CN103315781A - Endoscope noninvasive surgery system - Google Patents
Endoscope noninvasive surgery system Download PDFInfo
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- CN103315781A CN103315781A CN201310290266XA CN201310290266A CN103315781A CN 103315781 A CN103315781 A CN 103315781A CN 201310290266X A CN201310290266X A CN 201310290266XA CN 201310290266 A CN201310290266 A CN 201310290266A CN 103315781 A CN103315781 A CN 103315781A
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 23
- 238000005286 illumination Methods 0.000 claims abstract description 96
- 238000005452 bending Methods 0.000 claims abstract description 22
- 210000000988 bone and bone Anatomy 0.000 claims description 124
- 230000003321 amplification Effects 0.000 claims description 24
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 24
- 229910001220 stainless steel Inorganic materials 0.000 claims description 24
- 239000010935 stainless steel Substances 0.000 claims description 24
- 125000006850 spacer group Chemical group 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000007704 transition Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 15
- 238000002674 endoscopic surgery Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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Abstract
The invention discloses an endoscope noninvasive surgery system. The system comprises a function end and a control end. The function end comprises an endoscope body, a flexible sleeve pipe, a camera shooting illumination module and a function mechanical arm. A rigid pipe body section is arranged at the front end of the endoscope body. The control end comprises a control end base, an endoscope body control module, a camera shooting illumination module control module and a function mechanical arm control module, wherein the endoscope body control module, the camera shooting illumination module control module and the function mechanical arm control module respectively control stretching and / or bending of the endoscope body, the camera shooting illumination module and the function mechanical arm, so that a surgical instrument carried by the function mechanical arm can enter a surgical site under the posture that the surgical instrument is retracted into a rigid pipe body, and the endoscope body, the camera shooting illumination module and the function mechanical arm can stretch and / or bend after the surgical instrument reaches the surgical site. The endoscope noninvasive surgery system has the advantages of being small in size, convenient to use and the like.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an endoscope non-invasive surgery system.
Background
Minimally invasive surgery has been rapidly developed in clinical surgery because of its advantages of small trauma, short operation time and recovery time, and small occurrence probability of postoperative complications. Currently, the multi-port laparoscopic surgery has been widely performed in many hospitals in China and has been commented on consistently. However, when the operation subject is an obese patient, the introduction of a plurality of body surface wounds still has high human invasiveness, and cannot realize minimal invasion in a real sense. And natural-endoscopic surgery (NOTES) is performed by using a natural lumen of a human body without opening the body surface of the human body, so that minimally invasive surgery can be realized to the maximum extent. However, due to the high difficulty of the NOTES technology, surgical instruments need to perform clamping, suturing and other surgical actions after passing through a long, narrow and complex human body cavity, most of the existing NOTES surgical mechanisms have the defects of overlarge volume, insufficient operation precision and the like, and the technical requirements of endoscopic suturing operations are difficult to meet, so that the instruments are not widely applied clinically.
Disclosure of Invention
The invention aims to provide an endoscope non-invasive surgery system which is mainly applied to endoscopic surgery through a natural orifice of a human body, and the functional end of the system integrates the functions of camera shooting, illumination, clamping, puncture and the like required in the endoscopic surgery process. The system can reach the operation position through a narrow natural body cavity in a closed posture in the posture of the endoscope tube body.
In accordance with the purpose of the present invention, there is provided an endoscopic non-invasive surgical system which is capable of accessing a surgical site through a narrow natural body passageway in a closed endoscopic tubular posture, after which its functional end is extendable to a working posture for performing a surgical operation. The functional end of the system is integrated with a camera shooting and illuminating function required in endoscopic surgery operation and two operating forceps with clamping and puncturing functions, a camera shooting and illuminating module and the operating forceps are respectively carried and controlled by three flexible continuum mechanical arms, and the flexible continuum mechanical arms can be controlled by a control flexible continuum corresponding to the control end.
The functional end of the endoscope noninvasive surgery system consists of an endoscope body, a camera lighting module mechanical arm and two symmetrical functional mechanical arms.
The endoscope body of the invention is a tubular structure with the outer diameter of 10 to 12 mm. The front end of the endoscope body of the endoscope is a section of rigid tube body used for accommodating a functional mechanical arm, and the main body of the endoscope body is of a flexible continuum structure with the length of half a meter. The rigid tube is preferably about 20 mm, or may be other dimensions. The flexible continuum structure is composed of structural bones, spacing pieces and end locking pieces. In the structure of the rigid pipe body at the front end of the endoscope body and the flexible continuous body of the main body, channels are respectively provided for the mechanical arm of the camera shooting illumination module and the functional mechanical arm to pass through and for the air supply and medicine supply pipeline to pass through. By controlling the length of the main body flexible continuum structure bone, the endoscope body and the flexible continuum mechanical arm in the endoscope body can realize bending movement with two degrees of freedom. The endoscope body is externally sleeved with a flexible sleeve which is similar to the flexible sleeve manufactured by Obex corporation of America and named as overube so as to ensure that the endoscope can be smoothly inserted into the human body.
The main body of the camera shooting illumination module is a group of cameras packaged with LED illumination, and the cameras are arranged in the shell. Preferably, the housing has an outer diameter of 12mm and a length of 10 mm. The camera shooting illumination module is carried by a flexible continuum mechanical arm with an arched section. The flexible continuum mechanical arm with the arched section is formed by two sections of flexible continuum structures, and the flexible continuum mechanical arm is also formed by a structural bone, a spacing sheet and a tail end locking sheet. The flexible continuum mechanical arm with the arched section can realize bending motion with four degrees of freedom in space. At the same time, it can be telescoped in the channel provided by the endoscope body. A channel for a power supply circuit and a signal circuit of the front-end camera module to pass through is reserved on the flexible continuum mechanical arm with the arched section.
The main body of the functional mechanical arm is a flexible continuous mechanical arm with a similar trapezoidal section, and the front end of the mechanical arm can carry tools such as an operating forceps or an operating clamp. The flexible continuum mechanical arm is also of a two-section structure, and the single section can realize the bending of two degrees of freedom in space. Like the camera lighting module mechanical arm, the flexible continuous body mechanical arm is composed of a structural bone, a spacing sheet and a tail end locking sheet and can stretch in a channel provided by an endoscope body. In the closed state of the endoscope system, the surgical tool carried by the flexible continuous mechanical arm can be completely retracted into the endoscope body. Within the flexible continuum robot arm is a channel that provides for passage of a front end surgical tool control line or tube.
The structure is the functional end of the endoscope noninvasive surgery system, and the camera shooting illumination module and the functional mechanical arm are carried to the surgical position of a human body by the endoscope body. The control ends of the endoscope non-invasive surgery system are all positioned outside the body of a patient. The control end can be divided into a control module of the endoscope body, a control module of the camera shooting illumination module and a control module of the functional mechanical arm in a modularized way according to the functional end. The endoscope body control module is positioned at the foremost end of the whole control end and is fixedly connected with the control end base. The control module of the camera shooting illumination module and the control modules of the two sets of functional mechanical arms are positioned behind the endoscope body control module, and the three modules can integrally move back and forth on the linear motion group on the control end base to realize the telescopic control of the mechanical arms at the front end.
The front end of the endoscope body control module is an endoscope body flexible continuous body structure bone receiving plate, receiving holes corresponding to the flexible continuous body structure bone are formed in the endoscope body flexible continuous body structure bone receiving plate, and a transition stainless steel pipe is connected behind the receiving holes. The structural bone of the flexible continuum structure is passed through the receiving hole into these transitional stainless steel tubes. These transitional stainless steel tubes will guide the structural bone from a smaller size to a structural bone enlargement plate of the same distribution shape but larger size. After the structural bone extends out of the amplifying plate, the structural bone, a series of spacing sheets and locking sheets form a flexible continuous body structure for controlling the amplification of the flexible continuous body of the endoscope body. Meanwhile, the interval sheet and the locking sheet of the amplified flexible continuum and the other four structural bones form a flexible continuum structure again to form a driving flexible continuum. The distribution size of the bone of the driving flexible continuum structure is slightly larger than that of the enlarged flexible continuum structure. The other ends of the four structural bones driving the flexible continuum structure are connected to the clamping heads of the four micro-dividing heads. The length of the structural bone of the flexible continuum can be controlled and driven by rotating the differential head, so that the overturning direction of the locking sheet at the tail end of the flexible continuum is controlled and driven. The locking sheet for controlling the flexible continuous body and the locking sheet at the tail end of the amplified flexible continuous body are shared, so that the amplified flexible continuous body can do corresponding movement, the structural bones can extend and shorten according to a certain rule, and the structural bones are the flexible continuous body structural bones of the endoscope body, and the length of the structural bones can correspondingly generate opposite length changes due to the length change of the amplified flexible continuous body structural bones. And the change in length of the structural bone results in a corresponding bending motion of the flexible continuum of the endoscope. The bending movement of two degrees of freedom in the space of the flexible continuous body of the endoscope body of one section can be controlled by the four differential heads through the structural relation.
The camera shooting illumination module control module is similar to the endoscope body control module. The flexible continuous mechanical arm with the arc-shaped section of the camera shooting illumination module is connected to the camera shooting illumination module control module through the endoscope body and the endoscope body control module. The arch section flexible continuum structure bone reaches the amplifying plate through the stainless steel pipe by a receiving plate, and then two amplified flexible continuum structures are formed. There is also a driving flexible continuum outside the enlarged flexible continuum structure. The flexible continuous body structure bone is driven to be connected to the tail end of the differential head after being changed in direction through the stainless steel pipe. The eight differential heads control the bending motion of the flexible continuum with the arched section in four degrees of freedom. Meanwhile, the control module of the camera shooting illumination module can linearly move along two optical axes and is driven to be a screw rod. This motion can control the overall feeding of the individual camera illumination modules.
The control modules of the two functional mechanical arms are basically the same as the control module of the camera lighting module, and the difference is the cross section shape. Meanwhile, the control line of the operation tools such as the functional end mechanical forceps and the like can also be led out to the tail end of the differential head from the corresponding position of the receiving plate by using a stainless steel pipe so as to realize manual control.
According to a preferred embodiment of the present invention, there is provided an endoscopic non-invasive surgical system, the system comprising:
the functional end comprises an endoscope body, a flexible sleeve sleeved on the endoscope body, a camera shooting and illuminating module and a functional mechanical arm, and the front end of the endoscope body is provided with a section of rigid pipe body;
the control end comprises a control end base, an endoscope body control module, a camera shooting illumination module control module and a functional mechanical arm control module, and the endoscope body control module, the camera shooting illumination module control module and the functional mechanical arm control module are arranged on the control end base; wherein,
endoscope mirror body control module make a video recording lighting module control module with function arm control module controls respectively the endoscope mirror body make a video recording lighting module and the flexible and/or the turn of function arm makes by surgical instruments that function arm carried can be in the retraction enter into the operation position under the gesture of rigidity body, and after reaching the operation position, the endoscope mirror body make a video recording lighting module and function arm can extend and/or turn.
In the above embodiment, preferably, a screw and a support shaft are provided on the control end base, the camera lighting module and the functional manipulator are capable of moving linearly along the support shaft, and the linear movement is driven by the screw.
Preferably, the endoscope body main body is an endoscope flexible continuous body structure, the endoscope flexible continuous body structure is composed of an endoscope flexible continuous body structure bone, an endoscope flexible continuous body spacing piece and an endoscope flexible continuous body end locking piece, one end of the endoscope flexible continuous body structure bone is fixed on the endoscope flexible continuous body end locking piece, the other end of the endoscope flexible continuous body structure bone penetrates through the endoscope flexible continuous body spacing piece and is connected to the endoscope body control module, and therefore the bending of the endoscope body main body can be controlled by adjusting the length of the endoscope flexible continuous body structure bone.
Preferably, the camera illumination module comprises a camera, an illumination device, and an arc-section flexible continuum mechanical arm, the arc-section flexible continuum mechanical arm is provided with an arc-section flexible continuum spacer, an arc-section flexible continuum first section of structural bone, an arc-section flexible continuum second section of structural bone, an arc-section flexible continuum first section of locking plate and a second section of locking plate, wherein one end of the arc-section flexible continuum first structural bone is connected with the camera illumination module control module, and the other end of the arc-section flexible continuum first structural bone penetrates through a plurality of arc-section flexible continuum spacer plates and is fixed on the arc-section flexible continuum first locking plate; one end of the second structure bone of the flexible continuum with the arched section is connected with the camera shooting illumination module control module, and the other end of the second structure bone of the flexible continuum with the arched section penetrates through the plurality of spacing pieces of the flexible continuum with the arched section, penetrates through the first locking piece of the flexible continuum with the arched section and is fixed on the second locking piece of the flexible continuum with the arched section.
Preferably, the main body of the functional mechanical arm is two sections of flexible continuous mechanical arms with similar trapezoidal sections, each flexible continuous mechanical arm with similar trapezoidal sections comprises a flexible continuous spacing piece with similar trapezoidal sections, a first section of structural bone of the flexible continuous body with similar trapezoidal sections, a second section of structural bone of the flexible continuous body with similar trapezoidal sections, a first section of locking piece of the flexible continuous body with similar trapezoidal sections and a second section of locking piece, wherein one end of the first structural bone is connected with the control module of the functional mechanical arm, and the other end of the first structural bone penetrates through the plurality of flexible continuous spacing pieces with similar trapezoidal sections and then is fixed on the first locking piece of the flexible continuous body with similar trapezoidal sections; one end of a second section structure bone of the trapezoid-like cross section flexible continuum is connected with the functional mechanical arm control module, and the other end of the second section structure bone penetrates through the trapezoid-like cross section flexible continuum spacing pieces, penetrates through the first locking piece of the trapezoid-like cross section flexible continuum and is then fixed to the second locking piece of the trapezoid-like cross section flexible continuum.
Preferably, the endoscope body control module is provided with an endoscope flexible continuous body structure bone receiving plate, a transition stainless steel pipe, an endoscope flexible continuous body amplifying plate, an endoscope amplifying flexible continuous body, an endoscope body driving structure bone and an endoscope body differential head, wherein the endoscope amplifying flexible continuous body is provided with an endoscope amplifying flexible continuous body spacing sheet and an endoscope amplifying flexible continuous body locking sheet, and the endoscope flexible continuous body structure bone sequentially passes through the endoscope flexible continuous body structure bone receiving plate, the transition stainless steel pipe and extends to the endoscope flexible continuous body amplifying plate; the endoscope flexible continuum structure bone penetrates out of the endoscope flexible continuum amplifying plate, penetrates through the endoscope amplifying flexible continuum spacing sheet and is fixed on the endoscope amplifying flexible continuum locking sheet; one end of the endoscope body driving mechanism bone is fixed on the endoscope amplification flexible continuum locking sheet, and the other end of the endoscope body driving mechanism bone sequentially penetrates through the amplification flexible continuum spacing sheet and the endoscope flexible continuum amplification plate and is connected with the endoscope body differential head, so that the endoscope body bending is controlled by rotating the endoscope body differential head.
Preferably, the camera illumination module control module is provided with a camera illumination module flexible continuum structure bone receiving plate, a transition stainless steel pipe, a camera illumination module flexible continuum amplifying plate, two sections of camera illumination module amplifying flexible continuum, a camera illumination module driving structure bone and a camera illumination module differential head, wherein the camera illumination module amplifying flexible continuum is provided with a camera illumination module amplifying flexible continuum spacing sheet and a camera illumination module amplifying flexible continuum locking sheet, and the camera illumination module flexible continuum structure bone sequentially passes through the camera illumination module flexible continuum structure bone receiving plate, the transition stainless steel pipe and extends to the camera illumination module flexible continuum amplifying plate; the flexible continuum structure bone of the camera shooting illumination module penetrates out of the flexible continuum amplifying plate of the camera shooting illumination module, penetrates through the flexible continuum amplifying spacer of the camera shooting illumination module and is fixed on the flexible continuum amplifying locking plate of the camera shooting illumination module; the camera shooting illumination module driving mechanism is characterized in that one end of the camera shooting illumination module driving mechanism is fixed on the camera shooting illumination module amplifying flexible continuum locking sheet, and the other end of the camera shooting illumination module driving mechanism sequentially penetrates through the camera shooting illumination module amplifying flexible continuum spacing sheet and the camera shooting illumination module flexible continuum amplifying plate and is connected with the camera shooting illumination module differential head, so that the camera shooting illumination module differential head controls the bending of the camera shooting illumination module lens body.
Preferably, the functional mechanical arm control module is provided with a functional mechanical arm flexible continuum structure bone receiving plate, a transition stainless steel pipe, a functional mechanical arm flexible continuum amplifying plate, two sections of functional mechanical arm amplifying flexible continuum, a functional mechanical arm driving structure bone and a functional mechanical arm differential head, wherein the functional mechanical arm amplifying flexible continuum is provided with a functional mechanical arm amplifying flexible continuum spacing sheet and a functional mechanical arm amplifying flexible continuum locking sheet, and the functional mechanical arm flexible continuum structure bone sequentially passes through the functional mechanical arm flexible continuum structure bone receiving plate, the transition stainless steel pipe and extends to the functional mechanical arm flexible continuum amplifying plate; the functional mechanical arm flexible continuum structure bone penetrates out of the functional mechanical arm flexible continuum amplifying plate, penetrates through the functional mechanical arm amplifying flexible continuum spacing sheet and is fixed on the functional mechanical arm amplifying flexible continuum locking sheet; one end of the functional mechanical arm driving mechanism is fixed on the functional mechanical arm amplification flexible continuum locking piece, and the other end of the functional mechanical arm driving mechanism sequentially penetrates through the functional mechanical arm amplification flexible continuum spacing piece and the functional mechanical arm flexible continuum amplification plate and is connected with the functional mechanical arm differential head, so that the functional mechanical arm differential head is rotated to control the bending of the functional mechanical arm mirror body.
In the endoscopic non-invasive surgery system of the present invention, the outer diameter of the endoscope body is about 12mm, even as small as 10mm, which is much smaller than the diameter of the existing endoscope body, which generally exceeds 15 mm. Thus, the system can enter the operation site through the narrow natural body cavity in a closed endoscope tube posture, and then the functional end of the system can be extended to a working posture for operation. Moreover, the functional end of the invention can flexibly stretch and bend towards various directions, so that an operator can conveniently use the system to perform non-invasive surgery. Namely, the invention has the advantages of small volume and convenient use.
Drawings
FIG. 1 is a perspective view of the overall construction of an endoscopic non-invasive surgical system of the present invention;
FIG. 2A is a perspective view of the structure of the endoscope body of the present invention;
FIG. 2B is a front view of the rigid receiving cavity of the endoscope body of FIG. 2A;
FIG. 3A is a perspective view of an endoscopic camera illumination module of the present invention;
FIG. 3B is a front view of a spacer tray of the flexible continuum structure of the lighting module of FIG. 3A;
FIG. 4A is a perspective view of the construction of the functional robotic arm of the present invention;
FIG. 4B is a front view of the spacer disk of the functional robotic arm of FIG. 4A;
FIG. 5 is a perspective view of the structure of the control end base of the endoscopic non-invasive surgical system of the present invention;
FIG. 6A is a perspective view of the endoscope body drive module of the present invention;
FIG. 6B is a front view of a spacer tray of the endoscopic scope drive module of FIG. 6A;
fig. 7A is a structural perspective view of a camera illumination module driving module of the present invention;
FIG. 7B is a front view of a spacer disk of the camera illumination module drive module of FIG. 7A;
fig. 8A is a structural perspective view of a functional robot arm driving module of the present invention;
FIG. 8B is a plan view of the functional robotic arm drive module of FIG. 8A; and
fig. 9A and 9B are structural perspective views of the functional end closure and deployment (working state) of the endoscopic noninvasive surgical system of the present invention, respectively.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
As shown in fig. 1, the endoscopic non-invasive surgery system of the present invention is composed of two main parts, a functional end 1 and a control end 2. The functional end 1 consists of an endoscope body 3, a flexible sleeve 4 of the endoscope body, a camera shooting and illuminating module 5 and two functional mechanical arms 6 and 7. The control end 2 is composed of a control end base 8, an endoscope body control module 9, a camera shooting illumination module control module 10 and two functional mechanical arm control modules 11 and 12. Of course, although not indicated, the system of the present invention may also include more than two functional robots, for example, three or four or more robots, as desired.
As shown in FIG. 2A, the endoscope body 3 of the present invention has a rigid housing cavity 13 at the distal end thereof for housing various surgical instruments at the distal end thereof when the functional end is closed. The main body of the endoscope body 3 is an endoscope flexible continuous body structure 14, and the endoscope flexible continuous body structure 14 is composed of an endoscope flexible continuous body structure bone 15, an endoscope flexible continuous body spacing sheet 16 and an endoscope flexible continuous body locking sheet 17. The endoscope body 3 provides corresponding channels for the mechanical arms of the camera and lighting module 5, the functional mechanical arms 6 and 7 and the air and medicine supply pipelines. As shown in fig. 2B, the arcuate channel 18 is a channel through which a robot arm of the imaging and lighting module 5 passes; the trapezoid- like channels 19 and 20 are channels for the functional mechanical arms 6 and 7 to pass through; the triangle-like and round channel 21 is a channel for the ventilation pipe and the administration pipe to pass through; the cross-sectional circumferential bore 22 is a passage or distribution point for the endoscope flexible continuous body structure bone 15 to pass through.
As shown in fig. 3A, the camera 22 of the functional end of the endoscopic non-invasive surgery system integrates LED illumination with the illumination module, and the camera 22 is arranged in a shell 23 with the same outer diameter as that of the endoscope body. The housing 23 and camera 22 are carried by two flexible continuous body arms 24 of arcuate cross-section. The flexible continuum robot arm 24 may achieve four degrees of freedom of bending motion in space and overall telescopic motion. The main components of the flexible continuum mechanical arm with the arched section comprise an arched section flexible continuum spacing sheet 25, an arched section flexible continuum first section structure bone 26, an arched section flexible continuum second section structure bone 27, an arched section flexible continuum first section locking sheet 28 and a second section locking sheet 29, wherein one end of the first structure bone 26 is connected with a control end (which will be explained in more detail below), and the other end of the first structure bone passes through the plurality of flexible continuum spacing sheets 25 and then is fixed on the first locking sheet 28. Similarly, a second structural bone 27 is connected at one end to a control end (described in more detail below) and at the other end through the plurality of flexible continuous body spacers 25 and through the first locking tab 28 and then secured to the second locking tab 29. A channel 30 for supplying power for camera shooting illumination and passing signal lines is reserved on the flexible continuum mechanical arm with the arc-shaped section, as shown in fig. 3B.
As shown in fig. 4A, the functional mechanical arms 6 and 7 of the endoscopic noninvasive surgery system of the present invention are two flexible continuous body mechanical arms 31 having a trapezoidal-like cross section. The flexible continuum mechanical arm 31 can realize bending motion with four degrees of freedom in space and integral telescopic motion. Similar to the flexible continuum mechanical arm 24 with an arched cross section, the main components of the flexible continuum mechanical arm 31 include a trapezoid-like cross section flexible continuum spacer 32, a trapezoid-like cross section flexible continuum first section structure bone 33, a trapezoid-like cross section flexible continuum second section structure bone 34, a trapezoid-like cross section flexible continuum first section locking plate 35 and a second section locking plate 36, wherein one end of the first structure bone 33 is connected with a control end (which will be explained in more detail below), and the other end of the first structure bone passes through the plurality of flexible continuum spacers 32 and then is fixed to the first locking plate 35. Similarly, the second structural bone 34 is connected at one end to a control end (described in more detail below) and at the other end through the plurality of flexible continuous body spacers 25 and through the first locking tab 35 and then secured to the second locking tab 36. The front ends of the trapezoid-section flexible continuous mechanical arms 6 and 7 can carry an operating clamp 37 and a suture needle 38 which can extend out of the operating clamp. Channels 39, 40 for the needle 38 and the driving line of the mechanical forceps to pass through are left on the mechanical arm of the trapezoid-like section flexible continuum, as shown in fig. 4B. Here, the trapezoid-like shape refers to a shape similar to a trapezoid shape, but not completely a trapezoid shape.
Fig. 5 is a schematic structural view of a control end base 8 of the endoscopic non-invasive surgery system according to the present invention. As shown in fig. 5, the control end base 8 is mainly composed of a structural base 41, a support shaft 42 and a screw 43, and is used for mounting an endoscope body control module, a camera shooting illumination module control module and a functional mechanical arm control module, which will be further described in detail below.
Fig. 6A and 6B are schematic structural views of the endoscope body control (driving) module 9 of the present invention. As shown in fig. 6A and 6B, the endoscope body control module 9 of the present invention is provided with an endoscope flexible continuous body structure bone receiving plate 44, a transition stainless steel pipe 45, an endoscope flexible continuous body magnifying plate 46, an endoscope magnifying flexible continuous body, and a differential head 49. The endoscope flexible continuum structure bone 15 sequentially passes through the endoscope flexible continuum structure bone receiving plate 44, the transition stainless steel tube 45 and extends to the endoscope flexible continuum amplifying plate 46. The structural bone 15 penetrates out of the amplification plate 46 to form an endoscope amplification flexible continuous body together with an endoscope amplification flexible continuous body spacing sheet 47 and a locking sheet 48. Meanwhile, the enlarged flexible continuum spacer 47 and locking tab 48 form an endoscope driven flexible continuum with four structural bones 50 whose length is controlled by a differentiation head 49. The distribution of the endoscopically enlarged flexible continuum structure bone 15 and the driven flexible continuum structure bone 50 is indicated by endoscopically enlarging flexible continuum structure bone hole 51 and the driven flexible continuum structure bone hole 52 on a spacer sheet common to both flexible continuum structures, as shown in fig. 6B. By rotating the differentiating head 49, the length of the endoscope driven flexible continuum structure bone 50 can be controlled to control the attitude of the driven flexible continuum. Because the endoscope amplifying flexible continuous body and the driving flexible continuous body share the locking sheet, the amplifying flexible continuous body can correspondingly bend and move along with the driving flexible continuous body, and the length of the structural bone 15 at one end of the amplifying flexible continuous body can correspondingly extend or shorten. Since the structural bone 15 is also a flexible continuum structural bone of the endoscope, changes in its length within the enlarged flexible continuum will cause opposite changes in its length within the flexible continuum of the endoscope. Thus, amplifying the bending motion of the flexible continuum results in a corresponding bending motion of the flexible continuum of the endoscope body. According to the above structural relationship, the bending control of the flexible continuum of the endoscope body can be realized by rotating the differential head 49.
Fig. 7A and 7B are schematic structural views of the imaging illumination module control (drive) module 10 of the present invention. As shown in fig. 7A and 7B, the camera illumination module control module in the endoscopic non-invasive surgery system is linearly movable along the support shaft 42 in the control end base 8 to control the overall extension and retraction of the camera illumination module. The linear movement may be driven by a screw 43. In the camera lighting module control module, after a first section of structural bone 26 and a second section of structural bone 27 of an arched section flexible continuum mechanical arm 24 pass through a receiving plate 53, a transition stainless steel pipe 54 and an amplifying plate 55, the first section of structural bone and the second section of structural bone form two sections of amplifying arched flexible continuum structures together with a series of amplifying spacing sheets 56 and locking sheets 57 respectively. The enlarged flexible continuum spacer 56 and locking tabs 57 simultaneously with the 8 structural bones 59 controlled by the differentiating heads 58 again form a two segment arcuate driven flexible continuum structure. The driver arch-shaped flexible continuum structure bone 59, when connected to the differentiation head 58, transitions through stainless steel tubing 60 to make space available. Similar to the driving principle of the flexible continuum of the endoscope body, the control of the four-degree-of-freedom bending of the two segments of the arched flexible continuum mechanical arm 24 can be realized by controlling the differential head 58. As shown in FIG. 7B, the small holes 61 in the spacer 56 are used to enlarge the flexible continuum structure bone site and the holes 62 are used to drive the flexible continuum structure bone site.
Fig. 8A and 8B are schematic structural views of the functional robot arm control module. The structure principle of the functional mechanical arm control module is basically the same as that of the camera shooting illumination module control module. The whole of which is linearly movable along the support shaft 42 by the screw 43. Similar to the control module of the camera lighting module, in the functional mechanical arm control module, the structural bones 33 and 34 in the two sections of the mechanical arms 31 with the trapezoid-like cross sections form a trapezoid-like enlarged flexible continuum after being transited by the stainless steel tube 63. The amplifying flexible continuum is provided with a driving flexible continuum, and the length of the structural bone 65 of the driving flexible continuum is controlled through the differential head 64, so that the bending control of four degrees of freedom of the space of the two sections of trapezoidal section flexible continuum mechanical arms can be finally realized. The bone distribution of the enlarged flexible continuum and the driven flexible continuum structure can be seen in the distribution of the holes in their common spacer 66. The control wire of the mechanical forceps 37 at the front end of the functional mechanical arm and the control wire of the suture needle 38 can also be connected to the differential head through stainless steel pipes, so that manual control is realized.
In the working process, the functional end of the endoscope noninvasive surgery system needs to be in an initial closed posture at first, namely the functional mechanical arms 6 and 7 are completely contracted into the endoscope body 3, the camera shooting illumination module is contracted into the shell sleeve 23 to be completely attached to the rigid body 13 at the front end of the endoscope body, and the functional end of the whole surgery system forms a closed cylindrical posture. In this posture, the posture of the endoscope body 3 is adjusted to extend the functional end of the surgical system into the surgical site. Then, the camera shooting illumination module 5 is driven forwards and the posture of the camera shooting illumination module is adjusted, and the functional mechanical arms 6 and 7 are stretched out to carry out operation related operations. After the operation is finished, the functional end returns to the closed posture and is withdrawn from the body of the patient. Fig. 9A and 9B are schematic views of the closed and working postures of the endoscopic non-invasive surgical system.
In the endoscopic non-invasive surgery system of the present invention, the outer diameter of the endoscope body is about 12mm, even as small as 10mm, which is much smaller than the diameter of the existing endoscope body, which generally exceeds 15 mm. Thus, the system can enter the operation site through the narrow natural body cavity in a closed endoscope tube posture, and then the functional end of the system can be extended to a working posture for operation. Moreover, the functional end of the invention can flexibly stretch and bend towards various directions, so that an operator can conveniently use the system to perform non-invasive surgery.
While the preferred embodiments of the present invention have been illustrated and described in detail, it should be understood that various changes and modifications of the invention can be effected therein by those skilled in the art after reading the above teachings of the invention. Such equivalents are intended to fall within the scope of the claims appended hereto.
Claims (10)
1. An endoscopic non-invasive surgical system, the system comprising:
the functional end comprises an endoscope body, a flexible sleeve sleeved on the endoscope body, a camera shooting and illuminating module and a functional mechanical arm, and the front end of the endoscope body is provided with a section of rigid pipe body;
the control end comprises a control end base, an endoscope body control module, a camera shooting illumination module control module and a functional mechanical arm control module, and the endoscope body control module, the camera shooting illumination module control module and the functional mechanical arm control module are arranged on the control end base; wherein,
endoscope mirror body control module make a video recording lighting module control module with function arm control module controls respectively the endoscope mirror body make a video recording lighting module and the flexible and/or the turn of function arm makes by surgical instruments that function arm carried can be in the retraction enter into the operation position under the gesture of rigidity body, and after reaching the operation position, the endoscope mirror body make a video recording lighting module and function arm can extend and/or turn.
2. The endoscopic non-invasive surgery system according to claim 1, wherein the control end base is provided with a screw and a support shaft, the camera illumination module and the functional manipulator are capable of linear motion along the support shaft, and the linear motion is driven by the screw.
3. The endoscopic non-invasive surgical system according to claim 1, wherein the endoscopic scope has an outer diameter of 10mm-12 mm.
4. The endoscopic non-invasive surgical system according to claim 1, wherein the surgical instruments are mechanical forceps and a needle provided at a front end of a surgical functional arm.
5. The endoscopic non-invasive surgical system according to claim 1, wherein the endoscopic body is an endoscopic flexible continuum structure composed of an endoscopic flexible continuum structure bone, an endoscopic flexible continuum spacer and an endoscopic flexible continuum end locking plate, the endoscopic flexible continuum structure bone having one end fixed to the endoscopic flexible continuum end locking plate and the other end passing through the endoscopic flexible continuum spacer and being connected to the endoscopic body control module, thereby enabling to control the bending of the endoscopic body by adjusting the length of the endoscopic flexible continuum structure bone.
6. An endoscopic non-invasive surgical system according to claim 1, wherein the camera illumination module comprises a camera, an illumination device, and an arcuate cross-section flexible continuum manipulator having an arcuate cross-section flexible continuum spacer, an arcuate cross-section flexible continuum first segment structural bone, an arcuate cross-section flexible continuum second segment structural bone, an arcuate cross-section flexible continuum first segment locking tab and a second segment locking tab, wherein the arcuate cross-section flexible continuum first structural bone is connected at one end to the camera illumination module control module and at the other end through a plurality of arcuate cross-section flexible continuum spacers, fixed to the arcuate cross-section flexible continuum first locking tab; one end of the second structure bone of the flexible continuum with the arched section is connected with the camera shooting illumination module control module, and the other end of the second structure bone of the flexible continuum with the arched section penetrates through the plurality of spacing pieces of the flexible continuum with the arched section, penetrates through the first locking piece of the flexible continuum with the arched section and is fixed on the second locking piece of the flexible continuum with the arched section.
7. The endoscopic non-invasive surgery system according to claim 1, wherein the functional mechanical arm main body is a two-section trapezoid-like cross-section flexible continuum mechanical arm, and the trapezoid-like cross-section flexible continuum mechanical arm comprises a trapezoid-like cross-section flexible continuum spacer, a trapezoid-like cross-section flexible continuum first section structural bone, a trapezoid-like cross-section flexible continuum second section structural bone, a trapezoid-like cross-section flexible continuum first section locking sheet and a second section locking sheet, wherein one end of the first structural bone is connected with the functional mechanical arm control module, and the other end of the first structural bone passes through a plurality of trapezoid-like cross-section flexible continuum spacers and then is fixed on the trapezoid-like cross-section flexible continuum first locking sheet; one end of a second section structure bone of the trapezoid-like cross section flexible continuum is connected with the functional mechanical arm control module, and the other end of the second section structure bone penetrates through the trapezoid-like cross section flexible continuum spacing pieces, penetrates through the first locking piece of the trapezoid-like cross section flexible continuum and is then fixed to the second locking piece of the trapezoid-like cross section flexible continuum.
8. The endoscopic non-invasive surgical system according to claim 5,
the endoscope body control module is provided with an endoscope flexible continuous body structure bone receiving plate, a transition stainless steel pipe, an endoscope flexible continuous body amplifying plate, an endoscope amplifying flexible continuous body, an endoscope body driving structure bone and an endoscope body differential head,
the endoscope amplification flexible continuum is provided with an endoscope amplification flexible continuum spacing sheet and an endoscope amplification flexible continuum locking sheet, the endoscope flexible continuum structure bone sequentially passes through the endoscope flexible continuum structure bone receiving plate, the transition stainless steel pipe and extends to the endoscope flexible continuum amplification plate,
the endoscope flexible continuum structure bone penetrates out of the endoscope flexible continuum amplifying plate, penetrates through the endoscope amplifying flexible continuum spacing sheet and is fixed on the endoscope amplifying flexible continuum locking sheet,
one end of the endoscope body driving mechanism bone is fixed on the endoscope amplification flexible continuum locking sheet, and the other end of the endoscope body driving mechanism bone sequentially penetrates through the amplification flexible continuum spacing sheet and the endoscope flexible continuum amplification plate and is connected with the endoscope body differential head, so that the endoscope body bending is controlled by rotating the endoscope body differential head.
9. An endoscopic non-invasive surgical system according to claim 6, wherein said camera illumination module control module is provided with a camera illumination module flexible continuum structural bone receiving plate, a transitional stainless steel tube, a camera illumination module flexible continuum amplifying plate, two camera illumination module amplifying flexible continuum and a camera illumination module driving structural bone and a camera illumination module differentiation head, wherein,
the flexible continuum of the camera shooting illumination module is provided with a spacing sheet for the flexible continuum of the camera shooting illumination module and a locking sheet for the flexible continuum of the camera shooting illumination module, and the structure bone of the flexible continuum of the camera shooting illumination module sequentially passes through the bone receiving plate for the flexible continuum of the camera shooting illumination module and the transition stainless steel pipe and extends to the flexible continuum of the camera shooting illumination module amplifying plate,
the flexible continuum structure bone of the camera shooting illumination module penetrates out of the flexible continuum amplifying plate of the camera shooting illumination module, penetrates through the flexible continuum amplifying spacing sheet of the camera shooting illumination module and is fixed on the flexible continuum amplifying locking sheet of the camera shooting illumination module,
the camera shooting illumination module driving mechanism is characterized in that one end of the camera shooting illumination module driving mechanism is fixed on the camera shooting illumination module amplifying flexible continuum locking sheet, and the other end of the camera shooting illumination module driving mechanism sequentially penetrates through the camera shooting illumination module amplifying flexible continuum spacing sheet and the camera shooting illumination module flexible continuum amplifying plate and is connected with the camera shooting illumination module differential head, so that the camera shooting illumination module differential head controls the bending of the camera shooting illumination module lens body.
10. The endoscopic non-invasive surgical system according to claim 7,
the functional mechanical arm control module is provided with a functional mechanical arm flexible continuum structure bone receiving plate, a transition stainless steel pipe, a functional mechanical arm flexible continuum amplifying plate, two sections of functional mechanical arm amplifying flexible continuum, a functional mechanical arm driving structure bone and a functional mechanical arm differential head,
the functional mechanical arm amplification flexible continuum is provided with a functional mechanical arm amplification flexible continuum spacing sheet and a functional mechanical arm amplification flexible continuum locking sheet, the functional mechanical arm flexible continuum structure bone sequentially passes through the functional mechanical arm flexible continuum structure bone receiving plate, the transition stainless steel pipe and extends to the functional mechanical arm flexible continuum amplification plate,
the functional mechanical arm flexible continuum structure bone penetrates out of the functional mechanical arm flexible continuum amplifying plate, penetrates through the functional mechanical arm amplifying flexible continuum spacing sheet and is fixed on the functional mechanical arm amplifying flexible continuum locking sheet,
one end of the functional mechanical arm driving mechanism is fixed on the functional mechanical arm amplification flexible continuum locking piece, and the other end of the functional mechanical arm driving mechanism sequentially penetrates through the functional mechanical arm amplification flexible continuum spacing piece and the functional mechanical arm flexible continuum amplification plate and is connected with the functional mechanical arm differential head, so that the functional mechanical arm differential head is rotated to control the bending of the functional mechanical arm mirror body.
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Address after: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: 100192 Tiandi Adjacent to Feng2 Building 106, No. 1 North Yongtaizhuang Road, Haidian District, Beijing Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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