CN102106751B - Multiple-degree-of-freedom hemostatic cutting tool used in surgical robot and endoscopic surgery - Google Patents
Multiple-degree-of-freedom hemostatic cutting tool used in surgical robot and endoscopic surgery Download PDFInfo
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- CN102106751B CN102106751B CN2011100278691A CN201110027869A CN102106751B CN 102106751 B CN102106751 B CN 102106751B CN 2011100278691 A CN2011100278691 A CN 2011100278691A CN 201110027869 A CN201110027869 A CN 201110027869A CN 102106751 B CN102106751 B CN 102106751B
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Abstract
The invention provides a multiple-degree-of-freedom hemostatic cutting tool used in surgical robot and endoscopic surgery. The cutting tool comprises a tool box, a tool rod, a wrist part and a tool head, wherein the tool rod is connected with the front end of the tool box; one end of the tool rod is rotatablely connected with the tool box, and the other end of the tool rod is fixedly connected with a supporting seat; one end of the wrist part is rotatablely installed on the supporting seat, and the other end of the wrist part is rotatablely connected with the rear end of the tool head; at least two operating needles are arranged at the front end of the tool head; and a rotation axis of the wrist part on the supporting seat is perpendicular to a rotation axis of the tool head on the wrist part. The cutting tool provided by the invention has the advantages that by combining the surgical experience of a surgeon with the automatic control ability of a robot, hemostatic cutting and suturing operation can be automatically completed; and complex suture operation is saved during the resection process of tissues and organs, thus achieving the purposes of less bleeding and even no bleeding, saving surgery time, and ensuring surgery quality. Therefore, the invention opens up a new way for expansion of minimally invasive surgery (MIS) and robotic surgery in highly difficult surgery.
Description
Technical field
The present invention relates to surgery Minimally Invasive Surgery technique with the apparatus field, the operation tool that particularly a kind of surgical operation robot is used, it can orthopaedic surgical operations doctor's control under, accomplish cutting and anthemorrhagic operation operation automatically.
Background technology
Cut, hemostasis, sew up, knotting is conventional surgical four big operation basic actss, in the operation process few hemorrhage even not hemorrhage then be surgical highest pursue! In open surgery, the related surgical instrument has appearred, and can be implemented under few hemorrhage situation and accomplish cutting, like electric knife, argon cutter, ultrasound knife etc. tissue; The appearance of this type operation tool frees the surgeon from numerous and diverse traditional operation operation, reduce doctor's labor intensity; And shortened hands the art time, and guarantee the operation quality, reduce complication, practiced thrift blood used in clinic.
Being that the minimally invasive surgery of representative is described as 20th century medical sciencies to one of significant contribution of human civilization with the peritoneoscope, is the theme of 21 century whole world surgery development.Minimally Invasive Surgery is compared with traditional open surgery has advantages such as otch is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and the misery that patient is suffered reduces greatly, is widely used in clinical operation.In recent years; The auxiliary Minimally Invasive Surgery of robot occurs and has obtained developing rapidly; It has overcome many shortcomings of traditional less invasive techniques; Have operation motility height, good stability, realization intuition motor control, stereoscopic vision can be provided and have the advantages such as potentiality of remote operation, be used widely in fields such as department of cardiac surgery, Urology Surgery, general surgery, department of obstetrics and gynecology and department of pediatrics.Yet it is pointed out that under the constraints of less invasive techniques complicated stitching, knotting operation technique become very difficult.Even in this case, no matter be in the traditional less invasive techniques or in the auxiliary less invasive techniques of robot, all there is not the apparatus appearance of the cutting operation of can realizing stopping blooding at present.Therefore, a kind of hemostasis cutting tool that is applied to Minimally Invasive Surgery is provided, can fills up the blank in this field, and, guarantee that Minimally Invasive Surgery quality aspect is significant at the labor intensity that reduces the doctor of Wicresoft.
No matter be in the traditional less invasive techniques or in the auxiliary less invasive techniques of robot, also do not have to substitute simultaneously the apparatuses appearance of conventional surgical conventional surgical four big operation basic fundamentals at present.
Summary of the invention
The purpose of this invention is to provide a kind of multiple degrees of freedom hemostasis cutting tool that is used for robotic surgical device and endoscope-assistant surgery.It combines surgical surgical experience with the automatic control ability of robot, can accomplish hemostasis cutting seam automatically and prick operation.In the excision process to tissue, organ, save complicated sew application, realization is few hemorrhage, even not hemorrhage, thereby saves operating time, guarantees the operation quality.For Wicresoft and robotic surgery have been opened up new approach in the expansion of high-leveled and difficult operation.
For realizing above-mentioned purpose, the present invention takes following technical scheme:
A kind of multiple degrees of freedom hemostasis cutting tool that is used for robotic surgical device and endoscope-assistant surgery; It includes instrument cases, tool bar, wrist, tool heads; Be connected with tool bar on the front end of described instrument cases; One end and the instrument cases of this tool bar are rotationally connected, and the other end of this tool bar is fixedly connected with bearing, and an end of described wrist is installed on the described bearing rotationally; The other end of described wrist and the rear end of tool heads are rotationally connected, and the front end of tool heads is provided with at least two operation pins; Described wrist is vertical each other with the pivot center of described tool heads on described wrist at the pivot center on the described bearing.
Be provided with three groups of driving devices that driven tool respectively 15, wrist 9 and tool bar 11 rotate in the described instrument cases;
First group of driving device comprises motor I, driving wheel I, drives silk wheel I, drives silk I; This driving wheel I is connected with motor shaft I; This drives silk wheel I and is connected with turning cylinder I on the wrist; A driving silk I is around shape, and a driving silk I is set in the tool bar, and I is taken turns around socket with driving wheel I with the driving silk respectively in two ends; Under the drive of motor I, wrist is back and forth rotated, in 180 ° scope to satisfy the operation instructions for use.
Second group of driving device comprises motor II, driving wheel II, drives silk wheel II, drives silk II; This driving wheel II is connected with motor shaft II; This drives silk wheel II and is connected with turning cylinder II on the tool heads, drives a silk II and is around shape, and a driving II is set in the tool bar; Two ends respectively with driving wheel II with drive silk wheel II around socket, drive silk II around socket in be provided with directive wheel; Under the drive of motor II, tool heads is back and forth rotated, in 180 ° scope to satisfy the operation instructions for use.
The 3rd group of driving device comprises motor II I, driving wheel III, drives silk wheel III, drives silk III; This driving wheel III is connected with motor shaft III; This drives silk wheel III and is connected with the tool bar socket; A driving silk III is around shape, and III is taken turns around socket with driving wheel III and the driving silk of motor II I respectively in this driving silk III two ends; The drive of motor II I to, the tool using bar rotates, to satisfy the operation instructions for use.
According to the use needs, described tool heads is provided with four operation pins, is respectively operation pin I, operation pin II, operation pin III, operation pin IV; Described operation pin I and operation pin II are one group, and operation pin I is arranged in the instrument cases with the rear end of operation pin II, and links to each other with lead I; Described operation pin III and operation pin IV are one group, and operation pin III is arranged in the instrument cases with the rear end of operation pin IV, and links to each other with lead II; Lead I and lead II be successively through in the described bearing, tool bar and instrument cases, links to each other with joint I on being fixed in instrument cases, and lead II links to each other with joint II on being fixed on instrument cases.
In order to prevent that described driving silk I, the driving silk II from skidding at the volley, on each driving silk, be designed with and a said block of fixedlying connected that drives, be provided with groove at each far-end middle part that drives a wheel, this block is installed on and respectively drives in groove of wheel.
Described instrument cases are installed on the mechanical arm of robot and use.
Compared with prior art, the multiple degrees of freedom hemostasis cutting tool that is used for robotic surgical device and endoscope-assistant surgery provided by the invention has beneficial effect:
1. hemostasis cutting tool of the present invention uses towards Minimally Invasive Surgery, can fill up the blank of not having this series products in the Minimally Invasive Surgery field.
2. hemostasis cutting tool of the present invention at first utilizes energy with tissue coagulation in use, implements cutting operation then, compares with existing incision-hemostasis-sew application, and it can realize less hemorrhage, and is even not hemorrhage.
3. hemostasis cutting tool of the present invention has a plurality of degree of freedom, can guarantee the motility operated, makes it accomplish the hemostasis cutting operation to tissue, organ along any direction.
4. hemostasis cutting tool of the present invention is installed on the robot arm; After operative doctor is located, can under ROBOT CONTROL, accomplish the operation of solidifying automatically to tissue; Therefore operating time can be practiced thrift to a great extent, and the labor intensity of operative doctor can be reduced.
5. the terminal operation part of hemostasis cutting tool of the present invention can have various ways, the demand in the time of can satisfying different tissues, organ operation.
6. hemostasis cutting tool of the present invention can be accepted multiple form of energy, can satisfy the requirement of different hospital conditions.
Description of drawings
Fig. 1 is tool bar of the present invention, wrist, tool heads syndeton sketch map (embodiment 1);
Fig. 2 is overall structure sketch map of the present invention and instrument cases rear portion joint enlarged diagram;
Fig. 3 is the user mode and the local enlarged diagram of multiple degrees of freedom hemostasis cutting tool of the present invention;
Fig. 4-a is a tool heads motion transmission principle schematic of the present invention;
Fig. 4-b is a wrist motion transmission principle sketch map of the present invention;
Fig. 4-c is a tool bar motion transmission structural representation of the present invention;
Fig. 5 is a wrist motion drive mechanism sketch map of the present invention;
Fig. 6 is wrist of the present invention, tool heads motion transmission structural representation;
Fig. 7 is the antiskid groove structural representation that drives the silk wheel of the present invention;
Fig. 8 is fixed with the non-slipping block structural representation on the driving silk of the present invention;
Fig. 9 is that Fig. 7 and Fig. 8 constitute the anti-skid structure sketch map;
Figure 10 is the user mode sketch map that operation pin of the present invention inserts when injected organism tissue;
Figure 11 is the user mode sketch map that operation pin of the present invention stretches out when injected organism tissue;
Figure 12 is embodiments of the invention 2 structural representations.
The specific embodiment
Below in conjunction with accompanying drawing the multiple degrees of freedom hemostasis cutting tool that the present invention is used for minimally invasive robot is elaborated.
Referring to Fig. 1, Fig. 2, shown in Figure 3: a kind of multiple degrees of freedom hemostasis cutting tool that is used for robotic surgical device and endoscope-assistant surgery; It includes instrument cases 12, tool bar 11, wrist 9, tool heads 15; Be connected with tool bar 11 on the front end of described instrument cases 12; One end and the instrument cases 12 of this tool bar 11 are rotationally connected, and the other end of this tool bar 11 is fixedly connected with bearing 10, and an end of described wrist 9 is installed on the described bearing 10 rotationally; The rear end of the other end of described wrist 9 and tool heads 15 is rotationally connected, and the front end of tool heads 15 is provided with at least two operation pins (present embodiment 1 is that four operation pins 1,2,3,4 are arranged); Described wrist 9 is at pivot center on the described bearing 307 and the pivot center 308 mutual vertical (see Fig. 5, shown in Figure 6) of described tool heads on described wrist.Wrist 9 is the opening U-shaped, and the front opening of wrist 9 inserts the rear end of tool heads 15 and carries out hinged; Bearing 10 also is the opening U-shaped, and the rear end of the front opening insertion wrist 9 of bearing 10 is carried out hinged, forms the rotation of two degree of freedom; Tool bar 11 can also rotate simultaneously; Finally can form the rotation of a plurality of degree of freedom, a plurality of shapes 31,32,33 are arranged, to satisfy the instructions for use of actual operation.
Shown in Fig. 4-a, Fig. 4-b, Fig. 4-c:
Be provided with three groups of driving devices that driven tool respectively 15, wrist 9 and tool bar 11 rotate in the described instrument cases;
See Fig. 4-b, Fig. 5; First group of driving device comprises motor I 202, driving wheel I203, drives silk wheel I206, drives silk I201; This driving wheel I203 is connected with motor shaft I207, and this drives silk wheel I206 and is connected with turning cylinder I208 on the wrist, and a driving I201 is around shape; A driving silk I201 is set in the tool bar 11, and I206 is taken turns around socket with driving wheel I203 with the driving silk respectively in two ends; Under the drive of motor I 202, wrist is back and forth rotated, in 180 ° scope to satisfy the operation instructions for use.Motor I 202 adopts motor.
See Fig. 4-a, Fig. 6; Second group of driving device comprises motor II 205, driving wheel II204, drives a silk wheel II209, drives a silk II7, and this driving wheel II204 is connected with motor shaft II, and this drives thread takes turns II209 and be connected with turning cylinder II210 on the tool heads 15; Driving silk II7 is around shape; Drive a silk II7 and be set in the tool bar 11, two ends respectively with driving wheel II204 with drive silk wheel II209 around socket, drive silk II7 around socket in be provided with directive wheel 8; Under the drive of motor II 205, tool heads is back and forth rotated, in 180 ° scope to satisfy the operation instructions for use.Motor II 205 adopts motor.
See Fig. 4-c; The 3rd group of driving device comprises motor II I211, driving wheel III213, drives silk wheel III215, drives silk III214; This driving wheel III213 is connected with motor shaft III212; This driving silk is taken turns an III215 and is connected with tool bar 11 sockets, and a driving silk III214 is around shape, and III215 is taken turns around socket with driving wheel III213 and the driving silk of motor II I211 respectively in this driving silk III214 two ends; Under the drive of motor II I211, tool using bar 11 rotates, to satisfy the operation instructions for use.Motor II I211 adopts motor.
According to the use needs, described tool heads is provided with four operation pin 1,2,3,4 (see figure 1)s, is respectively operation pin I1, operation pin II2, operation pin III3, operation pin IV4; Described operation pin I and operation pin II are one group, and operation pin I is arranged in the instrument cases 12 with the rear end of operation pin II, and links to each other with lead I5; Described operation pin III and operation pin IV are one group, and operation pin III is arranged in the instrument cases with the rear end of operation pin IV, and links to each other with lead II6; Lead I5 and lead II6 be successively through in described bearing 10, the tool bar 11 and instrument cases 12, links to each other the lead II6 (see figure 4) that links to each other with joint II14 on being fixed on instrument cases with joint I13 on being fixed in instrument cases 12.
Joint I13 can link to each other with power generator with joint II14, and described power generator can be bipolar electric energy, radio frequency, microwave, ultrasonic etc.The energy that power generator produces is passed to be installed on through described joint I13 and joint II14, lead II5, lead II6 respectively and respectively operates pin on the described tool heads 15, in order to realize to organize or organ solidify operation.
Referring to Fig. 7, Fig. 8, shown in Figure 9: in order to prevent described driving silk I201, to drive a silk II7 and skid at the volley; On a driving silk I201, driving silk II7, be designed with a said driving I201, drive the block 311 that an II7 is fixedlyed connected; Each drive silk wheel II209, the far-end middle part that drives silk wheel I206 is provided with groove 310, this block 311 is installed on each and drives silk wheel II209, drives in groove 310 of silk wheel I206; Drive a wheel II209, drive a wheel I206 rotation by a driving silk II209, a driving silk wheel I206, block 311 drives.
Described instrument cases 12 are installed on the mechanical arm of robot and use.
Through described instrument cases 12, the multiple degrees of freedom cutting bleeding instrument that the present invention is used for minimally invasive robot can be installed on robot arm.Described mechanical arm can adopt granted patent, and (patent No.: form 200810153717.4 or 200810152764.7), its detailed structure repeats no more at this.The present invention can be under ROBOT CONTROL like this, and combines power generator, can accomplish the operation of solidifying to tissue automatically.This process such as Figure 10, shown in Figure 11, operative doctor at first confirm tissue 401 that will keep and the tissue 402 that will excise.In view of the above, operative doctor control robot positions the present invention, and described each operation of the present invention is needled into organization internal; At this moment, the power generator produce power, this energy is passed to through described joint and lead and respectively operates pin, realizes the operation of solidifying to tissue; Meanwhile; Each operates pin under the control of robot and described driving device, moves reciprocatingly along the direction of inserting tissue automatically, to strengthen the coagulation result of tissue; Shown in Figure 10 is the reciprocating process of thrusting, and shown in Figure 11 is the reciprocating process that withdraws from.Constantly repeat the above-mentioned operating process of solidifying, just can form one organizationally and solidify zone 403; Change the cutting kind tool and be positioned at described 404 pairs of tissues of line of cut that solidify the zone and cut along illustrated, the final tissue 402 that needs excision accomplished organized 401 lock out operation with needing to keep.Because organizing of line of cut 404 regions solidified, therefore in cutting process, organizing can be not hemorrhage again, and this is a considerable advantage of the present invention, can practice thrift blood used in clinic to a great extent, and can reduce the complication that blood transfusion causes.Robot controls instrument of the present invention and accomplishes automatically along the direction of inserting tissue and move reciprocatingly, and can reduce the labor intensity of operative doctor again, and this is another advantage of the present invention.The present invention is positioned process in the control robot and the robot automatic reciprocating process of control the present invention does not belong to category of the present invention, repeats no more at this.
It is pointed out that described operation pin of the present invention can be provided with different quantity according to the actual requirements, (embodiment 2) shown in figure 12, the operation pin that is installed on the tool heads 15 only has operation pin I ' 101 and operation pin II ' 102.Described operation pin can also be according to different operation technique demands, and have different length.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing also is one of embodiment of the present invention, and practical structure is not limited thereto.So; If those skilled in the art is enlightened by it; Under the situation that does not break away from the invention aim; The transmission, driving device and the connected mode that adopt other form all should belong to protection scope of the present invention without creationary design frame mode and the embodiment similar with this technical scheme.
Claims (1)
1. multiple degrees of freedom hemostasis cutting tool that is used for robotic surgical device and endoscope-assistant surgery; It is characterized in that: it includes instrument cases, tool bar, wrist, tool heads; Be connected with tool bar on the front end of described instrument cases; One end and the instrument cases of this tool bar are rotationally connected, and the other end of this tool bar is fixedly connected with bearing, and an end of described wrist is installed on the described bearing rotationally; The other end of described wrist and the rear end of tool heads are rotationally connected, and the front end of tool heads is provided with at least two operation pins; Described wrist is vertical each other with the pivot center of described tool heads on described wrist at the pivot center on the described bearing;
Be provided with three groups of driving devices of driven tool head (15), wrist (9) and tool bar (11) rotation respectively in the described instrument cases;
First group of driving device comprises motor I, driving wheel I, drives silk wheel I, drives silk I; This driving wheel I is connected with motor shaft I; This drives silk wheel I and is connected with turning cylinder I on the wrist; A driving silk I is around shape, and a driving silk I is set in the tool bar, and I is taken turns around socket with driving wheel I with the driving silk respectively in two ends;
Second group of driving device comprises motor II, driving wheel II, drives silk wheel II, drives silk II; This driving wheel II is connected with motor shaft II; This drives silk wheel II and is connected with turning cylinder II on the tool heads, drives a silk II and is around shape, and a driving II is set in the tool bar; Two ends respectively with driving wheel II with drive silk wheel II around socket, drive silk II around socket in be provided with directive wheel;
The 3rd group of driving device comprises motor II I, driving wheel III, drives silk wheel III, drives silk III; This driving wheel III is connected with motor shaft III; This drives silk wheel III and is connected with the tool bar socket; A driving silk III is around shape, and III is taken turns around socket with driving wheel III and the driving silk of motor II I respectively in this driving silk III two ends.
2. a kind of multiple degrees of freedom hemostasis cutting tool that is used for robotic surgical device and endoscope-assistant surgery according to claim 1; It is characterized in that: described tool heads is provided with four operation pins, is respectively operation pin I, operation pin II, operation pin III, operation pin IV; Described operation pin I and operation pin II are one group, and operation pin I is arranged in the instrument cases with the rear end of operation pin II, and links to each other with lead I; Described operation pin III and operation pin IV are one group, and operation pin III is arranged in the instrument cases with the rear end of operation pin IV, and links to each other with lead II; Lead I and lead II be successively through in the described bearing, tool bar and instrument cases, links to each other with joint I on being fixed in instrument cases, and lead II links to each other with joint II on being fixed on instrument cases.
3. a kind of multiple degrees of freedom hemostasis cutting tool that is used for robotic surgical device and endoscope-assistant surgery according to claim 1 and 2; It is characterized in that: on each driving silk, be designed with and a said block that is fixedly connected that drives; Be provided with groove at each far-end middle part that drives the silk wheel, this block is installed in each groove that drives the silk wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100278691A CN102106751B (en) | 2011-01-26 | 2011-01-26 | Multiple-degree-of-freedom hemostatic cutting tool used in surgical robot and endoscopic surgery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100278691A CN102106751B (en) | 2011-01-26 | 2011-01-26 | Multiple-degree-of-freedom hemostatic cutting tool used in surgical robot and endoscopic surgery |
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| Publication Number | Publication Date |
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| CN102106751A CN102106751A (en) | 2011-06-29 |
| CN102106751B true CN102106751B (en) | 2012-07-04 |
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| CN2011100278691A Expired - Fee Related CN102106751B (en) | 2011-01-26 | 2011-01-26 | Multiple-degree-of-freedom hemostatic cutting tool used in surgical robot and endoscopic surgery |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012100413A1 (en) * | 2011-01-26 | 2012-08-02 | Zhou Ningxin | Haemostatic cutting tool with multiple degrees of freedom for surgical robots and endoscopic operations |
| CN109717946B (en) * | 2019-02-01 | 2024-03-26 | 微智医疗器械有限公司 | Holder for retina nail |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2386782Y (en) * | 1999-07-08 | 2000-07-12 | 洪宝顺 | Medical electric knife head |
| US8004229B2 (en) * | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
| CN101637402B (en) * | 2009-10-23 | 2011-05-18 | 天津大学 | Minimally invasive surgical wire driving and four-freedom surgical tool |
| CN101791247B (en) * | 2010-04-01 | 2012-04-11 | 天津大学 | Surgical instrument with degrees of freedom for minimally invasive surgery |
| CN201977927U (en) * | 2011-01-26 | 2011-09-21 | 周宁新 | Hemostatic cutting tool with multiple degrees of freedom for surgical robot and endoscopic surgery |
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