CN110575248A - Robot system for minimally invasive ablation surgery - Google Patents
Robot system for minimally invasive ablation surgery Download PDFInfo
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- CN110575248A CN110575248A CN201910893105.7A CN201910893105A CN110575248A CN 110575248 A CN110575248 A CN 110575248A CN 201910893105 A CN201910893105 A CN 201910893105A CN 110575248 A CN110575248 A CN 110575248A
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- motor
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- pose
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1402—Probes for open surgery
-
- 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
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00714—Temperature
Abstract
A robot system for minimally invasive ablation surgery relates to a robot system, which comprises two sets of pose separation mechanical arms, an ultrasonic arm, a surgery cart and two sets of main hands, wherein the two sets of pose separation mechanical arms are arranged at the front end of the robot system; two sets of main hands are installed on one side of the table top of the operation cart, an ultrasonic arm and two sets of pose separating mechanical arms are installed on the other side of the table top of the operation cart, and the ultrasonic arm is arranged between the two sets of pose separating mechanical arms. The invention is applied to minimally invasive ablation surgery.
Description
Technical Field
The invention relates to a robot system, in particular to a robot system for minimally invasive ablation surgery.
background
in a minimally invasive ablation operation, the range which can be reached by an ablation needle is limited, so when a focus is too large and one ablation needle cannot completely ablate, two ablation needles are needed to penetrate into the focus from different directions. And the surgical process needs to feed back the insertion path and progress of the ablation needle in real time, and the ultrasound needs to work on line all the time. At least more than two doctors are needed to complete the actions, and the labor intensity is high.
disclosure of Invention
The invention provides a robot system for minimally invasive ablation operation, which is simple and convenient to operate, time-saving and labor-saving to overcome the defects of the prior art.
The technical scheme of the invention is as follows:
A robot system for minimally invasive ablation surgery comprises two sets of pose separation mechanical arms, an ultrasonic arm, a surgery cart and two sets of main hands; two sets of main hands are installed on one side of the table top of the operation cart, an ultrasonic arm and two sets of pose separating mechanical arms are installed on the other side of the table top of the operation cart, and the ultrasonic arm is arranged between the two sets of pose separating mechanical arms.
Further, the pose separating mechanical arm comprises a base, an attitude compensation mechanism, a positioning mechanism and a remote motion center mechanism; the base is provided with a positioning mechanism, an attitude compensation mechanism connected with the positioning mechanism and a remote motion center mechanism connected with the attitude compensation mechanism; the positioning mechanism comprises a first motor, a second motor, a third motor, a double-parallelogram decoupling structure and a transmission compensation assembly; the remote motion center mechanism comprises a fifth motor, a sixth motor, a transmission assembly and a remote linkage mechanism; a first motor is installed on the base, the first motor is vertically arranged in the axial direction, an output shaft of the first motor is connected with a supporting seat, and a second motor and a third motor are arranged on the supporting seat; the double-parallelogram decoupling mechanism is respectively driven by a second motor and a third motor, the double-parallelogram decoupling mechanism is connected with the attitude compensation mechanism through a transmission component, the fifth motor is driven by the attitude compensation mechanism to rotate, the remote linkage structure is driven by the transmission component driven by the sixth motor to do pitching motion, and the sixth motor is driven by the fifth motor to rotate.
Compared with the prior art, the invention has the following technical effects:
The invention sees the focus by means of external or internal ultrasound, the front end ablation needle of the pose separation mechanical arm at two sides is inserted into the focus to make the electrode enter the solid tumor tissue to the utmost extent, then the anchor-shaped thin electrode wire is stretched out at the front end of the ablation electrode needle and inserted into the tumor tissue, the tissue cell ions in the lesion area vibrate and rub to generate heat through radio frequency output, the lesion tissue of the tumor tissue is killed by the heating temperature to generate coagulation necrosis, finally a liquefied focus or a fibrous tissue is formed, and the monitoring temperature is adjusted in real time, thereby achieving the purpose of locally eliminating the tumor tissue, and finally the puncture needle track is heated and melted to prevent tumor planting. The invention can be independently operated by a doctor to finish the actions of ultrasonic positioning and puncture ablation, thereby achieving the purpose of relieving the shortage of staffing of medical workers, reducing staffing and finishing by one person.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
drawings
FIG. 1 is a top view of the overall structure of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a schematic view of the present invention applied to a surgical operation;
fig. 4 is a structural view of the pose separation robot arm;
Fig. 5 is a front view of the pose separation robot arm;
fig. 6 is a schematic diagram of the connection relationship between the fifth motor and the sixth motor in the remote center of motion mechanism.
Detailed Description
Referring to fig. 1-3, a robot system for minimally invasive ablation surgery includes two existing pose separation mechanical arms 31, an ultrasonic arm 32, a surgical cart 34, and two main hands 33;
Two sets of main hands 33 are installed on one side of the table top of the operation cart 34, an ultrasonic arm 32 and two sets of pose separating mechanical arms 31 are installed on the other side of the table top, and the ultrasonic arm 32 is arranged between the two sets of pose separating mechanical arms 31.
The master hand 33 is a doctor operation end, the two sets of pose separating mechanical arms 31 and the ultrasonic arm 32 are slave ends, the two sets of master hands 33 respectively control the two sets of pose separating mechanical arms 31, and the master hand on the other side can switch to operate the ultrasonic arm 32.
The focus is seen through an in-vitro or in-vivo ultrasonic means, the front end ablation needle of the pose separation mechanical arm at two sides is made to penetrate into a human body and penetrate into the focus, the electrode is made to enter a solid tumor tissue to the maximum extent and uniformly, then the anchor-shaped thin electrode wire is stretched out from the front end of the ablation electrode needle and inserted into the tumor tissue, tissue cell ions in a lesion area are made to vibrate and rub to generate heat through radio frequency output, the tumor tissue lesion tissue is killed through the heating temperature to generate coagulative necrosis, a liquefied focus or a fibrous tissue is finally formed, the monitoring temperature is adjusted in real time, the purpose of locally eliminating the tumor tissue is achieved, and finally the puncture needle channel is heated and melted to prevent tumor planting. The invention can be used for a doctor to independently operate the master hand to complete the actions of ultrasonic positioning and puncture ablation, thereby achieving the purpose of relieving the tension of staff allocation of medical workers.
As shown in fig. 4-6, the pose separating mechanical arm includes a base 7, an attitude compensation mechanism 4, a positioning mechanism, and a remote motion center mechanism; a positioning mechanism, an attitude compensation mechanism 4 connected with the positioning mechanism and a remote motion center mechanism connected with the attitude compensation mechanism 4 are arranged on the base 7; the positioning mechanism comprises a first motor 1, a second motor 2, a third motor 3, a double-parallelogram decoupling structure 100 and a transmission compensation assembly 9;
the remote motion center mechanism comprises a fifth motor 5, a sixth motor 6, a transmission assembly 12 and a remote linkage structure 8;
A first motor 1 is installed on the base 7, the first motor 1 is vertically arranged in the axial direction, an output shaft of the first motor 1 is connected with a supporting seat 11, and a second motor 2 and a third motor 3 are arranged on the supporting seat 11; the double-parallelogram decoupling mechanism 100 is respectively driven by the second motor 2 and the third motor 3, the double-parallelogram decoupling mechanism 100 is connected with the attitude compensation mechanism 4 through the transmission component 9, the fifth motor 5 is driven by the attitude compensation mechanism 4 to rotate, the remote linkage structure 8 is driven by the transmission component 12 driven by the sixth motor 6 to do pitching motion, and the sixth motor 6 is driven by the fifth motor 5 to rotate.
The ultrasonic arm 32 is a UR six-degree-of-freedom ultrasonic arm, that is, a six-degree-of-freedom ultrasonic arm of a general-purpose robot. Is manufactured by ERZHI Automation company.
referring to fig. 5, the posture compensation mechanism 4 includes a fourth motor 42 and a connection base 41; the other ends of the fourth connecting rod 24 and the two transfer rods 92 are respectively rotatably connected with the connecting base 41, the fourth motor 42 is axially and vertically arranged, the fourth motor 42 is fixedly arranged on the connecting base 41, and the mounting base 51 provided with the fifth motor 5 is fixedly connected on an output shaft of the fourth motor 42.
Preferably, as shown in fig. 5 and 6, the transmission assembly 12 is a bevel gear pair, the motor base 61 mounted with the sixth motor 6 is fixedly connected to the output shaft of the fifth motor 5, the output shaft of the sixth motor 6 is fixedly connected with a bevel gear 12-1, the remote linkage structure 8 is mounted with another bevel gear 12-1, and the remote linkage structure 8 is driven by the bevel gear pair to perform a pitching motion. So set up, give long-range linkage 8 with the motion transmission through the bevel gear pair, realize advancing needle mechanism T around far away the rotation of heart. Here, in order to ensure compact installation of the sixth motor 6 and save working space, the sixth motor 6 is installed in a motor base 61 of a drum type structure, and preferably, the sixth motor is a maxon motor. Compact structure and simple and reliable use.
the pose separation mechanical arm and the working principle adopt the technology of the prior patent documents, refer to the application numbers: 2019102047359, filing date: year 2019, 03, 18, patent name: a mechanical structure with pose separation.
the working principle of the double-parallelogram decoupling structure 100 is described with reference to fig. 5, and the structure is a three-joint two-degree-of-freedom mechanism, and both driving forces of the two degrees of freedom are arranged at the joint a. First, point a is defined as a fixed connection point corresponding to the output shaft of the second motor 2 and the first connection rod 21, point B is defined as a connection rotation point corresponding to the connection between the second connection rod 22 and the support base 10, point C is defined as a connection rotation point between the second connection rod 22 and the tripod 91, point D is defined as a connection rotation point between the fourth connection rod 24 and the tripod 91, point E is defined as a connection rotation point between the fourth connection rod 24 and the support base 41, point F is defined as a connection rotation point between the third connection rod 23 and the transmission shaft 3-1, point G is defined as a connection rotation point between the fourth connection rod 24 and the third connection rod 23, point H is defined as a connection rotation point between the tripod 91 and the transmission rod 92, point I is defined as a connection rotation point between the transmission rod 92 and the support base.
Firstly, when the AB rod is fixed and the AD rod is used as a drive, the ABCD parallelogram ensures that the CE rod is always parallel to the AB rod, and the angle change of the CE rod caused by the motion of the AD rod is compensated; angular changes of the GD rods are compensated through the AFGD parallelogram; since the angle of &hdgis fixed, the angle change of the IE rod can be compensated by the HDEI parallelogram. It follows that the angle of the EJ rod remains constant as the AD rod moves, thereby achieving decoupling of EJ from AD. Considering the AD bar fixed to drive the AB bar, it can be seen that the CE bar is actually driven by the ABCD parallelogram. Similarly, the two parallelograms of AFGD and HDEI can enable the EJ rod to compensate the angle change of the CE rod, and therefore the decoupling of the AB by the EJ is achieved. The principle of the double-parallelogram decoupling structure is the principle, and the structure is commonly used in industrial palletizing robots.
Referring to fig. 5 and 6, the remote linkage 8 includes a first operating lever 81, a second operating lever 82, a third operating lever 83, a fourth operating lever 84, and a fifth operating lever 85; one end of the fourth operating rod 84 is fixedly connected with the motor base 61, the other end of the fourth operating rod 84 is rotatably connected with the fifth operating rod 85, one end of the second operating rod 82 is rotatably connected with the fourth operating rod 84, the other bevel gear is further fixedly connected with one end of the second operating rod 82, the other end of the second operating rod 82 is rotatably connected with one end of the first operating rod 81, the other end of the fifth operating rod 85 is rotatably connected with the third operating rod 86, one end of the third operating rod 83 is rotatably connected with the second operating rod 82, and the other ends of the first operating rod 81 and the third operating rod 83 are respectively rotatably connected with the needle feeding mechanism 101.
The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims. Although the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (5)
1. A robot system for minimally invasive ablation surgery comprises two sets of pose separating mechanical arms (31), and is characterized in that: the robot system further comprises an ultrasonic arm (32), a surgical cart (34) and two sets of main hands (33);
two sets of main hands (33) are installed on one side of the table top of the operation cart (34), an ultrasonic arm (32) and two sets of pose separation mechanical arms (31) are installed on the other side of the table top, and the ultrasonic arm (32) is arranged between the two sets of pose separation mechanical arms (31).
2. A robotic system for minimally invasive ablation procedures according to claim 1, wherein: the pose separating mechanical arm 31 comprises a base (7), an attitude compensation mechanism (4), a positioning mechanism and a remote motion center mechanism;
A positioning mechanism, an attitude compensation mechanism (4) connected with the positioning mechanism and a remote motion center mechanism connected with the attitude compensation mechanism (4) are arranged on the base (7);
The positioning mechanism comprises a first motor (1), a second motor (2), a third motor (3), a double-parallelogram decoupling structure (100) and a transmission compensation assembly (9);
the remote motion center mechanism comprises a fifth motor (5), a sixth motor (6), a transmission assembly (12) and a remote linkage mechanism (8);
A first motor (1) is installed on the base (7), the first motor (1) is vertically arranged in the axial direction, an output shaft of the first motor (1) is connected with a supporting seat (11), and a second motor (2) and a third motor (3) are arranged on the supporting seat (11); the double-parallelogram decoupling mechanism (100) is respectively driven by a second motor (2) and a third motor (3), the double-parallelogram decoupling mechanism (100) is connected with the attitude compensation mechanism (4) through a transmission component (9), the fifth motor (5) is driven by the attitude compensation mechanism (4) to rotate, the remote linkage structure (8) is driven by a transmission component (12) driven by the sixth motor (6) to do pitching motion, and the sixth motor (6) is driven by the fifth motor (5) to rotate.
3. A robotic system for minimally invasive ablation procedures according to claim 2, wherein: the ultrasonic arm (32) is a UR six-degree-of-freedom ultrasonic arm.
4. A robotic system for minimally invasive ablation procedures according to claim 2, wherein: the posture compensation mechanism (4) comprises a fourth motor (42) and a connecting seat (41); the other ends of the fourth connecting rod (24) and the two transfer rods (92) are respectively rotatably connected with the connecting base (41), the fourth motor (42) is axially and vertically arranged, the fourth motor (42) is fixedly arranged on the connecting base (41), and the mounting base (51) provided with the fifth motor (5) is fixedly connected to an output shaft of the fourth motor (42).
5. A robotic system for minimally invasive ablation procedures according to claim 2, 3 or 4, wherein: the transmission component (12) is a bevel gear pair, a motor base (61) provided with a sixth motor (6) is fixedly connected to an output shaft of the fifth motor (5), an output shaft of the sixth motor (6) is fixedly connected with a bevel gear (12-1), another bevel gear (12-1) is arranged on the remote linkage mechanism (8), and the remote linkage mechanism (8) moves in a pitching mode through the bevel gear pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910893105.7A CN110575248A (en) | 2019-09-20 | 2019-09-20 | Robot system for minimally invasive ablation surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910893105.7A CN110575248A (en) | 2019-09-20 | 2019-09-20 | Robot system for minimally invasive ablation surgery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110575248A true CN110575248A (en) | 2019-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910893105.7A Pending CN110575248A (en) | 2019-09-20 | 2019-09-20 | Robot system for minimally invasive ablation surgery |
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| Country | Link |
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| CN (1) | CN110575248A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923056A (en) * | 2020-06-17 | 2020-11-13 | 厦门波耐模型设计有限责任公司 | Architecture, method and system of unmanned intelligent hospital |
| CN114931439A (en) * | 2022-05-12 | 2022-08-23 | 重庆金山医疗机器人有限公司 | Surgical robot and master manipulator for maintaining pose form |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107693121A (en) * | 2011-10-21 | 2018-02-16 | 直观外科手术操作公司 | Grasping force control for robotic surgical instrument end effector |
| CN108697467A (en) * | 2016-03-04 | 2018-10-23 | 柯惠Lp公司 | Ultrasonic wave instrument for robotic surgical system |
| CN109794942A (en) * | 2019-03-18 | 2019-05-24 | 哈尔滨工业大学 | A kind of mechanical structure with pose separation |
| EP3506288A1 (en) * | 2017-12-28 | 2019-07-03 | Ethicon LLC | Surgical hub spatial awareness to determine devices in operating theater |
-
2019
- 2019-09-20 CN CN201910893105.7A patent/CN110575248A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107693121A (en) * | 2011-10-21 | 2018-02-16 | 直观外科手术操作公司 | Grasping force control for robotic surgical instrument end effector |
| CN108697467A (en) * | 2016-03-04 | 2018-10-23 | 柯惠Lp公司 | Ultrasonic wave instrument for robotic surgical system |
| EP3506288A1 (en) * | 2017-12-28 | 2019-07-03 | Ethicon LLC | Surgical hub spatial awareness to determine devices in operating theater |
| CN109794942A (en) * | 2019-03-18 | 2019-05-24 | 哈尔滨工业大学 | A kind of mechanical structure with pose separation |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923056A (en) * | 2020-06-17 | 2020-11-13 | 厦门波耐模型设计有限责任公司 | Architecture, method and system of unmanned intelligent hospital |
| CN114931439A (en) * | 2022-05-12 | 2022-08-23 | 重庆金山医疗机器人有限公司 | Surgical robot and master manipulator for maintaining pose form |
| CN114931439B (en) * | 2022-05-12 | 2024-02-13 | 重庆金山医疗机器人有限公司 | Surgical robot and main hand mechanical arm for maintaining pose form |
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Application publication date: 20191217 |
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