CN114869466A

CN114869466A - Robot system for oral-route man-machine cooperative operation

Info

Publication number: CN114869466A
Application number: CN202210792068.2A
Authority: CN
Inventors: 匡绍龙; 张诗雷; 戴博; 孙玉宁
Original assignee: Jiangsu University Of Technology Collaborative Medical Robot Co ltd
Current assignee: Jiangsu University Of Technology Collaborative Medical Robot Co ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2022-08-09

Abstract

The invention belongs to the technical field of medical instruments, and discloses a robot system for a robot collaborative operation through oral and oral approaches, which comprises a navigation camera and a control module, wherein the navigation camera can acquire head data information of a patient in real time; the control system is in signal connection with the navigation camera and can process the data information collected by the navigation camera; the surgical robot is in signal connection with the control system, and a mechanical arm is arranged on the surgical robot; the surgical tool is detachably arranged at the end part of the mechanical arm; the pinhole camera component is arranged on the operation tool and used for observing the action and the environment information of the operation tool in real time, and aiming at different positions of oral cranio-maxillofacial and different disease types, the problems of beauty and safety caused by facial incisions are solved, and a large amount of technical problems are caused by narrow operation space and limited visual field when the oral cavity is accessed.

Description

Robot system for oral-access robot-assisted surgery

Technical Field

The invention relates to the technical field of medical instruments, in particular to a robot system for a robot-assisted surgery through oral and oral approaches.

Background

The oral cranio-maxillofacial anatomy comprises oral maxillofacial regions, skull base, oropharynx and other parts, wherein the conventional oral cranio-maxillofacial surgery mode is an open surgery of an external incision, namely an opening behind ears or an opening below a lower jaw, and has the advantages of large wound, long operation time, slow wound healing and influence on facial beauty; the minimally invasive surgery is an important method and trend for solving the clinical problems of oral craniomaxillofacial surfaces, such as the craniofacial tumor surgery, and the minimally invasive surgery and the non-invasive surgery of natural orifice endoscopic surgery can be adopted in partial areas; for oropharyngeal tumors, minimally invasive surgery can be performed through an oral channel; the basis cranii tumour operation and oropharynx tumour need carry out the tumour excision through the terminal excision instrument of the visual angle assistance of endoscope, and the operation is still carried out in face opening little incision mode to most maxillofacial deformity correction, has postoperative dysfunction and incomplete problem of appearance.

Aiming at different parts of oral cranio-maxillofacial area and different disease species, a large amount of technical problems are caused by narrow operation space and limited visual field when the oral cranio-maxillofacial area enters the oral cavity, the problems of postoperative dysfunction and incomplete appearance still exist, and new problems are caused by the need of familiarizing instruments when different surgical instruments are adopted for different disease species.

Disclosure of Invention

The invention aims to provide a robot system for the man-machine collaborative operation through oral route, which solves the problems of beauty and safety brought by facial incision, and solves the problems of narrow operation space, limited visual field and the like generated during the oral route.

In order to achieve the purpose, the invention adopts the following technical scheme:

a transoral access robotic-collaborative surgical robotic system, comprising:

the navigation camera can acquire the head data information of the patient in real time;

the surgical robot is provided with a mechanical arm;

a surgical tool disposed at an end of the robotic arm;

the needle hole camera assembly is arranged on the surgical tool and used for acquiring the action of the surgical tool and the environment information of the surgical tool in real time;

the control system is in signal connection with the navigation camera so as to process data information acquired by the navigation camera and establish a surgical path data model;

the control system is in signal connection with the pinhole camera assembly to process data information collected by the pinhole camera assembly to optimize the surgical path data model.

Preferably, the control system is in signal connection with the surgical robot, and the control system controls the surgical robot to perform surgery according to the surgical path data model.

Preferably, a display device is connected to the control system, and the display device can display the surgical path data model.

Preferably, the surgical tool comprises a power device, the power device is detachably connected to the mechanical arm, a cutter is arranged at the end of the power device, the pinhole camera component is arranged far away from the tip end of the cutter on the power device, the pinhole camera component comprises a pinhole camera, and the orientation of a lens of the pinhole camera is the same as that of the cutter.

Preferably, the pinhole camera assembly comprises a pinhole camera mounting base, the pinhole camera mounting base is arranged on the power device in a surrounding mode, the pinhole cameras are multiple in number, and the pinhole cameras are arranged on the mounting base in a surrounding mode and distributed in the circumferential direction of the cutter.

Preferably, the surgical instrument further comprises a plurality of positioners, wherein the positioners are arranged on the surgical tool and the head of the patient and used for providing positioning sources for data acquired by the navigation camera.

Preferably, the surgical tool further comprises a connecting plate, one end of the connecting plate is connected with the mechanical arm, and the other end of the connecting plate is connected with the power device.

Preferably, the device also comprises a connecting flange; the connecting flange is connected to the tail end of the mechanical arm, a switching flange is connected to the connecting flange, the switching flange is connected to the connecting plate, and the connecting plate is in switching connection with the mechanical arm through the switching flange.

Preferably, be equipped with coupling fixture on the connecting plate, coupling fixture includes first anchor clamps, second anchor clamps, anchor clamps pivot, first anchor clamps with the second anchor clamps pass through the anchor clamps pivot is connected, first anchor clamps and second anchor clamps will power device clamp is located on the connecting plate, first anchor clamps with still be equipped with the constant head tank in the second anchor clamps, the last holding ring that is equipped with of power device, the holding ring with the constant head tank phase-match.

Preferably, the surgical robot further comprises a control pedal, and the control pedal is connected with the mechanical arm through the surgical robot.

The invention has the beneficial effects that: adopt navigation camera's earlier stage data acquisition, control system handles and establishes data model according to data and medical image file of gathering can be for going into the way by the mouth and carry out the operation planning, then can be for getting into the oral cavity through the pinhole camera subassembly after the operation instrument and pass through the whole information that the locator feedbacks according to the front end real-time image that pinhole camera subassembly fed back and navigation camera, can further optimize the operation route after control system data processing, and can be in real time through the process of mechanical arm control operation, and then the pleasing to the eye that the face incision brought, the operation space who produces when solving the way by the mouth simultaneously is narrow and small, the field of vision is limited scheduling problem, simultaneously all can adopt this system to accomplish by the mouth is gone into to different operations, solve the problem that different types of disease use different equipment.

Drawings

FIG. 1 is a schematic structural diagram of a robot system for oral-access robot-assisted surgery according to the present invention;

FIG. 2 is a schematic view of a surgical tool in the robot system for transoral access in cooperation with a surgical robot according to the present invention;

FIG. 3 is a schematic view of a surgical tool and a positioner in a robot system for transoral access and robotic-assisted surgery according to the present invention;

FIG. 4 is a schematic view of a pinhole camera assembly of the robot system for transoral access in conjunction with surgical operation;

FIG. 5 is a schematic view of a connection jig in the robot system for transoral access in cooperation with a surgical operation according to the present invention;

FIG. 6 is a schematic view of an application scenario of the present invention in which a robot for oral approach cooperates with a surgical tool of a surgical robot system to perform surgery;

fig. 7 is a flowchart of the operation of the robot system for oral approach in cooperation with the surgical robot.

In the figure:

1-a surgical robot; 2-a navigation camera; 3-a control system; 31-a display device; 4-a mechanical arm; 5-a positioner; 6-surgical tools; 61-a connecting flange; 62-a transfer flange; 63-connecting plate; 64-a connection clamp; 641-a first clamp; 642-a second clamp; 643 — a clamp spindle; 644-positioning groove; 65-a positioning ring; 66-a power plant; 67-pinhole camera component; 671 pinhole camera mount; 672-pinhole camera; 673-mounting holes; 68-a cutter; 7-operating table; 8-patient; 9-pressing a plate; 10-a spreader; 11-control pedal.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1-5, a robot system for oral-access robot-assisted surgery comprises a surgical robot 1, wherein a mechanical arm 4 is arranged on the surgical robot 1; the surgical tool 6 is arranged at the end of the mechanical arm 4; the navigation camera 2 can acquire head data information of skull outlines, lesion positions, blood vessels, nerves and the like of a patient 8 in real time, the control system 3 is in signal connection with the navigation camera 2, and the control system 3 processes the data acquired in the early stage of the navigation camera 2 and medical image files to establish an operation path data model and can plan an operation accessed from an entrance.

Pinhole camera subassembly 67 sets up on surgical tool 6, be used for the motion condition of real-time observation surgical tool 6, action information such as direction of motion and motion position and the inside environmental information in oral cavity of surgical tool 6 position, for example, the inside blood vessel in oral cavity, environmental information such as skeleton, pinhole camera subassembly 67 and control system 3 signal connection, pinhole camera subassembly 67 can be for the front end real-time image information according to pinhole camera subassembly 67 feedback after surgical tool 6 gets into the oral cavity, with optimizing the route model after 3 data processing of control system, correct the operation according to the operation route of optimizing, solve the operating space who produces by the narrow and small operation of mouth approach, the field of vision is limited scheduling problem, all can adopt this system to accomplish by the mouth to different operations simultaneously, solve the problem of different kinds of diseases with different equipment.

Referring to fig. 1, the robot system for robot-assisted surgery through oral route comprises a navigation camera 2, wherein the navigation camera 2 is in signal connection with a control system 3. In this embodiment, the navigation camera 2 is separately disposed at the side of the operating table 7, so that the navigation camera 2 can be conveniently moved to observe with a better viewing angle, and in other embodiments, the navigation camera 2 may be integrally disposed with the control system 3.

As shown in fig. 1, the control system 3 is further connected with a surgical robot 1 through a signal, a robot arm 4 is disposed on the surgical robot 1, in this embodiment, the robot arm 4 is a multi-axis medical robot arm, a detachable surgical tool 6 is mounted at an end of the robot arm 4, the control system 3 can control the surgical robot 1 to perform a surgery by itself according to a surgical path data model, the surgical robot 1 is further connected with a control pedal 11, a doctor can select to perform a surgery by controlling the operation of the robot arm 4 through the control pedal 11, and it should be noted that in another embodiment, the robot arm 4 can also be controlled by setting a control button, a control handle, and the like on the robot arm 4.

The control system 3 is further provided with a display device 31, the display device 31 can display the operation path data model for the doctor to check, and the doctor can control the operation robot 1 to perform the operation through the control pedal 11 according to the operation path model on the display device 31.

As shown in fig. 2, in the present embodiment, the surgical tool 6 is connected through a connecting flange 61 and an adapter flange 62, one end surface of the connecting flange 61 is connected to the end of the robotic arm 4, the adapter flange 62 is connected to the other opposite end surface of the connecting flange 61, the adapter flange 62 is connected to a connecting plate 63, the connecting plate 63 is connected to the robotic arm 4 through the adapter flange 62, the connecting flange 61 is connected to the robotic arm 4 and provides a mounting hole for the adapter flange 62, so that the surgical tool 6 can rotate at the end of the robotic arm 4, and the operation is facilitated.

As shown in fig. 2 and 5, one end of the connecting plate 63 is connected with the robot arm 4 through the adapter flange 62, the other end of the connecting plate 63 is provided with a connecting clamp 64, the connecting clamp 64 includes a first clamp 641 and a second clamp 642, the first clamp 641 and the second clamp 642 are connected through a clamp rotating shaft 643, the power device 66 is clamped on the connecting plate 63 by the first clamp 641 and the second clamp 642, in this embodiment, the power device 66 is clamped by the first clamp 641 and the second clamp 642 and fixed by bolts, a positioning groove 644 is further provided in the first clamp 641 and the second clamp 642, the positioning groove 644 is matched with a positioning ring 65 provided on the power device 66, the end of the power device 66 is provided with a cutter 68, the positioning groove 644 can clamp the power device 66 in the positioning groove 644, the positioning groove 644 can rapidly mount the power device 66 in place, and prevent the power device 66 from shaking during surgery, thereby driving the cutter 68 to rock, playing a role of limiting, and preventing dangers from occurring in the operation.

As shown in fig. 3, the head of the patient 8 and the connecting plate 63 are both provided with the positioner 5, the positioner 5 can be combined with the navigation camera 2 to provide the real-time position of the cutter 68, meanwhile, the navigation camera 2 can acquire information such as skull data and lesion positions of the patient through the positioner 5 mounted on the head of the patient 8, in the embodiment, the positioner 5 is a passive target, and the positioner 5 is directly mounted on the connecting plate 63 through screws and pins, so that the purpose of quick mounting and dismounting is realized.

As shown in fig. 2, 3 and 4, the surgical tool 6 is provided with a pinhole camera assembly 67, the pinhole camera assembly 67 includes a pinhole camera mounting seat 671, and the pinhole camera mounting seat 671 is disposed around the power device 66 away from the tip of the tool 68, so that the pinhole camera assembly 67 can observe the tool 68 more clearly, and the shielding of the tool 68 by the pinhole camera assembly 67 is reduced. In this embodiment, a plurality of pinhole cameras 672 are circumferentially distributed on the pinhole camera mounting seat 671 around the cutter 68, the lens orientations of the pinhole cameras 672 are the same as the orientation of the cutter 68, and by combining the pinhole cameras 672 with the positioner 5, the real-time image of the front end of the cutter 68 fed back by the pinhole cameras 672 after the surgical tool enters the oral cavity can be obtained.

It should be noted that in another embodiment, the side of the pinhole camera mounting seat 671 may also be provided with a pinhole camera 672, so that the environmental information around the tool 68 can also be fed back. Meanwhile, in this embodiment, the pinhole camera mounting seat 671 is detachably connected, the pinhole camera mounting seat 671 is a notched circle, the side portion of the pinhole camera mounting seat is provided with a mounting hole 673, a locking screw penetrates through the mounting hole 673, and then the pinhole camera 672 and the surgical tool 6 can be fixed by screwing and screwing. It should be noted that, in other embodiments, other detachable connections such as a buckle and a hinge may be adopted to facilitate the detachment of the pinhole camera assembly 67, and it should be noted that the pinhole camera mounting seat 671 may also be directly fixed to the surgical tool 6.

As shown in fig. 6 and 7, a detailed description is given of an operation method of the robot system for oral robot-assisted surgery:

and S1, importing the medical image files such as CT (computed tomography) images and nuclear magnetic images into the control system 3 for preprocessing, and establishing a data model.

S2: and planning the preoperative surgical path through the data model and the medical image file.

S3: fix 8 heads of patients, install locator 5 on the connecting plate 63 of surgical tool 6 with on 8 heads of patients, locator 5 on the connecting plate 63 that needs to explain can settle in advance, 8 skull data of patient, information such as pathological change position are gathered through locator 5 on 8 heads of patient to navigation camera 2, when information such as 8 skull data of patient, pathological change position are gathered to navigation camera 2 in this process, gather the real-time information of surgical tool 6 together, skull data, information such as pathological change position combine to optimize earlier data model and operation path planning with earlier data model.

Here, it is possible to select whether the control system 3 autonomously controls the surgical robot 1 to perform the surgery or the doctor performs the surgical operation by himself, and if the doctor performs the surgical operation by himself:

s4: the maxilla of the patient 8 is separated from the mandible from the teeth position by the distractor 10 so that the cutter 68 at the end of the surgical tool 6 can be smoothly introduced into the oral cavity. The mouth is opened by a cutter 68 at a proper position in the oral cavity, if the skull base tumor is removed, the mouth is opened by a scalpel at a proper position in the upper palate of the oral cavity, if the skull base tumor is removed, the mouth is opened between the upper lip and the teeth of the patient 8, namely, the maxillary bone, and the assistant doctor can use other medical auxiliary instruments such as a pressing plate 9 and the like to assist the operation. So that the knife 68 can reach the lesion through a more reasonable path to perform the operation.

S5: the real-time positions of the surgical tool 6 and skull data of the patient 8, lesion positions and other information are acquired by the pinhole camera 672 and the navigation camera 2 and transmitted to the control system 3 to optimize the route model, and then the doctor adjusts the surgical route by the mechanical arm 4 and the real-time positions of the lesions are processed by the surgical tool 6.

In the process, the information is fed back to the control system 3 according to the real-time position information of the surgical tool 6, and the information is fed back to an operating doctor after data processing of the control system 3, so that the doctor can further optimize a surgical route, and risks are reduced.

If the control system 3 autonomously controls the surgical robot 1 to perform the surgery:

when the pinhole camera 672 and the navigation camera 2 acquire the real-time positions of the surgical tool 6 and skull data of the patient 8, the lesion position and other information, and transmit the information to the control system 3 to optimize the route model, the control system 3 automatically adjusts the route after optimizing the model.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A robot system for robot-assisted surgery through oral approach, applied to a surgery through oral approach, comprising:

a navigation camera (2) capable of acquiring head data information of a patient (8) in real time;

the robot comprises a surgical robot (1), wherein a mechanical arm (4) is arranged on the surgical robot (1);

a surgical tool (6), wherein the surgical tool (6) is arranged at the end part of the mechanical arm (4);

the pinhole camera component (67) is arranged on the surgical tool (6) and used for acquiring the action and the environment information of the surgical tool (6) in real time;

the control system (3) is in signal connection with the navigation camera (2) so as to process data information acquired by the navigation camera (2) and establish a surgical path data model;

the control system (3) is in signal connection with the pinhole camera assembly (67) to enable processing of data information collected by the pinhole camera assembly (67) to optimize the surgical path data model.

2. The robot system for transoral access robot-collaborative surgery according to claim 1, wherein the control system (3) is in signal connection with the surgical robot (1), and the control system (3) controls the surgical robot (1) to perform surgery according to the surgical path data model.

3. The robot system for transoral access robotic collaborative surgery according to claim 1, wherein a display device (31) is connected to the control system (3), and the display device (31) is capable of displaying the surgical path data model.

4. The oro-access robotic collaborative surgical robot system according to claim 1, wherein the surgical tool (6) comprises a power device (66), the power device (66) is detachably connected to the mechanical arm (4), a cutter (68) is provided at an end of the power device (66), the pinhole camera assembly (67) is provided on the power device (66) away from a tip of the cutter (68), the pinhole camera assembly (67) comprises a pinhole camera (672), and a lens orientation of the pinhole camera (672) is the same as an orientation of the cutter (68).

5. The robot system for transoral access robotic collaborative surgery according to any one of claims 1-4, further comprising a control pedal (11), wherein the control pedal (11) is connected to the robotic arm (4) through the surgical robot (1).