WO2018059036A1

WO2018059036A1 - Laparoscopic surgery system

Info

Publication number: WO2018059036A1
Application number: PCT/CN2017/091012
Authority: WO
Inventors: 师云雷; 何超; 邵辉; 朱祥; 王家寅
Original assignee: 微创（上海）医疗机器人有限公司
Priority date: 2016-09-27
Filing date: 2017-06-30
Publication date: 2018-04-05
Also published as: CN106333715B; CN106333715A

Abstract

A laparoscopic surgery system, comprising a control unit (270); a display (210) and a gesture sensor (240) at a doctor end; and a laparoscope (220), a laparoscope-holding arm fixing mechanism (232), a laparoscope holding arm (231) provided on the laparoscope-holding arm fixing mechanism (232), and an adjusting mechanism (260) at a patient end. The gesture sensor (240) is provided on the display (210) and used for obtaining gesture information of the display (210); the laparoscope holding arm (231) is connected to the laparoscope (220); the adjusting mechanism (260) is connected to the laparoscope holding arm (231) and/or the laparoscope (220); the adjusting mechanism (260) is used for adjusting the gesture of the laparoscope (220); the control unit (270) is connected to the gesture sensor (240) and the adjusting mechanism (260); the control unit (270) obtains an adjustment amount required for the adjusting mechanism (260) according to current state information and desired state information of the laparoscope (220), and controls the adjusting mechanism (260) to adjust the gesture of the laparoscope (220), so that the gesture of the laparoscope (220) is consistent with that of the display (210), wherein the current state information of the laparoscope (220) comprises current gesture information of the laparoscope (220), and the desired state information of the laparoscope (220) comprises gesture information of the display (210).

Description

Laparoscopic surgery system

Technical field

The present invention relates generally to medical devices, and more particularly to a laparoscopic surgical system.

Background technique

Surgical operation techniques have been advancing with the development of human medical technology. The concept of microtrauma surgery has been gradually popularized in the past decade. Microtrauma surgery uses modern medical equipment such as laparoscopy and thoracoscopic surgery and related equipment. It has the characteristics of small trauma, light pain and quick recovery.

The traditional laparoscopic surgery system is complicated to operate, has long surgical training time, and has high technical requirements for doctors. Figure 1 is a schematic view of the line of sight of a conventional microtrauma abdominal surgeon. Referring to Fig. 1, the actual operation direction of the doctor is the lesion position S at the abdominal cavity 11 of the human body, however, the direction of the line of sight is the display 12. In Fig. 1, it can be seen that the doctor's line of sight has a large angular deviation from the position of the lesion to be operated, and this deviation causes the doctor's hand and eye to be inconsistent, which is the biggest reason for increasing the difficulty of the operation.

This led to the more complex DaVinci surgical robotic system, which has three core features: 1) high-definition 3D stereo vision; 2) consistent movement of human hands and multi-degree-of-freedom instruments; 3) scaling of motion range. However, the Da Vinci surgical robot system is expensive and consumes a large amount of surgical equipment consumables and maintenance costs every year, making it difficult to spread, especially in developing countries such as China. As of the end of 2014, more than 90% of Da Vinci surgical robot systems are distributed in developed countries, and the number of Da Vinci surgical robot systems in China is only 1%.

Accordingly, it is desirable in the art to provide a laparoscopic surgical system that is simple to use and inexpensive.

Summary of the invention

The technical problem to be solved by the present invention is to provide a laparoscopic surgical system which can reduce the technical and learning time requirements for doctors, and at the same time have lower costs.

A laparoscopic surgical system according to the present invention comprises a control unit, a doctor-side display and an attitude sensor, a patient-side laparoscopic mirror holder, a mirror arm fixing mechanism, a mirror-holding arm disposed on the mirror-arm fixing mechanism, and an adjustment mechanism. Wherein the attitude sensor is disposed on the display and used to acquire the display The posture information of the device, the holding arm is connected to the laparoscope, the adjusting mechanism is connected with the holding arm and/or the laparoscope, the adjusting mechanism is used for adjusting the posture of the laparoscope, and the control unit is connected to the posture sensor And the adjusting mechanism, the control unit obtains an adjustment amount required by the adjustment mechanism according to the current state information of the laparoscope and the desired state information, and controls the adjustment mechanism to adjust the posture of the laparoscope based on the adjustment amount to make the abdominal cavity The mirror corresponds to the posture of the display, wherein the current state information of the laparoscope includes laparoscopic current posture information, and the desired state information of the laparoscope includes posture information of the display.

In an embodiment of the invention, the laparoscope is a 0 degree mirror, or a 30 degree mirror or a 75 degree mirror.

In an embodiment of the invention, the laparoscope is a serpentine laparoscope having three degrees of freedom at the end.

In an embodiment of the invention, the mirror arm is a fixed point mechanism including a plurality of joints, the adjustment mechanism includes a first group of adjustment mechanisms and a second group of adjustment mechanisms, the first group of adjustment mechanisms including a first servo a motor, at least one first servo motor is disposed on each joint of the mirror arm for adjusting a corresponding joint rotation, and the second group adjustment mechanism includes at least one second servo motor for adjusting the laparoscopic axis Turn to the direction.

In an embodiment of the present invention, the current state information of the laparoscope further includes laparoscopic current position information, and the desired state information of the laparoscope further includes laparoscopic desired position information, and the adjustment amount of the adjustment mechanism is according to a current laparoscopic The state information and the expected state information are obtained by inverse solution of the kinematics equation.

In an embodiment of the invention, the laparoscopic desired position information is obtained according to a preset constraint.

In an embodiment of the invention, the constraint is positional information of the fixed point and the length of the laparoscopic body in the patient.

In an embodiment of the invention, the adjustment mechanism includes a second set of adjustment mechanisms including at least three third servo motors to control the attitude of the serpentine laparoscope.

In an embodiment of the invention, the mirror arm includes a plurality of joints, and each joint is provided with a joint sensor to measure the rotation angle of each joint, and the three degrees of freedom of the serpentine laparoscope include two swing freedoms. Degree and a degree of freedom of rotation, the serpentine laparoscope is provided with three angle sensors, respectively measuring the two swing angles and the rotation angle of the serpentine laparoscope to obtain the current posture information of the serpentine laparoscope.

In an embodiment of the invention, the control unit controls the adjustment mechanism to adjust the posture of the laparoscope based on the adjustment amount so that the laparoscope conforms to the posture of the display.

Compared with the prior art, the present invention uses a display having a posture measuring function in combination with a laparoscope. According to the attitude sensor attached to the display, the position of the laparoscope is adjusted so that the doctor can always maintain the orientation of the display coordinate system and the direction of the laparoscope coordinate system to form a set of micro-traumatic surgery operating system with good performance. Therefore, the doctor has a good learning curve when learning to use.

DRAWINGS

Figure 1 is a schematic view of the line of sight of a conventional microtrauma abdominal surgeon.

2 is a schematic view of a laparoscopic surgical system of a first embodiment of the present invention.

3 is a schematic view of a laparoscopic surgical system of a second embodiment of the present invention.

Fig. 4 is a schematic view showing a modification of the laparoscopic surgical system of the second embodiment of the present invention.

Figure 5 is a schematic illustration of a laparoscopic surgical system in accordance with a third embodiment of the present invention.

Fig. 6 is a schematic view showing the comparison between the direction of the line of sight of the doctor and the direction of the actual lesion in the embodiment of the present invention.

Fig. 7 is a perspective view showing the tolerance angle of the deviation between the line of sight direction of the doctor and the actual direction of the lesion in the embodiment of the present invention.

detailed description

The above described objects, features and advantages of the present invention will become more apparent from the aspects of the appended claims.

In the following description, numerous specific details are set forth in the description of the invention, and the invention may be practiced otherwise.

Embodiments of the present invention describe a laparoscopic surgical system that can reduce the technical and learning time requirements for a physician while having lower costs. Through the research of the existing laparoscopic surgery system and the feedback from doctors, it is found that the vision of the doctor during operation is the most influential to the micro-trauma surgery. To this end, the laparoscopic surgical system proposed by the present invention can adapt to the doctor's perspective and enable the doctor to perform a surgical operation in a state where the line of sight is more natural. It should be understood by those skilled in the art that the attitude sensor described herein is not limited to a device for measuring a change in posture, and the attitude sensor described herein may also be a device including a plurality of measurement functions such as a measurement attitude and a position change. For example, a pose sensor.

First embodiment

2 is a schematic view of a laparoscopic surgical system of a first embodiment of the present invention. Referring to FIG. 2, the laparoscopic surgical system of the present embodiment includes a control unit 270, a doctor-side display 210, an attitude sensor 240, a patient-side laparoscope 220, a mirror arm fixing mechanism 232, a mirror arm 231, and an adjustment mechanism 260. The mirror arm 231 is coupled to the laparoscope 220. The attitude sensor 240 is disposed on the display 210 for acquiring the first posture information of the display 210 as part of the desired state information of the laparoscope. The second pose information of the laparoscope 220 (ie, the current state information of the laparoscope 220) may be based on the joint rotation angle obtained by the joint sensor provided by the mirror arm 231 and the laparoscope rotation obtained by the angle sensor provided by the laparoscope 220. Angle, calculated by kinematic equations. The adjustment mechanism 260 includes a first group of adjustment mechanisms and a second group of adjustment mechanisms. The first group of adjustment mechanisms are coupled to the mirror arm 231 to adjust the rotation angle of each joint on the mirror arm 231. The second group of adjustment mechanisms are coupled to the laparoscope 220. The angle of rotation of the laparoscope 220 is adjusted. The control unit 270 connects the attitude sensor 240, the sensor on each joint of the mirror arm 231, the angle sensor of the laparoscope 220, and the adjustment mechanism 260.

In the present embodiment, the desired state information of the laparoscope 220 includes desired posture information and desired position information. The desired posture information is obtained based on the first posture information of the display 210. That is, the desired posture of the laparoscope 220 is the first posture of the display 210. The desired position information in the desired state information of the laparoscope 220 is based on the preset fixed point coordinates (ie, the position information of the stamped card in the coordinate system of the mirror arm fixing mechanism 232), the length of the laparoscope entering the body, and the like. Condition is obtained. The control unit 270 obtains the second pose information (ie, current state information) of the laparoscope 220 acquired by the sensor on the joints of the mirror arm 231 and the angle sensor of the laparoscope according to the desired state information of the laparoscope 220, and obtains the inverse kinematics equation. The adjustment amount required by the mechanism 260 is adjusted, and the adjustment mechanism 260 is controlled to match the posture of the laparoscope 220 with the posture of the display 210. The result of this design is that the doctor's line of sight is consistent with the actual lesion direction. It should be understood that the constraint condition for obtaining the desired position information of the present invention is not limited to the description of the embodiment, and those skilled in the art can formulate corresponding constraints according to the actual operation requirements of the doctor to obtain the desired posture information of the laparoscope 220.

6 is a schematic view showing the comparison between the line of sight direction of the doctor and the direction of the actual lesion in the embodiment of the present invention. In the ideal case of FIG. 6, the line of sight of the doctor is consistent with the direction of the actual lesion. In actual implementation, the difference between the posture of the laparoscope 220 and the posture of the display 210 can be allowed to be within a range such that the doctor can always maintain the posture of the display 210 corresponding to the posture of the laparoscope 220 during operation. Fig. 7 is a view showing the deviation of the angle between the line of sight of the doctor and the direction of the actual lesion in the embodiment of the invention. In general, the illustrated angle θ should be within 20 degrees. Specifically, the angular deviation within 20 degrees is the deviation angle between the XYZ axis of the display coordinate system and each axis of the laparoscopic end coordinate system XYZ axis, and is generally defined as a rotation angle, a pitch angle, and a deflection angle according to the XYZ order. Unless otherwise specified, the deviations mentioned below are the deviations of the above angles. The method for solving the three angles is briefly described below. R _M is a description of the laparoscopic end coordinate system in the display coordinate system, then the three deviation angles are respectively the rotation R _X (γ) around the X coordinate of the display coordinate system, that is, the difference from the X coordinate of the display coordinate system. The rotation R _Y (β) around the Y coordinate of the display coordinate system, that is, the difference from the Y coordinate of the display coordinate system, the rotation R _Z (α) around the Z coordinate of the display coordinate system, that is, the difference from the Z coordinate of the display coordinate system. Therefore, in the present embodiment, "the laparoscope corresponds to the posture of the display", it should be considered that the attitude of the laparoscope and the posture angle of the display are less than a certain angle, generally 20 degrees.

With continued reference to FIG. 2, the mirror arm 231 is disposed on the mirror arm securing mechanism 232. In this embodiment, the coordinate system of the display display 210 is the coordinate system 1, the coordinate system of the mirror arm fixing mechanism 232 is the coordinate system 3, and the coordinate system of the end of the laparoscope 220 (ie, the end with the lens) is the coordinate system. 2. The coordinate system 1 of the display 210, the coordinate system 3 of the mirror arm fixing mechanism 232, and the coordinate system 2 at the end of the laparoscope 220 are right-handed coordinate systems.

The display 210 in this embodiment is, for example, video glasses. Laparoscope 220 is, for example, an electronic laparoscope. The present invention is not particularly limited to the laparoscope 220, and may be a two-lens 3D electronic laparoscope or a 2D laparoscope. In the present embodiment, the laparoscope 220 is a 0° endoscope. The XYZ axes in the initial coordinate system 1 for setting the video glasses are the same as the XYZ axis directions of the coordinate system 3 of the arm holding mechanism 232, respectively. After the doctor wears the video glasses to turn on the synchronization, the coordinate system 1 also moves as the doctor's head swings. The attitude sensor 240 on the video glasses is capable of measuring the angle at which the three axes of the XYZ of the video glasses coordinate system 1 are respectively deflected with respect to the three axes of the XYZ of the initial coordinate system of the video glasses. Since the XYZ axes in the initial coordinate system 1 are respectively the same as the XYZ axis directions of the coordinate system 3 of the mirror arm fixing mechanism 232, the deflection angle is also the XYZ axis of the current coordinate system 1 of the video glasses with respect to the mirror arm fixing mechanism 232. The angle of the XYZ axis of the coordinate system 3 is deflected. On the other hand, since the joint sensors are mounted on the respective joints of the mirror arm 231, the laparoscope 220 is provided with an angle sensor, and the angle sensors of the joint sensors and the laparoscope 220 have been calibrated at the time of assembly, so that the laparoscope can be made. 220 front end The coordinate system 2 coincides with the coordinate system 3 of the holding arm fixing mechanism 232, or determines the mapping relationship between the coordinate system 2 of the front end portion of the laparoscope 220 and the coordinate system 3 of the holding arm fixing mechanism 232, so any time after the power is turned on The positional relationship between the coordinate system 3 of the holding arm fixing mechanism 232 and the coordinate system 2 of the front end portion of the laparoscope 220 can be obtained. Therefore, the postures of the laparoscope 220 and the display 210 can be made to correspond to the coordinate system 3 of the arm holding mechanism 232.

The mirror arm 231 can be attached to the hospital bed, that is, the bed is used as the mirror arm fixing mechanism 232. Alternatively, a mirror arm fixing mechanism 232 that is matched with the mirror arm 231 can be additionally provided. This mirror arm fixing mechanism 232 can be fixed in the vicinity of the hospital bed. In the present invention, the mirror arm 231 is a fixed point mechanism having at least five degrees of freedom such that the laparoscope 220 articulated with its end can be moved about a fixed point (i.e., stamped) position. The mirror arm 231 achieves a plurality of degrees of freedom by providing a plurality of movable joints. Joints of the arms 231 are provided with joint sensors for measuring the joint angle. Thus, the laparoscope 220 only needs to have one degree of freedom, that is, axial rotation. The laparoscope 220 is provided with an angle sensor for measuring the angle of rotation of the laparoscope. The adjustment mechanism 260 includes a first set of adjustment mechanisms. The first set of adjustment mechanisms includes a first servo motor. Each of the joints of the mirror arms 231 is provided with at least one first servo motor, and each joint can be actively moved by the first servo motor. The laparoscope 220 is attached to the end of the mirror arm 231 and moves with the mirror arm 231. The attitude adjustment mechanism further includes a second set of adjustment mechanisms, the second set of adjustment mechanisms including at least one second servo motor coupled to the laparoscope 220 to control the rotation of the laparoscope 220. Thereby, the end of the laparoscopic 220 220a has the ability to swing in two directions, and the rotation function, which can be turned to any desired direction in the joint corner space, and meets the doctor's need for observation of the lesion. The control unit 270 calculates the adjustment amount of each of the first servo motor and the second servo motor in the adjustment mechanism 260 according to the expected state information of the laparoscope 220 and the current state information, according to the inverse kinematics equation, and realizes the posture of the laparoscope and the display. Consistent.

The laparoscope 220 used in this embodiment is a 0 degree mirror, and other laparoscopes will be exemplified below.

Second embodiment

3 is a schematic view of a laparoscopic surgical system of a second embodiment of the present invention. Referring to FIG. 3, the laparoscopic surgical system of the present embodiment includes a control unit 370, a doctor-side display 310 and an attitude sensor 340, a patient-side laparoscopic 320, a laparoscopic fixation mechanism 332, a mirror arm 331, and an adjustment mechanism 360. The mirror arm 331 is coupled to the laparoscope 320. Compared with the first embodiment, the belly used in this embodiment The cavity mirror 320 is a 30 degree mirror. The attitude sensor 340 is disposed on the display 310 for acquiring the first posture information of the display 310. The second pose information of the laparoscope 320 (ie, the current state information) may be obtained from the joint rotation angle obtained by the joint sensor provided by the mirror arm 331 and the angle of rotation of the laparoscope obtained by the angle sensor provided by the laparoscope 220, through kinematics. The equation is calculated. The adjustment mechanism 360 includes a first group of adjustment mechanisms and a second group of adjustment mechanisms. The first group of adjustment mechanisms are coupled to the mirror arms 331 to adjust the angle of rotation of the joints on the mirror arms 331. The second group of adjustment mechanisms are coupled to the laparoscope 320. The angle of rotation of the laparoscope 320 is adjusted. The control unit 370 connects the first attitude sensor 340, the sensor on each joint of the mirror arm 331, the angle sensor of the laparoscope 220, and the adjustment mechanism 360.

In the present embodiment, the desired state information of the laparoscope 320 includes desired posture information and desired position information. The desired posture information is obtained based on the first posture information of the display 310. That is, the desired posture of the laparoscope 320 is the first posture of the display 310, and the desired position information in the desired state information of the laparoscope 320 is based on the preset fixed point coordinates (the stamp is stuck in the coordinate system of the holding arm fixing mechanism 332). The position), obtained into the body of the laparoscopic length and other constraints obtained. The control unit 370 according to the desired state information of the laparoscope 320, the second pose information (ie, the current pose information) of the laparoscope 320 acquired by the sensor on each joint of the mirror arm 331 and the angle sensor of the laparoscope 220, through the inverse motion The equations are adjusted to obtain the amount of adjustment required by the adjustment mechanism 360, and the adjustment mechanism 360 is controlled to conform the posture of the laparoscope to the posture of the display 310. The result of this design is that the direction of the doctor's line of sight is basically the same as the actual direction of the lesion. It should be understood that the constraint condition for obtaining the desired position information of the present invention is not limited to the description of the embodiment, and those skilled in the art can formulate corresponding constraints according to the actual operation requirements of the doctor to obtain the laparoscopic desired posture information.

6 is a schematic view showing the comparison between the line of sight direction of the doctor and the direction of the actual lesion in the embodiment of the present invention. In the ideal case of FIG. 6, the line of sight of the doctor is consistent with the direction of the actual lesion. In actual implementation, the difference between the posture of the laparoscope 320 and the posture of the display 310 can be allowed to be within a range such that the doctor can always maintain the posture of the display 310 corresponding to the posture of the laparoscope 320 during operation. Fig. 7 is a schematic view showing the deviation of the angle between the doctor's line of sight and the actual lesion in the embodiment of the present invention. In general, the illustrated angle θ should be within 20 degrees, and the angular deviation within 20 degrees is the deviation angle of the XYZ axis of the display coordinate system from each axis of the laparoscopic end coordinate system XYZ axis. Generally, the yaw angle, the pitch angle, and the yaw angle are defined in the XYZ order. Unless otherwise specified, the deviations mentioned below are the deviations of the above angles. The method of solving the three angles is briefly described below. R _M is a description of the laparoscopic end coordinate system in the display coordinate system, then the three deviation angles are respectively the rotation R _X (γ) around the X coordinate of the display coordinate system, that is, the difference from the X coordinate of the display coordinate system. The rotation R _Y (β) around the Y coordinate of the display coordinate system, that is, the difference from the Y coordinate of the display coordinate system, the rotation R _Z (α) around the Z coordinate of the display coordinate system, that is, the difference from the Z coordinate of the display coordinate system.

Then we can get three deviation angle solutions according to R _M :

α=Atan2(r ₂₁ /cβ,r ₁₁ /cβ)

γ=Atan2(r ₃₂ /cβ, r ₃₃ /cβ)

Cβ=cosβ

With continued reference to FIG. 3, the mirror arm 331 is disposed on the mirror arm securing mechanism 332. In this embodiment, the coordinate system of the display display 310 is the coordinate system 1, the coordinate system of the mirror arm fixing mechanism 332 is the coordinate system 3, and the coordinate system of the end of the laparoscope 320 (ie, the end with the lens) is the coordinate system. 2. The coordinate system 1 of the display 310, the coordinate system 3 of the mirror arm fixing mechanism 332, and the coordinate system 2 at the end of the laparoscope 320 are right-handed coordinate systems. In the embodiment, the "laparoscopic corresponding to the posture of the display" should also be considered that the attitude of the laparoscope and the posture angle of the display are less than a certain angle, generally 20 degrees.

The display 310 in this embodiment is, for example, video glasses. Laparoscope 320 is, for example, an electronic laparoscope. The present invention is not particularly limited to the laparoscope 320, and may be a two-lens 3D electronic laparoscope or a 2D laparoscope. In the present embodiment, the laparoscope 320 is a 30° endoscope. The XYZ axes in the initial coordinate system 1 for setting the video glasses are the same as the XYZ axis directions of the coordinate system 3 of the arm holding mechanism 332, respectively. After the doctor wears the video glasses to turn on the synchronization, the coordinate system 1 also moves as the doctor's head swings. The attitude sensor 340 on the video glasses can measure the angle at which the three axes of the XYZ of the video glasses coordinate system 1 are respectively deflected with respect to the three axes of the XYZ of the initial coordinate system of the video glasses. Since the XYZ axes in the initial coordinate system 1 are respectively the same as the XYZ axis directions of the coordinate system 3 of the mirror arm fixing mechanism 332, the deflection angle is also the XYZ axis of the current coordinate system 1 of the video glasses with respect to the mirror arm fixing mechanism 332. The angle of the XYZ axis of the coordinate system 3 is deflected. On the other hand, due to the movement of the mirror arm 331 The joints are equipped with joint sensors, the laparoscope 320 is provided with an angle sensor, and the angle sensors of the joint sensors and the laparoscope have been calibrated at the time of assembly, and the front end coordinate system 2 and the mirror arm fixing mechanism of the laparoscope 320 can be made. The coordinate system 3 of the 332 is coincident, or the mapping relationship between the coordinate system 2 of the front end portion of the laparoscopic 320 and the coordinate system 3 of the holding arm fixing mechanism 332 is determined, so that the mirror arm fixing mechanism 332 can be obtained at any time after the power is turned on. The pose relationship between the coordinate system 3 and the coordinate system 2 at the end of the laparoscope 320. Therefore, the posture of the laparoscope 320 and the display 310 can be made to correspond to the coordinate system 3 of the arm holding mechanism 332.

The mirror arm 331 can be attached to the hospital bed, that is, the bed is used as the mirror arm fixing mechanism 332. Alternatively, a mirror arm fixing mechanism 332 that is matched with the mirror arm 331 can be additionally provided, and the mirror arm fixing mechanism 332 can be fixed in the vicinity of the hospital bed. In the present invention, the mirror arm 331 is a fixed point mechanism of at least five degrees of freedom such that the laparoscope 320 articulated at its end can move around the fixed point (i.e., stamp) position. Joints of the arms 331 are provided with joint sensors for measuring the joint angle. The laparoscope 320 is provided with an angle sensor for measuring the angle of rotation of the laparoscope 320. The adjustment mechanism 360 includes a first set of adjustment mechanisms. The first set of adjustment mechanisms includes a first servo motor. Each of the joints of the mirror arms 331 is provided with at least one first servo motor, and each joint can be actively moved by the first servo motor. The laparoscope 320 is attached to the end of the mirror arm 331 and moves with the mirror arm 331. The adjustment mechanism 360 further includes a second set of adjustment mechanisms including at least one second servo motor coupled to the laparoscope 320 to control the rotation of the laparoscope 320. Thus, the end of the laparoscopic 320 320a has the ability to oscillate in two directions, and the autorotation function, which can be turned to any desired direction within the joint corner space to meet the doctor's need for observation of the lesion. The control unit 370 calculates the adjustment amount of each of the first servo motor and the second servo motor in the adjustment mechanism 360 according to the expected state information and current state information of the laparoscope, and realizes the adjustment of the laparoscope 320 and the display 310 according to the inverse kinematics equation. The posture is consistent.

Fig. 4 is a schematic view showing a modification of the laparoscopic surgical system of the second embodiment of the present invention. Referring to FIG. 4, in comparison with the embodiment shown in FIG. 3, the holding mirror arm 361 is different in type of the laparoscope 320 in this embodiment. Compared with the 0 degree laparoscope, the 30 degree mirror can be used in this embodiment to make the mirror arm have more angles to make the laparoscope direction coincide with the doctor's line of sight. Compared with the first embodiment 0-degree mirror, in this embodiment, since the 30-degree mirror is used, it is necessary to consider the endoscope end angle factor in solving the kinematic equation, the inverse kinematics equation, and the desired position information of the laparoscope 320. . Meanwhile, the laparoscope in this embodiment The current state information, the desired state information (including the desired posture information, and the desired position information) of 320 all refer to current state information and desired state information at the end of the laparoscope 320.

In the example not shown, the laparoscopic lens can also be selected from a 75 degree mirror or other angle.

Third embodiment

Figure 5 is a schematic illustration of a laparoscopic surgical system in accordance with a third embodiment of the present invention. Referring to FIG. 5, the laparoscopic surgical system 400 of the present embodiment includes a control unit 470, a doctor-side display 410 and an attitude sensor 440, a patient-side laparoscope 420, a mirror arm fixing mechanism 432, a mirror arm 431, and an adjustment mechanism 460. The mirror arm 431 is connected to the laparoscope 420. The laparoscope 420 used in the present embodiment is a serpentine laparoscope as compared with the first embodiment. Compared with a laparoscope such as a 0 degree mirror, the end of the serpentine laparoscope (ie, the end near the lens) adds two degrees of freedom, which can achieve rotation while achieving swing in both directions. Correspondingly, at least three angle sensors are provided in the system for measuring the angle of the serpentine laparoscope in the XYZ axis direction of the laparoscope coordinate system. The attitude sensor 440 is disposed on the display 410 for acquiring the first posture information of the display 410. The adjustment mechanism 460 includes a second set of adjustment mechanisms that are coupled to the laparoscope 420 to adjust the attitude of the end of the laparoscope 420. The control unit 470 connects the attitude sensor 440, the angle sensor of the laparoscope, and the adjustment mechanism 460.

In the present embodiment, similar to the first embodiment, the desired posture information of the laparoscope 420 is obtained based on the first posture information of the display 410. That is, the desired posture of the laparoscope 420 is the first posture of the display 410. The second posture information of the laparoscope 420 (i.e., the current posture information) is obtained by the kinematic equation calculation based on the joint sensor provided by the mirror arm 431 to obtain the joint rotation angle and the angle sensor provided by the laparoscope 420. Different from the first embodiment, since the serpentine laparoscopic end has three degrees of freedom, the swinging ability and the rotation function in two directions can be realized without coupling with the mirror arm 431. Therefore, in the present embodiment, the current state information may not include the current position information of the laparoscope 220, and the desired state information may not include the desired position information of the laparoscope 220. The control unit 470 obtains the second posture information (ie, current state information) of the laparoscope 420 obtained from the sensor on each joint of the mirror arm 431 and the angle sensor of the laparoscope 420 according to the desired posture information of the laparoscope 220, according to inverse kinematics. The equation obtains the amount of adjustment required by the adjustment mechanism 460 and controls the attitude adjustment mechanism 460 to conform the posture of the laparoscope to the posture of the display 410. The result of this design is that the direction of the doctor's line of sight is basically the same as the actual direction of the lesion.

Figure 6 is a schematic view showing the comparison between the direction of the line of sight of the doctor and the direction of the actual lesion in the embodiment of the present invention, in Figure 6 Ideally, the direction of the doctor's line of sight is consistent with the actual direction of the lesion. In actual implementation, the difference between the posture of the laparoscope 420 and the posture of the display 410 can be allowed to be within a range such that the doctor can always maintain the posture of the display 310 corresponding to the posture of the laparoscope 320 during operation. Fig. 7 is a schematic view showing the deviation of the angle between the doctor's line of sight and the actual lesion in the embodiment of the present invention. In general, the illustrated angle θ should be within 20 degrees, and the angular deviation within 20 degrees is the deviation angle of the XYZ axis of the display coordinate system from each axis of the laparoscopic end coordinate system XYZ axis. Therefore, in the present embodiment, "the laparoscope corresponds to the posture of the display", it should be considered that the attitude of the laparoscope and the posture angle of the display are less than a certain angle, generally 20 degrees.

With continued reference to FIG. 5, the mirror arm 431 is disposed on the mirror arm fixing mechanism 432. In this embodiment, the coordinate system of the display display 410 is the coordinate system 1, the coordinate system of the mirror arm fixing mechanism 432 is the coordinate system 3, and the coordinate system of the front end of the laparoscopic mirror 420 (ie, the end at which the lens is placed) is the coordinate system. 2. The coordinate system 1 of the display 410, the coordinate system 3 of the mirror arm fixing mechanism 432, and the coordinate system 2 at the end of the laparoscope 420 are right-handed coordinate systems.

The display 410 in this embodiment is, for example, video glasses. Laparoscope 220 is, for example, an electronic laparoscope. The present invention is not particularly limited to the laparoscope 220, and may be a two-lens 3D electronic laparoscope or a 2D laparoscope. In this embodiment, the laparoscope 420 is a serpentine laparoscope. The XYZ axes in the initial coordinate system 1 for setting the video glasses are the same as the XYZ axis directions of the coordinate system 3 of the arm holding mechanism 432, respectively. After the doctor wears the video glasses to turn on the synchronization, the coordinate system 1 also moves as the doctor's head swings. The first attitude sensor 440 on the video glasses is capable of measuring the angle at which the three axes of the XYZ of the video glasses coordinate system 1 are respectively deflected relative to the three axes of the XYZ of the initial coordinate system of the video glasses. Since the XYZ axes in the initial coordinate system 1 are respectively the same as the XYZ axis directions of the coordinate system 3 of the mirror arm fixing mechanism 432, the deflection angle is also the XYZ axis of the current coordinate system 1 of the video glasses with respect to the mirror arm fixing mechanism 432. The angle of the XYZ axis of the coordinate system 3 is deflected. On the other hand, since the joints of the arms 431 are equipped with joint sensors, the laparoscope 420 is provided with an angle sensor, and the angle sensors of the joint sensors and the laparoscope 420 have been calibrated at the time of assembly, so that the laparoscope can be made. The front end coordinate system 2 of the 420 coincides with the coordinate system 3 of the holding arm fixing mechanism 432, or the mapping relationship between the coordinate system 2 of the front end portion of the laparoscope 420 and the coordinate system 3 of the holding arm fixing mechanism 432 is determined, so any after the power on The coordinate system 3 of the holding arm fixing mechanism 432 and the coordinate system of the front end of the laparoscope 420 can be obtained at all times. The relationship between the gestures. Therefore, the posture of the laparoscope 320 and the display 310 can be made to correspond to the coordinate system 3 of the arm holding mechanism 332.

The mirror arm 431 can be attached to the hospital bed, that is, the bed is used as the mirror arm fixing mechanism 432. Alternatively, a mirror arm fixing mechanism 432 matching the mirror arm 431 can be additionally provided, and the mirror arm fixing mechanism 432 can be fixed in the vicinity of the hospital bed. In the present invention, the holding arm 431 is a fixed point mechanism such that the laparoscope 420 articulated with its distal end can move around the fixed point (i.e., the stamped card) position. Joints of the arms 431 are provided with joint sensors for measuring the joint angle. The laparoscope 420 is provided with at least three angle sensors for measuring the swinging and autoradiation angle of the laparoscope to obtain the second posture information of the serpentine laparoscope 420. The adjustment mechanism 460 also includes a second set of adjustment mechanisms including at least three second servo motors coupled to the serpentine laparoscope 420 to control the attitude of the serpentine laparoscope 420. Specifically, at least two of the second set of adjustment mechanisms are used to adjust the swing of the serpentine laparoscope 420, and at least one second servo motor is used to adjust the rotation of the serpentine laparoscope 420. Thus, the end of the laparoscopic mirror 420a has the ability to oscillate in two directions, as well as the autorotation function, which can be turned to any desired direction within the joint corner space to meet the doctor's need for observation of the lesion. The control unit 470 calculates the adjustment amount of each second servo motor in the adjustment mechanism according to the current posture information and the desired posture information of the laparoscope 420, so as to achieve the posture of the laparoscope and the display.

If it is necessary to control the desired position of the laparoscope while controlling the desired posture of the laparoscope, similarly to the above embodiment, the adjustment mechanism further needs to include a first set of adjustment mechanisms including the first servo motor. At least one first servo motor is disposed on each joint of the mirror arm for adjusting a rotation angle of the joint; the mirror arm has at least three degrees of freedom, and each joint of the mirror arm is provided The section sensor is used to measure the rotation angle of each joint; the control unit needs to obtain the current position information of the laparoscope, obtain the desired position information of the laparoscope through the constraint condition, and further obtain the adjustment amount of the adjustment mechanism by inversely solving the kinematic equation. The control adjustment mechanism is adjusted to achieve the desired posture of the laparoscope.

An exemplary use process of the present invention is described below with reference to the first embodiment shown in FIG. 2.

First, the position of the arm holding mechanism 232 is fixed, and the coordinate system 3 of the arm holding mechanism 232 is determined. Then, the video glasses 210 and the mirror arm fixing mechanism 232 are fixed together according to a predetermined position, that is, the coordinate system 1 regarded as being initialized is completely coincident with the direction of the XYZ axis of the coordinate system 3, and the video glasses are initialized. The attitude sensor 240 on 231. Thereafter, when the video glasses 210 are moved, the attitude sensor 240 of the video glasses 210 measures, and obtains a mapping relationship between the coordinate axes of the current coordinate system 1 and the initial coordinate system 1. This mapping relationship is also a mapping relationship with the coordinate system 3 of the holder arm fixing mechanism 232.

Then, the position of the stamp card is determined, and the coordinate value of the stamped card under the coordinate system 3 of the mirror arm fixing mechanism 232 is marked. The laparoscope 220 is inserted into the interior of the body by a stamp, and the length of the laparoscope 220 in the body is determined. The doctor removes the video glasses 210 that have been initialized and wears them on the head, stands in a position where the laparoscopic instrument is operated more comfortable, opens the mapping switch of the video glasses 210 and the laparoscope 220, and the control unit 270 receives the measurement according to the attitude sensor 230. The second pose information obtained by the first posture information, the joint sensors, and the angle sensor of the laparoscope 220 calculates the angular deviation value of the video glasses coordinate system 1 and the laparoscopic coordinate system 2XYZ axis, and calculates the video glasses 210 relative to the abdominal cavity. The posture change amount of the mirror 220, if the angular deviation value of any of the axes is greater than 20 degrees, the control unit 270 further calculates the desired position information according to the stamping coordinate value and the length of the laparoscope 220 in the body, and combines the first posture information ( That is, the desired attitude information is calculated according to the inverse kinematics formula, and the adjustment amounts of the respective servo motors on the first group of adjustment mechanisms and the second group of adjustment mechanisms are made such that the respective coordinate axis directions of the coordinate system 2 coincide with the coordinate system 1. At this point, the doctor can begin the surgical operation in a comfortable manner.

At the same time, if the doctor wants to observe the lesion from different directions, then the doctor only needs to swing his head or move his body so that his line of sight points from the different angles to the lesion position, then the control unit 270 will also be based on the video glasses 210. The posture change is calculated, and the angular deviation value of the video glasses coordinate system 1 and the laparoscopic coordinate system 2XYZ axis is calculated to determine that the laparoscope corresponds to the posture of the video glasses 210. If the angular deviation value of any of the axes is greater than 20 degrees, It is considered that the posture of the laparoscopic lens does not correspond to the posture of the video glasses 210. It is necessary to recalculate the desired position information of the laparoscope 220, and inversely solve the kinematic equation to obtain the angle at which each of the first servo motor and the second servo motor needs to be rotated, so that The orientation of the laparoscopic end coordinate system 2 is always consistent with the orientation of the video glasses coordinate system 1. In this way, the posture of the video glasses 210 can always be maintained in correspondence with the posture of the laparoscope 220 during the entire observation of the human tissue by the doctor. This function is also convenient for doctors to observe the lesions at various angles.

The procedure of use of the third embodiment is similar, except that the constraints are not pre-set to determine the desired positional information of the laparoscope.

The above embodiment of the present invention uses a display with attitude measurement function and a 3D stereo laparoscope or 2D laparoscopy is used in combination. The laparoscopic machine is mechanically connected by the holding arm, and according to the current state information of the laparoscope and the desired state information, the adjustment amount required by the adjusting mechanism is obtained, and the adjusting mechanism is controlled to adjust the posture of the laparoscope, and the image displayed on the display is performed. The conversion enables the doctor to keep the display coordinate system and the direction of the laparoscopic coordinate system substantially consistent during operation, and constitutes a set of micro-trauma operating system with good performance, so that the doctor has a good learning curve when learning to use.

After a certain comparison test and quantity statistics, it is found that the system of the embodiment of the present invention is superior to the current general micro-trauma laparoscopic system. Compared with the Da Vinci robotic surgery system, the invention has the characteristics of simple and reliable structure, convenient use and low cost, and is suitable for general promotion.

The system of the embodiment of the invention can also be used in the observation system on the micro-trauma surgery robot, and can well alleviate the current surgical robot sitting posture to cause the doctor's cervical spine occupational disease.

While the invention has been described with respect to the embodiments of the present invention, it will be understood by those skilled in the art Various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

A laparoscopic surgical system includes a control unit, a doctor-side display and an attitude sensor, a patient-side laparoscopic, a mirror-arm fixing mechanism, a mirror-holding arm disposed on the mirror-arm fixing mechanism, and an adjustment mechanism, wherein the attitude sensor Positioned on the display and used to obtain posture information of the display, the holding arm is connected to the laparoscope, the adjusting mechanism is connected to the holding arm and/or the laparoscope, and the adjusting mechanism is used for adjusting the laparoscope The control unit is connected to the attitude sensor and the adjustment mechanism, and the control unit obtains an adjustment amount required by the adjustment mechanism according to the current state information of the laparoscope and the desired state information, and controls the adjustment mechanism to be based on the adjustment amount. The posture of the laparoscope is adjusted such that the laparoscope corresponds to the posture of the display, wherein the current state information of the laparoscope includes laparoscopic current posture information, and the desired state information of the laparoscope includes posture information of the display.
The laparoscopic surgical system of claim 1 wherein the laparoscope is a 0 degree mirror or a 30 degree mirror or a 75 degree mirror.
The laparoscopic surgical system of claim 1 wherein the laparoscope is a serpentine laparoscope having three degrees of freedom at the end.
The laparoscopic surgical system according to claim 2 or 3, wherein the holding arm is a fixed point mechanism including a plurality of joints, the adjusting mechanism comprising a first set of adjusting mechanisms and a second set of adjusting mechanisms, The first set of adjustment mechanisms includes a first servo motor, each of the joint arms having at least one first servo motor for adjusting a corresponding joint rotation, and the second set of adjustment mechanisms including at least one second servo a motor for adjusting the axial rotation of the laparoscope.
The laparoscopic surgical system according to claim 2 or 3, wherein the current state information of the laparoscope further includes laparoscopic current position information, and the desired state information of the laparoscope further includes laparoscopic desired position information, the adjustment The adjustment of the mechanism is obtained by inverse solution of the kinematic equation based on the current state information and desired state information of the laparoscope.
The laparoscopic surgical system according to claim 5, wherein the mirror arm is a fixed point mechanism having at least five joints, and joints of the arms are provided with joint sensors for measuring joints The angle of rotation is provided by the laparoscope to measure the rotation angle of the laparoscope. The current state information of the laparoscope is obtained by a kinematic equation according to the rotation angle of each joint and the rotation angle of the laparoscope.
The laparoscopic surgical system according to claim 6, wherein the laparoscopic desired position information is obtained according to a preset constraint.
The laparoscopic surgical system of claim 7, wherein the constraint is positional information of the fixed point and the length of the laparoscopic body in the patient.
The laparoscopic surgical system according to claim 3, wherein the adjustment mechanism comprises a second set of adjustment mechanisms, the second set of adjustment mechanisms comprising at least three second servo motors to adjust the attitude of the serpentine laparoscope .
The laparoscopic surgical system according to claim 3, wherein the mirror arm comprises a plurality of joints, and each joint is provided with a corresponding joint sensor for measuring a rotation angle of each joint, the serpentine laparoscope The three degrees of freedom include two swing degrees of freedom and one degree of freedom of rotation. The serpentine laparoscope is provided with three angle sensors for measuring the two swing angles and the rotation angle of the serpentine laparoscope to obtain the serpentine laparoscope. Current pose information.
The laparoscopic surgical system according to claim 1, wherein the control unit controls the adjustment mechanism to adjust the posture of the laparoscope based on the adjustment amount such that the laparoscope conforms to the posture of the display.