CN107049501B - Bionic lithotripsy robot in urinary system cavity - Google Patents
Bionic lithotripsy robot in urinary system cavity Download PDFInfo
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- CN107049501B CN107049501B CN201710444223.0A CN201710444223A CN107049501B CN 107049501 B CN107049501 B CN 107049501B CN 201710444223 A CN201710444223 A CN 201710444223A CN 107049501 B CN107049501 B CN 107049501B
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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
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B18/26—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor for producing a shock wave, e.g. laser lithotripsy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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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
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00505—Urinary tract
- A61B2018/00511—Kidney
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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
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00505—Urinary tract
- A61B2018/00517—Urinary bladder or urethra
Abstract
The application provides a bionic lithotripsy robot in a urinary system cavity, which comprises a body, a driving mechanism for driving the body to creep forwards or backwards, a power supply mechanism for supplying power to the driving mechanism, a control mechanism for controlling the driving mechanism and an auxiliary lithotripsy mechanism for crushing stones; the body comprises an outer cover made of flexible materials, and a head part, a trunk part and a tail part which are arranged in the outer cover in a matching way and are connected in sequence; the head part and the tail part are respectively provided with at least one wireless camera connected with a display; the driving mechanism, the power supply mechanism and the auxiliary stone breaking mechanism are arranged in the body, and the control mechanism is in telecommunication connection with the power supply mechanism. According to the bionic lithotripsy robot in the urinary system cavity, according to the bionics principle, the bionic robot is remotely controlled, and in the lithotripsy operation process, the operation learning curve is short, so that the occurrence of complications is greatly reduced.
Description
Technical Field
The application relates to an intracavity lithotripsy device for urinary system stones, in particular to a bionic lithotripsy robot in the urinary system cavity.
Background
The current lithotripsy solution of urinary tract stones on the urinary system mainly comprises ureteroscope lithotripsy and percutaneous nephrolithotripsy, and the method comprises the following steps:
1. ureteroscope lithotripsy is to use a ureteroscope soft or hard lens to insert ureter through urethra and bladder to break up ureteral calculus or kidney calculus and take out. The utility model uses the natural urinary system cavity of human body, does not make any incision on the body, is a pure urological endoscopic minimally invasive surgery, and is suitable for various ureteral calculi and partial kidney calculi with ineffective conservative treatment.
2. Percutaneous nephrolithotomy is to establish a skin-to-kidney passage in the waist, insert the nephroscope into the kidney through the passage, and break up and remove the kidney stones by using lithotripsy tools such as laser and ultrasound.
Therefore, the lithotripsy operation of the urinary tract stones on the urinary system is mainly finished through a ureteroscope or a hard lens or is finished through percutaneous nephroscope operation, so that the technical requirements on operators are high, the operation difficulty is high, ureteroscope iatrogenic injury is easy to occur, and even life-threatening serious complications such as bleeding, shock and the like are caused.
Disclosure of Invention
At present, the lithotripsy operation of urinary tract stones on a urinary system is mainly finished through a ureteroscope or a hard lens, or is finished through percutaneous nephroscope operation, so that the technical requirements on operators are high, the operation difficulty is high, ureteroscope iatrogenic injury is easy to occur, and even life-threatening serious complications such as bleeding, shock and the like are caused.
In order to solve the lithotripsy operation problem of urinary calculus, the application provides a bionic lithotripsy robot in a urinary system cavity, according to the bionics principle, through remote control bionic robot, in the lithotripsy operation process, the operation learning curve is short, and the occurrence of complications is greatly reduced.
The technical scheme adopted for solving the technical problems is as follows: a bionic lithotripsy robot in a urinary system cavity comprises a body, a driving mechanism for driving the body to creep forwards or backwards, a power supply mechanism for supplying power to the driving mechanism, a control mechanism for controlling the driving mechanism and an auxiliary lithotripsy mechanism for crushing stones; the body comprises an outer cover made of flexible materials, and a head part, a trunk part and a tail part which are arranged in the outer cover in a matching way and are connected in sequence; the head part and the tail part are respectively provided with at least one wireless camera connected with a display; the driving mechanism, the power supply mechanism and the auxiliary stone breaking mechanism are arranged in the body, and the control mechanism is in telecommunication connection with the power supply mechanism.
The bionic lithotripsy robot in the cavity of the urinary system, as described above, wherein the head and the tail are respectively connected with the trunk through the variable diameter operation ring with the outer diameter capable of being increased or decreased, and the variable diameter operation ring of the head and the variable diameter operation ring of the tail are fixedly connected with the outer cover.
The bionic stone breaking robot in the cavity of the urinary system is characterized in that the variable-diameter operating ring is of an annular air bag structure, two control pumps are further arranged in the trunk, the air cavities of the control pumps are communicated with the annular air bag structure in a one-to-one correspondence mode, and the pistons of the two control pumps are electrically connected with the power supply mechanism.
The bionic lithotripsy robot in the cavity of the urinary system comprises a plurality of operating rings which are sequentially arranged to form a cylindrical structure, and the operating rings are fixedly arranged on the outer cover; the trunk is extended or contracted between the head and the tail by the driving of the driving mechanism by the two adjacent operating rings.
The bionic lithotripsy robot in the cavity of the urinary system comprises a plurality of coils, wherein at least two coils are uniformly arranged on each operating ring at intervals, and the positions of the coils arranged on the operating rings correspond to each other; when the current directions of all the coils on the two adjacent operation rings are the same, the two adjacent operation rings are far away from each other; when the current directions of all the coils on the two adjacent operation rings are opposite, the two adjacent operation rings are close to each other; when the current directions of the coils on the two adjacent operation rings are the same and the current directions of the other coils are opposite, the positions of the coils on the two adjacent operation rings corresponding to the same current directions are far away from each other, and the positions of the other coils on the two adjacent operation rings corresponding to the opposite current directions are close to each other.
The bionic lithotripsy robot in the cavity of the urinary system is characterized in that four coils are uniformly arranged on each operation ring at intervals.
The bionic stone breaking robot in the cavity of the urinary system comprises power supply units for supplying power to the coils in a one-to-one correspondence manner and wireless charging devices for wirelessly charging the power supply units, wherein a plurality of power supply units are in telecommunication connection with the wireless charging devices; the driving mechanism comprises a signal receiving device for receiving the indication signal sent by the control mechanism; a plurality of said power supply units are in telecommunication connection with said signal receiving means; after the signal receiving device receives the indication signal sent by the control mechanism, the power supply unit supplies electric energy which can enable the coil to generate corresponding current direction to the coil.
The bionic lithotripsy robot in the urinary system cavity, as described above, wherein the power supply mechanism further comprises a power supply mechanism for connecting an external power supply.
The bionic stone breaking robot in the cavity of the urinary system comprises the wireless charging electromagnetic induction transmitting module for supplying power to the wireless charging device, and the wireless charging electromagnetic induction transmitting module is electrically connected with the wireless charging device.
The bionic stone breaking robot in the cavity of the urinary system, as described above, wherein the control mechanism further comprises a wireless control signal transmitting module for transmitting the indication signal to the signal receiving device, a power switch for controlling the connection or disconnection of an external power supply, and a control device for generating the indication signal; when the power switch is turned on, the control mechanism is electrically connected with the external power supply, and the control device generates corresponding indication signals and transmits the corresponding indication signals to the signal receiving device through the wireless control signal transmitting module.
According to the bionic stone breaking robot in the cavity of the urinary system, the outer cover, the head part, the trunk and the tail part which are arranged in the outer cover in a matching mode and are sequentially connected form the worm-shaped or earthworm-shaped body, the outer cover made of flexible materials cannot influence bending and stretching of the bionic stone breaking robot in the cavity of the urinary system, and meanwhile the trunk stretches between the head part and the tail part to achieve forward or backward peristaltic movement of the body; according to the bionics principle, the control mechanism is used for remotely controlling the bionic lithotripter in the cavity of the urinary system to creep in the cavity of the urinary system of the human body, so that the operation difficulty is reduced, the operation learning curve is short in the lithotripter operation process, the occurrence of complications is greatly reduced, and the occurrence probability of iatrogenic injury and other complications of the urinary system caused by the endoscopic operation is also reduced; in addition, the wireless cameras respectively arranged at the two ends (namely the head and the tail) of the body can be used for transmitting the imaging of the urinary system cavity to the display (generally, a medical display is adopted) in telecommunication connection with the wireless cameras so as to enable a surgeon to complete the intra-cavity examination and lithotripsy operation of the urinary system, and almost no operation blind area exists.
Drawings
Fig. 1 is a schematic structural view of a bionic lithotripsy robot in the lumen of the urinary system of the present application.
Fig. 2 is a schematic diagram of connection between a variable diameter operating ring and a control pump in the urinary system intracavity bionic lithotripsy robot of the present application.
Fig. 3 is a schematic diagram of connection between an operating ring and a coil in the urinary system intracavity bionic lithotripsy robot of the present application.
Fig. 4 is a schematic view showing a state when the trunk of the urinary system intracavity bionic lithotripsy robot of the present application stretches.
Fig. 5 is a schematic view of a state when the trunk in the urinary system intracavity bionic lithotripsy robot of the present application makes a turn.
Fig. 6 is a schematic cross-sectional view of the urinary system intracavity biomimetic lithotripsy robot of the present application.
Fig. 7 is a schematic structural view of a control mechanism of the urinary system intracavity bionic lithotripsy robot of the present application.
Reference numerals illustrate:
1. the device comprises a body, 11, a housing, 12, a head, 13, a trunk, 131, an operation ring, 14, a tail, 15, a variable diameter operation ring, 16, a control pump, 161, an air cavity, 162, a piston, 17, an auxiliary guide wire operation channel, 2, a wireless camera, 3, a coil, 41, a power supply unit, 42, a wireless charging device, 5, a signal receiving device, 6, a control mechanism, 61, a wireless charging electromagnetic induction emission module, 62, a wireless control signal emission module, 63, a power switch, 64, a control device, 7 and a laser fiber operation channel.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present application, a specific embodiment of the present application will be described with reference to the accompanying drawings.
As shown in fig. 1, the present application provides a urinary system intracavity bionic lithotripsy robot, which comprises a body 1, a driving mechanism for driving the body to creep forwards or backwards, a power supply mechanism for supplying power to the driving mechanism, a control mechanism 6 for controlling the driving mechanism and an auxiliary lithotripsy mechanism for crushing stones; the body 1 comprises an outer cover 11 made of flexible materials, and a head 12, a trunk 13 and a tail 14 which are arranged in the outer cover 11 in a matching way and are connected in sequence; the head part 12 and the tail part 14 are respectively provided with at least one wireless camera 2 connected with a display; the driving mechanism, the power supply mechanism and the auxiliary stone breaking mechanism are arranged in the body 1, and the control mechanism 6 is in telecommunication connection with the power supply mechanism.
After receiving the forward peristaltic indication signal sent by the control mechanism 6, the tail 14 is fixed, the driving mechanism drives the trunk 13 to extend between the head 12 and the tail 14, then the head 12 is fixed and the tail 14 is not fixed, the driving mechanism drives the trunk 13 to shrink between the head 12 and the tail 14, then the tail 14 is fixed and the head 12 is not fixed, and the body 1 realizes rhythmic forward peristaltic motion in a cycle; conversely, after receiving the indication signal of backward peristalsis sent by the control mechanism 6, the head 12 is fixed, the driving mechanism drives the trunk 13 to extend between the head 12 and the tail 14, then the tail 14 is fixed and the head 12 is unfixed, the driving mechanism drives the trunk 13 to shrink between the head 12 and the tail 14, then the head 12 is fixed and the tail 14 is unfixed, and the body 1 realizes rhythmic backward peristalsis periodically.
According to the bionic lithotripsy robot in the cavity of the urinary system, the body 1 with the shape of worms or earthworms is formed through the outer cover 11, the head 12, the trunk 13 and the tail 14 which are arranged in the outer cover 11 in a matching mode and are sequentially connected, the outer cover 1 made of flexible materials does not influence the bending and the stretching of the bionic lithotripsy robot in the cavity of the urinary system, and meanwhile, the trunk 13 stretches between the head 12 and the tail 13 to achieve forward or backward peristaltic movement of the body 1; according to the bionics principle, the control mechanism 6 is used for remotely controlling the bionic lithotripter in the cavity of the urinary system to creep in the cavity of the urinary system of the human body, so that the operation difficulty is reduced, the operation learning curve is short in the lithotripter operation process, the occurrence of complications is greatly reduced, and the occurrence probability of iatrogenic injury and other complications of the urinary system caused by the endoscopic operation is also reduced; in addition, the wireless cameras 2 respectively arranged at the two ends of the body 1 (i.e. the head 12 and the tail 14) can transmit the imaging of the urinary tract cavity to the display (generally, a medical display) in telecommunication connection with the wireless cameras 2, so that a surgeon can complete the intra-cavity examination and lithotripsy operation of the urinary tract, and the surgical blind area is hardly generated.
The head 12 and the tail 14 are respectively connected with the trunk 13 through a variable diameter operation ring 15 with the outer diameter capable of being increased or decreased, and the variable diameter operation ring 15 of the head 12 and the variable diameter operation ring 15 of the tail 14 are fixedly connected with the outer cover 11. After receiving the forward peristaltic indication signal sent by the control mechanism 6, the outer diameter of the variable diameter operating ring 15 of the tail 14 is increased, so that the tail 14 is fixed; when the trunk 13 is driven by the driving mechanism to extend between the head 12 and the tail 14, the outer diameter of the variable diameter operation ring 15 of the head 12 is increased, the outer diameter of the variable diameter operation ring 15 of the tail 14 is decreased, the head 12 is fixed and the tail 14 is not fixed; when the trunk 13 is driven by the driving mechanism to complete contraction between the head 12 and the tail 14, the outer diameter of the variable diameter operation ring 15 of the tail 14 is increased, and the outer diameter of the variable diameter operation ring 15 of the head 12 is decreased, so that the tail 14 is fixed and the head 12 is not fixed, and the body 1 is periodically moved forward to realize rhythmic forward peristaltic motion; on the contrary, after receiving the indication signal of backward peristalsis sent by the control mechanism 6, the outer diameter of the variable diameter operating ring 15 of the head 12 is increased, so that the head 12 is fixed; when the trunk 13 is driven by the driving mechanism to extend between the tail 14 and the head 12, the outer diameter of the variable diameter operation ring 15 of the tail 14 is increased, the outer diameter of the variable diameter operation ring 15 of the head 12 is decreased, the tail 14 is fixed, and the head 12 is not fixed; when the trunk 13 is contracted between the tail 14 and the head 12 by the driving mechanism, the outer diameter of the variable diameter operation ring 15 of the head 12 is increased, and the outer diameter of the variable diameter operation ring 15 of the tail 14 is decreased, so that the head 12 is fixed and the tail 14 is not fixed, and the body 1 is periodically moved back and forth. Thus, the head portion 12 and the tail portion 14 can be fixed in the urinary tract in a rhythmic manner by the variable diameter operation ring 15, thereby performing a backward or forward operation by the expansion and contraction of the trunk portion 13.
In a specific embodiment, the diameter-variable operating ring 15 is an annular air bag structure, two control pumps 16 are further disposed in the trunk 13, air chambers 161 of the control pumps 16 are in one-to-one correspondence with the annular air bag structure, pistons 162 of the two control pumps 16 are electrically connected with the power supply mechanism, and connection between one diameter-variable operating ring 15 and one control pump 16 is shown in fig. 2. After receiving the forward peristaltic indication signal sent by the control mechanism 6, the power supply mechanism supplies power to the control pump 16 corresponding to the tail 14 positively, and inflates the annular air bag structure of the tail 14, so that the outer diameter of the variable diameter operation ring 15 of the tail 14 is increased, and the tail 14 is fixed; when the trunk 13 is completely stretched between the head 12 and the tail 14 by the driving of the driving mechanism, the power supply mechanism supplies power to the control pump 16 corresponding to the head 12 in the forward direction, supplies power to the control pump 16 corresponding to the tail 14 in the reverse direction, inflates the annular airbag structure of the head 12 and deflates the annular airbag structure of the tail 14, the outer diameter of the variable diameter operation ring 15 of the head 12 becomes larger, the outer diameter of the variable diameter operation ring 15 of the tail 14 becomes smaller, the head 12 is fixed and the tail 14 is not fixed; when the trunk 13 is completely contracted between the head 12 and the tail 14 under the drive of the drive mechanism, the power supply mechanism supplies power to the control pump 16 corresponding to the tail 14 in a forward direction, supplies power to the control pump 16 corresponding to the head 12 in a reverse direction, inflates the annular air bag structure of the tail 14 and deflates the annular air bag structure of the head 12, the outer diameter of the variable diameter operation ring 15 of the tail 14 is increased, the outer diameter of the variable diameter operation ring 15 of the head 12 is decreased, the tail 14 is fixed and the head 12 is not fixed, and the body 1 is periodically made to perform rhythmic forward peristalsis; on the contrary, after receiving the indication signal of backward peristalsis sent by the control mechanism 6, the power supply mechanism supplies power to the control pump 16 corresponding to the head 12 positively, and inflates the annular air bag structure of the head 12, so that the outer diameter of the variable diameter operation ring 15 of the head 12 is increased, and the head 12 is fixed; when the trunk 13 is completely stretched between the tail 14 and the head 12 by the driving mechanism, the power supply mechanism supplies power to the control pump 16 corresponding to the tail 14 in the forward direction, supplies power to the control pump 16 corresponding to the head 12 in the reverse direction, inflates the annular airbag structure of the tail 14 and deflates the annular airbag structure of the head 12, the outer diameter of the variable diameter operation ring 15 of the tail 14 becomes larger, and the outer diameter of the variable diameter operation ring 15 of the head 12 becomes smaller, the tail 14 is fixed and the head 12 is not fixed; when the trunk 13 is completely contracted between the tail 14 and the head 12 under the drive of the drive mechanism, the power supply mechanism supplies power to the control pump 16 corresponding to the head 12 in a forward direction, supplies power to the control pump 16 corresponding to the tail 14 in a reverse direction, inflates the annular air bag structure of the head 12 and deflates the annular air bag structure of the tail 14, the outer diameter of the variable diameter operation ring 15 of the head 12 is increased, the outer diameter of the variable diameter operation ring 15 of the tail 14 is decreased, the head 12 is fixed and the tail 14 is not fixed, and the body 1 is periodically made to perform rhythmic backward peristalsis.
The trunk 13 includes a plurality of operation rings 131 sequentially arranged in a cylindrical structure, and the plurality of operation rings 131 are fixedly disposed on the housing 11; by the adjacent two of the operating rings 131 being moved away from or toward each other by the driving mechanism, the trunk 13 is extended or contracted between the head portion 12 and the tail portion 14. When the two adjacent operating rings 131 are far away from each other, the outer cover 11 extends between the two adjacent operating rings 131, so that the length of the trunk 13 is extended, that is, the trunk 13 is extended between the head 12 and the tail 14; when two adjacent operating rings 131 are close to each other, the outer cover 11 is folded between the two adjacent operating rings 131, so that the length of the trunk 13 is shortened, that is, the trunk 13 is contracted between the head 12 and the tail 14, and the body 1 performs an operation of advancing or retreating during the extension or contraction of the trunk 13; in addition, when a part of the two adjacent operating rings 131 is close to each other and another part of the two adjacent operating rings 131 is far away from each other, the housing 11 is unfolded in a fan shape between the two adjacent operating rings 131, so that the body 1 performs a steering operation in the process.
As shown in fig. 3, the driving mechanism includes a plurality of coils 3, at least two coils 3 are uniformly arranged on each operating ring 131 at intervals, and positions of the plurality of coils 3 arranged on the plurality of operating rings 131 correspond to each other; when the current directions of all the coils 3 on the two adjacent operating rings 131 are the same, the two adjacent operating rings 131 are far away from each other; when the current directions of all the coils 3 on the two adjacent operating rings 131 are opposite, the two adjacent operating rings 131 are close to each other; when the current directions of the coils 3 on the two adjacent operating rings 131 are the same and the current directions of the other coils 3 are opposite, the positions of the coils 3 on the two adjacent operating rings 131 corresponding to the same current direction are far away from each other, and the positions of the other coils 3 on the two adjacent operating rings 131 corresponding to the opposite current directions are close to each other.
In order to make the turning of the trunk 13 more balanced, four coils 3 are uniformly spaced on each of the operating rings 131, as shown in fig. 3. Referring to the middle three operating rings 131 of fig. 4, when the current directions of all the coils 3 on the three operating rings 131 are the same, therefore, the three operating rings 131 repel each other, away from each other; and the current directions of all the coils 3 on the three operation rings 131 disposed on both sides of the three operation rings 131 are opposite, so that they are close to each other; during this process, the trunk 13 is extended or contracted, and the body 1 performs an advancing or retreating operation. Referring to fig. 5 again, the current directions of some of the coils 3 on two adjacent operating rings 131 are the same, and the current directions of the other coils 3 are opposite, so that the two adjacent operating rings 131 are partially distant from each other and partially close to each other; in the process, the housing 11 is unfolded in a fan shape between the two adjacent operating rings 131, and the body 1 performs a steering operation.
As shown in fig. 6, the power supply mechanism includes a power supply unit 41 for supplying power to the coils 3 in a one-to-one correspondence, and a wireless charging device 42 for wirelessly charging the power supply unit 41, a plurality of the power supply units 41 being in telecommunication connection with the wireless charging device 42; the driving mechanism comprises a signal receiving device 5 for receiving the indication signal sent by the control mechanism 6; a plurality of said power supply units 41 are in telecommunication connection with said signal receiving means 5; after the signal receiving device 5 receives the indication signal sent by the control mechanism 6, the power supply unit 41 supplies electric energy to the coil 3, so that the coil 3 can generate electric energy in a corresponding current direction.
As shown in fig. 7, the control mechanism 6 includes a wireless charging electromagnetic induction transmitting module 61 for supplying power to the wireless charging device 42, and the wireless charging electromagnetic induction transmitting module 61 is electrically connected to the wireless charging device 42 to complete charging to the power supply unit 41 through the wireless charging device 42. The control mechanism 6 further comprises a wireless control signal transmitting module 62 for transmitting the indication signal to the signal receiving device 5, a power switch 63 for controlling connection or disconnection of an external power supply, and a control device 64 for generating the indication signal; when the power switch 63 is turned on, the control mechanism 6 is electrically connected to the external power supply, and the control device 64 generates a corresponding indication signal and transmits the indication signal to the signal receiving device 5 by the wireless control signal transmitting module 62.
An auxiliary guide wire operation channel 17 is provided in the body 1, and the auxiliary guide wire operation channel 17 penetrates from the head 12 to the tail 14, as shown in fig. 6. In use, the body 1 follows a pre-set guidewire (not shown) within the auxiliary guidewire manipulation channel 17 into the lumen of the urinary system. In addition, as shown in fig. 6, the auxiliary stone breaking mechanism includes a laser fiber operation channel 7, and the laser fiber operation channel 7 is disposed in the body 1 and penetrates from the head 12 to the tail 14. In use, a laser fiber (not shown) is fixed in the laser fiber operation channel 7, and the laser fiber is controlled by a laser excitation device (not shown) to emit laser, so that stones in the cavity of the urinary system are crushed. Optionally, the laser fiber is a holmium laser fiber, and the laser excitation device is a holmium laser excitation device.
In a preferred embodiment, the outer cover 11 is made of waterproof resin material or medical polymer material, which does not affect the bending and stretching of the bionic lithotripsy robot in the urinary system cavity, and meets the medical sterilizable requirement. The medical polymer material is polymer material for producing human viscera, external organs, medicine dosage forms and medical devices, and the sources of the medical polymer material comprise natural biological polymer material and synthetic biological polymer material. Natural medical polymer materials are derived from nature and comprise cellulose, chitin, hyaluronic acid, collagen, gelatin, sodium alginate and the like; the synthetic medical polymer material is a polymer material for medical use which is artificially synthesized by a chemical method, and is commonly used at present such as polyurethane, silicone rubber, polyester fiber, polyvinylpyrrolidone, polyether ether ketone, polymethyl methacrylate, polyvinyl alcohol, polylactic acid, polyethylene and the like.
Preferably, the wireless camera 2 is a 3D camera, and supports 3D imaging, so that the operation space of the operator is more sensitive. In addition, in order to facilitate the observation of the urinary system intracavity bionic stone breaking robot in the process of checking and breaking stone, the head 12 and the tail 14 are both provided with cold light sources (not shown in the figure) for illumination, the cold light sources (not shown in the figure) of the head 12 are arranged at the periphery of the wireless camera 2 of the head 12, and the cold light sources (not shown in the figure) of the tail 14 are arranged at the periphery of the wireless camera 2 of the tail 14.
From the above, the bionic lithotripsy robot in the urinary system cavity of the present application can achieve the following technical effects:
1. remote control can be realized in the cavity of the human urinary system, and forward, backward and steering operations in the cavity of the urinary system are realized through the bionics principle;
2. the imaging of the urinary system cavity can be transmitted to a medical display through the two wireless cameras arranged at the head part and the tail part, so that a surgeon can complete the examination and lithotripsy operation in the urinary system cavity;
3. the front variable diameter operation ring arranged on the head part and the rear variable diameter operation ring arranged on the tail part realize the aim of rhythmically fixing the head part and the tail part in a ureter by changing the diameters, and realize the aim of telescopic advancing in the ureter by mutually approaching or mutually separating a plurality of operation rings forming the trunk;
4. the power supply mechanism comprises the power supply unit arranged in the body and the wireless charging device for wirelessly charging the power supply unit, and also comprises a power supply mechanism capable of being connected with an external power supply so as to fully ensure the power supply of the device;
5. the laser fiber with lithotripsy energy can be carried through the laser fiber operation channel, lithotripsy can be completed by controlling the laser fiber through the laser excitation device, the operation is simple and convenient, and the operation difficulty is reduced;
6. the operator can complete urinary system cavity examination or lithotripsy operation through the display and the remote control which are in telecommunication connection with the wireless camera, and has little operation blind area, and in the lithotripsy operation process, the operation learning curve is short, thereby greatly reducing the occurrence of complications and reducing the occurrence probability of complications such as iatrogenic injury and the like caused by endoscopic operation to the urinary system.
The following description of the embodiments refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced. Directional terms, such as "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "side", etc., are merely referring to the directions of the drawings. Accordingly, directional terminology is used to describe and understand the invention and is not limiting of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (15)
1. The bionic stone breaking robot in the cavity of the urinary system is characterized by comprising a body, a driving mechanism for driving the body to creep forwards or backwards, a power supply mechanism for supplying power to the driving mechanism, a control mechanism for controlling the driving mechanism and an auxiliary stone breaking mechanism for breaking stones; the body comprises an outer cover made of flexible materials, and a head part, a trunk part and a tail part which are arranged in the outer cover in a matching way and are connected in sequence; the head part and the tail part are respectively provided with at least one wireless camera connected with a display; the driving mechanism, the power supply mechanism and the auxiliary stone breaking mechanism are arranged in the body, and the control mechanism is in telecommunication connection with the power supply mechanism.
2. The urinary system intracavity bionic stone breaker according to claim 1, wherein the head and the tail are connected to the trunk by a variable diameter operation ring having an outer diameter which can be increased or decreased, respectively, and the variable diameter operation ring of the head and the variable diameter operation ring of the tail are fixedly connected to the housing.
3. The urinary system intracavity bionic stone breaking robot according to claim 2, wherein the diameter-variable operating ring is of an annular air bag structure, two control pumps are further arranged in the trunk, air cavities of the control pumps are communicated with the annular air bag structure in one-to-one correspondence, and pistons of the two control pumps are electrically connected with the power supply mechanism.
4. The urinary system intracavity bionic stone breaking robot according to claim 1, wherein the trunk comprises a plurality of operating rings which are sequentially arranged in a cylindrical structure, and a plurality of the operating rings are fixedly arranged on the outer cover; the trunk is extended or contracted between the head and the tail by the driving of the driving mechanism by the two adjacent operating rings.
5. The urinary system intracavity bionic stone breaker robot of claim 4 wherein said drive mechanism comprises a plurality of coils, at least two of said coils being disposed on each of said operating rings at uniform intervals, the positions of said plurality of coils disposed on said operating rings corresponding; when the current directions of all the coils on the two adjacent operation rings are the same, the two adjacent operation rings are far away from each other; when the current directions of all the coils on the two adjacent operation rings are opposite, the two adjacent operation rings are close to each other; when the current directions of the coils on the two adjacent operation rings are the same and the current directions of the other coils are opposite, the positions of the coils on the two adjacent operation rings corresponding to the same current directions are far away from each other, and the positions of the other coils on the two adjacent operation rings corresponding to the opposite current directions are close to each other.
6. The urinary system intracavity bionic stone breaker robot of claim 5 wherein four of said coils are provided on each of said operating rings at uniform intervals.
7. The urinary system intracavity bionic stone crusher robot according to claim 5, wherein the power supply mechanism comprises power supply units for supplying power to the coils in a one-to-one correspondence manner and a wireless charging device for wirelessly charging the power supply units, and a plurality of the power supply units are in telecommunication connection with the wireless charging device; the driving mechanism comprises a signal receiving device for receiving the indication signal sent by the control mechanism; a plurality of said power supply units are in telecommunication connection with said signal receiving means; after the signal receiving device receives the indication signal sent by the control mechanism, the power supply unit supplies electric energy which can enable the coil to generate corresponding current direction to the coil.
8. The urinary system intracavity bionic stone breaker robot of claim 7 wherein said power supply mechanism further comprises a power supply mechanism for connecting an external power supply.
9. The urinary system intracavity bionic stone breaker robot of claim 8 wherein said control mechanism includes a wireless charging electromagnetic induction transmitting module for powering said wireless charging device, said wireless charging electromagnetic induction transmitting module being electrically connected to said wireless charging device.
10. The urinary system intracavity bionic stone robot of claim 7 wherein said control means further comprises a wireless control signal transmitting module for transmitting the indication signal to said signal receiving means, a power switch for controlling the connection or disconnection of an external power source, and a control means for generating the indication signal; when the power switch is turned on, the control mechanism is electrically connected with the external power supply, and the control device generates corresponding indication signals and transmits the corresponding indication signals to the signal receiving device through the wireless control signal transmitting module.
11. The urinary system intracavity bionic lithotripsy robot of claim 1 wherein an auxiliary guidewire manipulation channel is provided in the body, the auxiliary guidewire manipulation channel extending from the head to the tail.
12. The urinary system intracavity biomimetic lithotripsy robot of claim 1 wherein said auxiliary lithotripsy mechanism comprises a laser fiber optic operating channel disposed within said body and extending from said head portion to said tail portion.
13. The urinary system intracavity bionic stone-breaking robot according to claim 1, wherein the housing is made of a waterproof resin material or a medical polymer material.
14. The urinary system intracavity bionic lithotripsy robot of claim 1 wherein said wireless camera is a 3D camera.
15. The urinary system intracavity bionic stone breaker robot of claim 1 wherein said head and said tail are both provided with cold light sources for illumination, said cold light sources of said head are disposed at the periphery of said wireless camera of said head, and said cold light sources of said tail are disposed at the periphery of said wireless camera of said tail.
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| CN110432988B (en) * | 2019-08-09 | 2022-06-28 | 上海市第一人民医院 | Deployable, miniature bladder endoscope robot with telescopic arm and field planting function |
| CN112013202B (en) * | 2020-07-06 | 2021-12-31 | 中海油能源发展股份有限公司 | Multifunctional bionic inchworm pipeline robot |
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