adopt a positioning tracker and can realize the posture adjustment of the linear module 33 by matching with the movement of the trolley base 31, so as to position all the operation trolleys 3.
When the invention works, a first operation trolley 3 carrying a laparoscope tool collects a real-time three-dimensional image of an operation and transmits the image to an equipment trolley 2; the device cart 2 processes the received image, displays the 2D surgical site image on the display 23 of the device cart 2, and simultaneously transmits the image to the main control cart 1, and displays a stereoscopic image of depth information on the 3D display 13 of the main control cart 1. The surgeon manipulates teleoperational handle 12 to control the movement of flexible surgical arm 30, as guided by the 3D display image, and sends a signal to device trolley 2. The equipment trolley 2 is converted into driving signals required by all the operation trolley driving modules 34 and the linear modules 33 according to the control signals of the main control trolley 1, and the driving signals are sent to the first operation trolley 3 and the second operation trolley 3. The first operation trolley 3 and the second operation trolley 3 drive the corresponding movement of the flexible operation arm 30 according to the received control quantity.
The following is a further description of the use of the flexible surgical robot for single-hole minimally invasive surgical procedures according to the present invention with reference to specific embodiments.
Example 1: the flexible surgical robot for single-hole minimally invasive surgery operation is adopted to carry out appendectomy.
The appendectomy procedure of this embodiment requires a master control cart 1, an equipment cart 2, a first surgical cart and three second surgical carts 3, which are arranged as shown in fig. 1, and the patient assumes an upward posture. A plurality of surgical tools are inserted into the pneumoperitoneum entry 7 of the patient through the single-hole puncture instrument 4. The single-hole puncture instrument 4 is used for sealing pneumoperitoneum and helping the guide of laparoscopic tools and surgical tools. The operator sits in front of the main control trolley 1, observes the image of the operative part through the 3D display 13, and controls the teleoperation handle 12 to control the movement of the flexible operation arm 30 carried on the operation trolley 3. The assisting surgeon 1 stands beside the operating bed 8 to assist the surgeon's operation.
The preparation stage before operation needs the following steps:
1. anaesthetizing the patient to form pneumoperitoneum; 2. fixing a patient on an operating bed 8, and puncturing at a preset position on the abdominal wall of the patient by using a single-hole puncture outfit 4, wherein 7 is an abdominal inlet; 3. fixing the single-hole puncture outfit 4 on the pneumoperitoneum of the patient; 4. the patient is adjusted to the proper position according to the operation requirement and the arrangement of the operator.
The operation stage of the surgical robot comprises the following specific processes:
1. connect the cable between main control platform truck 1, equipment platform truck 2, first operation platform truck 3 and the second operation platform truck 3 according to flexible operation robot connected mode, specifically do:
as shown in fig. 1, the positions of all the surgical trolleys 3 are arranged near the patient bed 8 according to the position of the abdominal entrance 7. The position of the main control trolley 1 can be placed at a position far away from the operating table 8 according to the length of the cable. The optical positioning device 24 of the device trolley 2 is rotated by the device trolley swing arm 22 to a position where the optical positioning marks 36 of all the operation trolleys 3 can be observed, and the 2D display of the device trolley displays the identification conditions of the positioning marks 36 of all the operation trolleys 3.
2. And starting the main control trolley 1 and the equipment trolley 2, and performing self-checking on the flexible surgical robot.
3. Sterile barriers are installed for all surgical trolleys 3, including a tool sterile barrier 37 and a penetrator sterile barrier 38, the penetrator sterile barrier 38 and the tool sterile barrier 37 being respectively connected with two branching sheaths of a sheath of a single-hole penetrator.
4. The assistant doctor pushes all the operation trolleys 3 to the operation bed, moves the operation trolley 3 according to the position of the single-hole puncture outfit 4, adjusts the positioning mechanical arm 32, adjusts the direction of the linear module 33 and the direction of the single-hole puncture outfit 4 to be approximately consistent, enables the puncture outfit sterile barrier 38 at the front end of the linear module 33 and the single-hole puncture outfit 4 to be in a close state, and then fixes the single-hole puncture outfit 4 and the puncture outfit sterile barrier 38.
5. The assisting surgeon connects and locks laparoscopic and surgical tools to the drive module 34 through the tool sterility barrier 37. First, the surgeon advances the flexible surgical arm 30 of the laparoscopic tool under visual guidance to the viewing site. Then, the assisting surgeon feeds the surgical tool toward the inside of the patient until the surgical tool exposes the position of the single-hole puncture instrument 4.
6. The surgeon, under visual guidance of the laparoscopic tool, advances the flexible surgical arm 30 of the surgical tool to fully extend the single-port puncture instrument 4.
7. When the operation is completed or the surgical tool needs to be withdrawn for replacement, the operator withdraws the laparoscopic tool and the surgical tool to the position where the single-hole puncture outfit 4 is exposed through the main control trolley 1.
8. The assisting surgeon withdraws the laparoscopic and surgical tools completely out of the body, and then unlocks and removes the laparoscopic and surgical tools from the respective drive modules 34 for proper storage.
9. After the operation is completed, the assisting surgeon releases the single-hole puncture instrument 4 from the puncture instrument sterile barrier 38, disconnects the operation trolley 3 from the pneumoperitoneum of the patient, then detaches the single-hole puncture instrument sheath from the puncture instrument sterile barrier 38 and stores the puncture instrument sheath, and finally removes the operation trolley 3 from the operation table 8 for proper storage.
Example 2: the surgical robot for single-hole minimally invasive surgery operation is adopted to carry out cholecystectomy.
The cholecystectomy procedure of this embodiment requires a master control cart 1, an equipment cart 2, a first operation cart 3 and two second operation carts 3. The trolley arrangement is shown in figure 7. The patient takes the posture of face up, the head is low, the feet are high, and the using method of the flexible surgical robot is the same as the using process of the embodiment 1. Similarly, the flexible surgical robot for single-hole minimally invasive surgery operation can also be applied to the operation modes of ovarian cyst removal, fallopian tube resection, salpingotomy, ovarian perforation, hernia repair and the like.
Appropriate changes and modifications to the embodiments described above will become apparent to those skilled in the art from the disclosure and teachings of the foregoing description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (7)
1. A flexible surgical robot for single-port minimally invasive surgery, comprising:
the puncture outfit comprises a main control trolley, an equipment trolley, a first operation trolley, at least one second operation trolley and a single-hole puncture outfit, wherein the main control trolley is connected with the equipment trolley through a main control cable;
the first operation trolley and the second operation trolley respectively comprise a flexible operation arm, a positioning mechanical arm, a linear module and a driving module, the flexible operation arm comprises a flexible continuum structure, the flexible continuum structure comprises a far-end structure body, a near-end structure body and a middle connecting body, the far-end structure body comprises a far-end structure section, and the far-end structure section comprises a far-end spacing disc, a far-end fixing disc and a structural bone; the proximal structure body comprises proximal structure sections with the number equal to that of the distal structure sections, and the proximal structure sections comprise proximal spacing discs, proximal fixing discs and structural bones; the movable end of the positioning mechanical arm is provided with the linear module, the top of the linear module is slidably provided with the driving module, the positioning mechanical arm is used for positioning and keeping the linear module in a direction and a position meeting the requirements of a preset formula, and the linear module is used for driving the driving module to feed along the axis direction of the driving module;
a laparoscope tool is arranged at the front end of the far-end structural body of the first operation trolley and used for controlling the movement of the laparoscope tool, and the front end of the driving module of the first operation trolley is connected with the laparoscope tool through the corresponding flexible operation arm and can drive the posture of the corresponding flexible operation arm, so that the laparoscope tool can provide different visual angles to observe an operation part image conveniently;
the front end of the far-end structure body of the second operation trolley is provided with an operation tool for controlling the movement of the operation tool, and the front end of the driving module of the second operation trolley is connected with the operation tool through the corresponding flexible operation arm and can drive the corresponding posture of the flexible operation arm, so that the operation tool has different postures to complete operation;
the equipment trolley is used for positioning the operation trolley and receiving a control signal sent by the main control trolley to provide power and a control signal for the linear module and the driving module;
the single-hole puncture outfit comprises a puncture needle and a single-hole puncture outfit sheath, and is used for puncturing at a preset position, and the single-hole puncture outfit sheath can close a puncture part and guide the laparoscopic tool and the surgical tool after the puncture needle is pulled out in a puncture completion state;
the flexible surgical robot is configured to be used in the following steps:
the first surgical trolley, the second surgical trolley, and the master trolley are operably positioned at locations around the surgical bed;
the main control trolley and the equipment trolley are started, and the flexible surgical robot performs self-checking;
the first operation trolley and the second operation trolley are provided with a tool sterile barrier and a puncture outfit sterile barrier, and the corresponding puncture outfit sterile barrier and the corresponding tool sterile barrier are respectively connected with two branch sheaths of the sheath of the single-hole puncture outfit;
the optical positioning device of the device trolley identifies the optical positioning marks of the first operation trolley and the second operation trolley and positions the first operation trolley and the second operation trolley;
the first operation trolley and the second operation trolley move according to the operation type position, and the flexible operation robot adjusts the positioning mechanical arms of the first operation trolley and the second operation trolley so that the positions and the directions of the linear modules and the driving modules of the first operation trolley and the second operation trolley meet the operation type requirement;
the laparoscopic tool and the surgical tool are connected and locked with the driving module of the first surgical trolley or the second surgical trolley through the corresponding tool sterile barrier;
under visual guidance, the flexible surgical robot pushes the laparoscopic tool to a predetermined position, and the flexible surgical robot feeds the surgical tool to the direction of the predetermined position until the surgical tool extends out of the single-hole puncture outfit;
the flexible surgical robot sends out corresponding control signals of the movement of the flexible surgical arm according to the teleoperation of the image acquired by the laparoscopic tool, the main control trolley converts the control signals of the movement of the flexible surgical arm into driving signals of the first surgical trolley and the second surgical trolley driving module and sends the driving signals to the equipment trolley, and the equipment trolley forwards the received corresponding driving signals to the corresponding first surgical trolley and the second surgical trolley;
after the operation is completed, the laparoscopic tool and the surgical tool are completely withdrawn to a position where the single-hole puncture outfit is exposed.
2. The flexible surgical robot of claim 1, wherein the master cable is a composite cable or a plurality of cables, and the master cable is a video transmission cable, an optical fiber, a device common ground wire, and a control signal transmission cable.
3. The flexible surgical robot of claim 1, wherein the surgical trolley cable is a composite cable or a plurality of cables, the surgical trolley cable comprising a power cable, a device common ground, a CAN communication cable, a crash stop switch cable, and a surgical tool dedicated cable.
4. The flexible surgical robot of claim 3, wherein for a laparoscopic tool carried on the first surgical trolley, the surgical tool-specific cable is a laparoscopic video cable; in the surgical tool mounted on the second surgical cart, the surgical tool dedicated cable is an electric knife generator output cable.
5. The flexible surgical robot of any one of claims 1-4, wherein the master control cart comprises a teleoperation handle and a 3D display, the 3D display is used for displaying a stereoscopic image of the operative part with depth information, and an operator controls the teleoperation handle to send a signal to the equipment cart according to guidance of the stereoscopic image of the operative part.
6. A surgical robot as claimed in any of claims 1 to 4, wherein the device trolley comprises a trolley body, a rocker arm, a 2D display; the equipment platform truck is used for placing required equipment among all kinds of operation processes, platform truck body top fixed connection the rocking arm bottom, fixed setting on the rocking arm the 2D display, the fixed setting of movable end of rocking arm optical positioning equipment, the platform truck body is through a plurality of operation platform truck cable corresponding connection first operation platform truck and second operation platform truck, the equipment platform truck still passes through the transmission of video cable the image and transmission arrive in the art that the peritoneoscope instrument observed 2D display and the master control platform truck show.
7. The flexible surgical robot of claim 6, wherein the 2D display is further provided with an operation reminding function and an input function for assisting an operator in operating the 2D surgical site images.
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| CN202011191576.2A CN112190337B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot system of peritoneoscope |
| CN201811174941.1A CN109431604B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot for single-hole minimally invasive surgery and use method thereof |
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| CN201811174941.1A CN109431604B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot for single-hole minimally invasive surgery and use method thereof |
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| CN202011191576.2A Division CN112190337B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot system of peritoneoscope |
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| CN109431604B true CN109431604B (en) | 2021-03-26 |
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| CN113456229A (en) * | 2020-03-31 | 2021-10-01 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
| CN113081281A (en) * | 2021-04-16 | 2021-07-09 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
| CN115607285B (en) * | 2022-12-20 | 2023-02-24 | 长春理工大学 | Single-port laparoscope positioning device and method |
| CN117796913A (en) * | 2024-03-01 | 2024-04-02 | 科弛医疗科技(北京)有限公司 | surgical robot |
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| CN112190337A (en) | 2021-01-08 |
| CN112190337B (en) | 2023-12-05 |
| CN109431604A (en) | 2019-03-08 |
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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. |
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