CN104224324A - Robot operation platform for natural orifice transluminal endoscopic surgery - Google Patents
Robot operation platform for natural orifice transluminal endoscopic surgery Download PDFInfo
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Abstract
The invention relates to a robot operation platform for natural orifice transluminal endoscopic surgery. The operation platform comprises a conveying pipeline, spokes, robot arms and a base, wherein the conveying pipeline is connected with the interior of the base, the spokes comprise an upper spoke and a lower spoke, the upper spoke is connected with the conveying pipeline by a joint of the upper spoke and the conveying pipeline, and is connected with the corresponding robot arm by a robot shoulder joint, the lower spoke is connected with a lower spoke slide passage through a joint of the conveying pipeline, each robot arm consists of a robot arm body, a robot hand, the corresponding robot shoulder joint, a robot wrist joint and a robot horizontal joint, each robot arm is connected with the upper spoke by the corresponding robot shoulder joint, each robot arm is connected with the corresponding robot hand by the corresponding wrist joint, and the middle part of each robot arm is provided with the corresponding robot horizontal joint. The operation platform has the advantages that the problems of instability of operation platform, slit triangle of operation and fewer and simple operation apparatuses of the existing natural orifice transluminal endoscopic robot are solved, and the operation platform is suitable for complicated abdominal surgery.
Description
Technical field
The present invention relates to through natural chamber mirror endoscopic surgery operation fixture fields, specifically a kind of robotic surgery platform through natural tract endoscopic surgery.
Background technology
Through natural tract endoscopic surgery (Natural Orifice Transluminal Endoscopic Surgery, NOTES) refer to by natural aperture (rectum, vagina, oral cavity and urethra etc.) enter a kind of micro-wound surgical operation carrying out operating in abdominal cavity.NOTES operation, in the process solving patient's illness, does not leave otch at human body surface, alleviates operation wound and postoperative pain, add cosmetic result, realize better physiology Wicresoft and psychological Wicresoft effect.Fat for those, body constitution is poor, cicatrix body constitution and concerning cosmetic result pursues higher crowd, NOTES will become their best selection.But the operating theater instruments of NOTES shortcoming flexibility ratio, operative image is two-dimensional imaging, adds surgical procedures difficulty.In it is possible to increase operating theater instruments flexibility ratio, arising at the historic moment through natural tract endoscope robot surgery systems of three-dimensional operative image is provided.Nan Yang polytechnical university of Singapore have developed a kind of endoscope robot and is called robot controller and performs the operation for NOTES, and publishes an article in 2010 and report.This surgery systems is made up of three parts: main control device, slave controller (end has two working arms: handgrip, single-stage electrode hook) and Double channel endoscope.Doctor through line operate by main control device, is ordered and reaches slave controller by electric wire by main control device, by the apparatus of its end through row operation technique.But this system end working arm in the process of operation cannot be changed, and end apparatus is more single.Wei Yao published thesis in 2013 and claims its framework to go out a kind of reconfigurable endoscope robot system newly.Its utilize in the middle of annular platform solve the problem that apparatus withdraws well.External device can enter abdominal cavity by middle passage and operate.Its shortcoming is also obvious, and first, rack platform is elastic, and the strength of the basic operative operations such as the traction provided, pushing is limited, is not enough to carry out complicated hands art; Secondly, the apparatus of end is simple, and lack of diversity can not carry out complicated operation.In a word, existing exist the problems such as the narrow and small and operating theater instruments of surgical platform instability, operation technique triangle is few and simple through natural tract endoscope robot surgery systems.
Summary of the invention
A kind of robotic surgery platform through natural tract endoscopic surgery is provided during object of the present invention, can solve existing unstable through natural tract endoscope robot surgery systems operating platform, the problems such as the narrow and small and operating theater instruments of operation technique triangle is few and simple, the surgical platform that one roomy and firm is provided for performing the operation through natural tract endoscope robot, open and the robot that sufficient operation technique trigonometric sum is abundant and various, break through the bottleneck through natural tract endoscope robot operation, enable to be competent at complicated abdominal surgery through natural tract endoscope robot surgery systems, promote the development through natural tract endoscope robot operation.
The present invention achieves the above object by the following technical programs: a kind of robotic surgery platform through natural tract endoscopic surgery, comprises conveyance conduit, spoke, robot arm and base.Described conveyance conduit connects in the base, described spoke comprises spoke and lower spoke, described upper spoke is connected with conveyance conduit by upper spoke-conveyance conduit joint, be connected with robots arm by robot shoulder joint, lower spoke is connected with lower spoke slideway by conveyance conduit joint, described robot arm is by robots arm, robot, robot shoulder joint, wrist joint of robot becomes with robot horizontal joint set, robots arm is connected with upper spoke by robot shoulder joint, robots arm is connected with robot by carpal joint, the middle part of robots arm is provided with robot flapping articulation.
Described robot is divided into pliers hands, tweezers hands, shears hands, chamber mirror hands and suction hands five type, and robot is connected with robots arm by carpal joint.
The anterior surrounding of described conveyance conduit has many lower spoke slideways, there is multiple upper spoke-conveyance conduit joint front end, there are instrument channel, suction passage, carbon dioxide channel and upper spoke data cable channel and lower spoke data channel in inside, described instrument channel is positioned at the center of conveyance conduit, suction passage, carbon dioxide channel, upper spoke data cable channel are positioned at around instrument channel, and described suction passage is corresponding with suction palmistry.Instrument channel supplies specific operating theater instruments as the importing of the major surgery such as cutting closer, applicator apparatus.Suction passage is for the importing of suction conduit, from the head end of conveyance conduit out after, side opening through robot suction arm successively enters in the middle of the tubular structure of robot suction arm and robot suction hands, and carbon dioxide channel, for the injection of carbon dioxide, maintains stable pneumoperitoneum pressure.Upper spoke data cable channel provides the turnover of the chirokinesthetic data wire of robotic arm, robot.
The robot suction carpal joint that described suction hands connects and robot suction arm are tubular structure, and wherein robot suction arm has side opening.
Described conveyance conduit has bending section, and the bone Sexual Physiology of bending section and human body abdominopelvic cavity is bending to adapt.Avoid importing human body abdominopelvic cavity at conveyance conduit and damage human organ in operation process.
Described lower spoke is divided into spoke Four types under spoke under spoke under the lower spoke in left side, right side, top, below, the lower spoke of every type is made up of lower spoke bar, lower spoke-conveyance conduit joint and lower spoke-upper spoke joint, lower spoke is connected with the lower spoke slideway of conveyance conduit by lower spoke-conveyance conduit joint, and lower spoke is connected with upper spoke by lower spoke-upper spoke joint.
Described lower spoke data cable channel is opened on the rear end of lower spoke slideway, and lower spoke data cable channel, lower spoke slideway and upper spoke-conveyance conduit joint are positioned at the outermost of conveyance conduit.
Described upper spoke to be divided on the upper spoke in left side, right side on spoke, top spoke Four types on spoke and below.Lower spoke does slide anteroposterior action in the lower spoke slideway of conveyance conduit, drives corresponding upper spoke to do front receipts-abduction-receive motion afterwards, and then the robot arm driving upper spoke outer end to connect seesaws.
Described conveyance conduit, spoke, robot arm and base are metal and form.Thus can provide stable and firmly platform for operation such as operation tractive, pushing, cutting, separation etc.
The technique effect that the present invention gives prominence to is:
With existing compared with the natural tract endoscope robot Surgery Platform, the present invention introduces and slides-folding movement mechanism (lower spoke 11 does front and back slide action in the lower spoke slideway 1-1 of conveyance conduit 1, drives corresponding upper spoke 10 to do front receipts-abduction-receive motion afterwards by jackknife action).Slide-folding movement mechanism solves through natural tract endoscope robot Surgery Platform three key technical problems.1. import through natural tract endoscope robot Surgery Platform and withdraw problem.Under closed configuration, through natural tract endoscope robot Surgery Platform in a tubular form, under the supervision and guiding of robot scope hands, easily import abdominal cavity or withdraw from from abdominal cavity.2. surgical instrument operation triangulation problem.Under upper spoke 10 fully abduction state, the roomy Surgery Platform of formation operates triangle fully for the robot arm 3 standing on upper spoke 10 outer end provides.3. robotic tool's arm count issue.The upper spoke 10 of One's name is legion, can provide a large amount of robot arm 3 junction points.The simultaneously turnover of the conveyance conduit 1 inside data wire that has multiple data cable channel to provide control machine human arm 3 move, thus realization provides the object of abundant and various robot 6.Comprise robot pliers hands 6-1, tweezers hands 6-2, shears hands 6-3, chamber mirror hands 6-4 and suction hands 6-5 etc.
The present invention realizes major surgery apparatus first and imports abdominal cavity through NOTES platform.There is instrument channel 1-3 at the center of conveyance conduit 1 of the present invention, for specific major surgery apparatus as the importing of the apparatus such as cutting closer, applicator.Cutting closer can carry out the surgical procedures such as the cutting of organ, closed and alimentary tract anastomosis, and applicator can bring abdominal cavity into clip, and folder closes abdominal organs trunk before cutting.The invention of major surgery apparatus introduction channel makes to carry out complicated abdominal operation such as gastroenteric tumor radical correction through natural tract endoscope robot becomes possibility.
The present invention can provide stable, firm and strong surgical platform and stable three-dimensional operative image.Conveyance conduit 1 of the present invention, spoke 2, robot arm 3, base 4 and each joint are metal and form, conveyance conduit 1 is fixedly mounted on base 4, thus can be the operation such as operation tractive, pushing, cutting, separation of robot 6, and the 3-D view of robot chamber mirror hands 6-4 monitors, provide stable and firmly platform.
On left side of the present invention, on spoke 10-1 and right side, on the long 10-2 of length of spoke, top, on spoke 10-3 and below, the length of spoke 10-4 is short is an outstanding technique effect of the present invention.Due to cross section left and right, abdominal cavity path length, upper and lower footpath is short, utilizes this anatomical features, and the length length designing spoke 10-2 on the upper spoke 10-1 in left side and right side can provide enough roomy surgical platform and operation technique triangle; Under the condition ensureing enough operation technique triangles, the short operation technique mistiming of can avoiding of length designing spoke 10-4 on the upper spoke 10-3 in top and below hurts the internal organs such as the intestinal tube below operating platform.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the robotic surgery platform through natural tract endoscopic surgery of the present invention.
Fig. 2 is the structural representation of the robot arm of the robotic surgery platform through natural tract endoscopic surgery of the present invention.
Fig. 3 is the structural representation of the carrier pipe of the robotic surgery platform through natural tract endoscopic surgery of the present invention.
Fig. 4 is the structural representation of the lower spoke of the robotic surgery platform through natural tract endoscopic surgery of the present invention.
Fig. 5 is the structural representation of the upper spoke of the robotic surgery platform through natural tract endoscopic surgery of the present invention.
Fig. 6 is the overall structure schematic diagram under the rounding state of the robotic surgery platform through natural tract endoscopic surgery of the present invention.
Detailed description of the invention
Below by way of accompanying drawing and example, technical scheme of the present invention is further described.
Contrast Fig. 1, the robotic surgery platform through natural tract endoscopic surgery of the present invention, comprises conveyance conduit 1, spoke 2, robot arm 3 and base 4.Described conveyance conduit 1 is connected in base 4.Described conveyance conduit 1 has bending section 14, and bending section 14 adapts with the bone Sexual Physiology of human body abdominopelvic cavity is bending, avoids importing human body abdominopelvic cavity at conveyance conduit 1 and damage human organ in operation process.
Contrast Fig. 2, described robot arm 3 is made up of robots arm 5, robot 6, robot shoulder joint 7, wrist joint of robot 8 and robot flapping articulation 9.Described robots arm 5 is connected with upper spoke 10 by robot shoulder joint 7, and robots arm 5 is connected with robot 6 by wrist joint of robot 8, and the middle part of robots arm 5 is provided with robot flapping articulation 9.Described robot 6 comprises pliers hands 6-1, tweezers hands 6-2, shears hands 6-3, chamber mirror hands 6-4 and suction hands 6-5.Described spoke 2 comprises spoke 11 under many upper spokes 10 and Duo Gen.
Contrast Fig. 3, the anterior surrounding in described carrier pipe 1 road has many lower spoke slideway 1-1.There is multiple upper spoke-conveyance conduit joint 1-2 the front end of described conveyance conduit 1.There are an instrument channel 1-3, suction passage 1-4, a carbon dioxide channel 1-5 and multiple upper spoke data cable channel 1-6 and multiple lower spoke data channel 1-7 in the inside of described conveyance conduit 1.Described instrument channel 1-3 is positioned at the center of conveyance conduit 1, and suction passage 1-4, carbon dioxide channel 1-5, upper spoke data cable channel 1-6 are positioned at around instrument channel 1-3.Described suction passage 1-4 is corresponding with suction hands 6-5.The robot suction carpal joint 15 that described suction hands 6-5, suction hands 6-5 connect and robot suction arm 12 are tubular structure, and wherein robot suction arm 12 has side opening 13.
Described instrument channel 1-3 supplies specific operating theater instruments as the importing of the major surgery such as cutting closer, applicator apparatus.Suction passage 1-4 for the importing of suction conduit, from the head end of conveyance conduit 1 out after, the side opening 13 through robot suction arm 12 successively enters in the middle of the tubular structure of robot suction arm 12 and robot suction hands 6-5.Carbon dioxide channel 1-5, for the injection of carbon dioxide, maintains stable pneumoperitoneum pressure.The turnover of the data wire that upper spoke data cable channel 1-6 provides robotic arm 5, robot 6 to move.
Contrast Fig. 4, described lower spoke 11 to comprise under spoke 11-2 under the lower spoke 11-1 in left side, right side, top spoke 11-4 Four types under spoke 11-3 and below.The lower spoke 11 of every type is made up of lower spoke bar 11-5, lower spoke-conveyance conduit joint 11-6 and lower spoke-upper spoke joint 11-7.Lower spoke 11 is connected with the lower spoke slideway 1-1 of conveyance conduit 1 by lower spoke-conveyance conduit joint 11-6.Lower spoke 11 is connected with upper spoke 10 by lower spoke-upper spoke joint 11-7.Described lower spoke data cable channel 1-7 is opened on the rear end of lower spoke slideway 1-1.Described lower spoke data cable channel 1-7, lower spoke slideway 1-1 and upper spoke-conveyance conduit joint 1-2 are positioned at the outermost of conveyance conduit 1.Described lower spoke data cable channel 1-7 provides and controls the turnover that lower spoke 11 does the data wire of slide anteroposterior action in the lower spoke slideway 1-1 of conveyance conduit 1.
Contrast Fig. 5, described upper spoke 10 to comprise on the upper spoke 10-1 in left side, right side on spoke 10-2, top spoke 10-4 Four types on spoke 10-3 and below.Described upper spoke 10 is connected with conveyance conduit 1 by upper spoke-conveyance conduit joint 1-2.Described upper spoke 10 is connected with robots arm 5 by robot shoulder joint 7.Lower spoke 11 does slide anteroposterior action in the lower spoke slideway 1-1 of conveyance conduit 1, drives corresponding upper spoke 10 to do front receipts-abduction-receive motion afterwards, and then the robot arm 3 driving upper spoke 10 outer end to connect seesaws.
Contrast Fig. 2,6, the described robotic surgery platform through natural tract endoscopic surgery, instantly spoke 11 slides backward in the lower spoke slideway 1-1 of conveyance conduit 1, spoke 10 can be driven to reclaim backward, and then drive robot arm 3 to move backward, again by manipulation robot shoulder joint 7, wrist joint of robot 8 and robot flapping articulation 9, realize lower spoke 11, upper spoke 10 and robot arm 3 and be in full rounding state.
Contrast Fig. 1, described conveyance conduit 1, spoke 2, robot arm 3 and base 4 are metal and form, thus can provide stable and firmly platform for operation such as operation tractive, pushing, cutting, separation etc.
Operation principle and process:
Patient cuts stone position, and application anoscope appears hypomere in rectum, under the guiding of EUS, veress needle per rectum is inserted into rectal bladder lacuna, sets up pneumoperitoneum.Do a minimal incision * at rectum front wall, insert the trocar (Trocar), extract the pin heart, insert rounding state through natural tract endoscope robot Surgery Platform.Under the guiding of robot scope hands, adapt to human body abdominopelvic cavity physiological bending degree, import to the suitable position of abdominal part what have certain flexibility through natural tract endoscope robot Surgery Platform, be then fixed on base 4 through natural tract endoscope robot Surgery Platform.Connect CO2 pneumoperitonium device to the carbon dioxide channel 1-5 through natural tract endoscope robot Surgery Platform tail end, to maintain stable pneumoperitoneum pressure, set up sufficient abdominal operation space.Connect flushing, suction device to the suction passage 1-4 through natural tract endoscope robot Surgery Platform tail end.
In operation process, in the lower spoke slideway 1-1 of conveyance conduit 1, slide anteroposterior action is done by manipulating lower spoke 11, corresponding upper spoke 10 is driven to do front receipts-abduction-receive motion afterwards, and then the robot arm 3 driving upper spoke 10 outer end to connect seesaws, and realizes the action of the fore-and-aft direction of robot 6.By manipulation robot shoulder joint 7, wrist joint of robot 8 and robot flapping articulation 9, realize the action that robot 6 does direction, upper and lower, left and right.Robot chamber mirror hands 6-4 is responsible for surgical light and supervision effect, pliers 6-1 hands is responsible for the operation techniques such as cutting, hemostasis, separation, tractive, tweezers hands 6-2 is responsible for the tractive of the internal organs such as gastrointestinal, the operation technique such as fixing, shears hands 6-3 is responsible for the operation technique such as the shearing of organ-tissue, the cut-out of suture, and suction hands 6-5 is responsible for the attraction of the flushing of surgical wound surface, water and liquid.The major surgery such as cutting closer, applicator apparatus imports to abdominal cavity by the instrument channel 1-3 of conveyance conduit 1, cutting closer carries out the surgical procedures such as the cutting of organ, closed and alimentary tract anastomosis, applicator can bring abdominal cavity into clip, and folder closes abdominal organs trunk before cutting.
After surgical operation terminates, the lower spoke 11 of manipulation slides backward in the lower spoke slideway 1-1 of conveyance conduit 1, in drive, spoke 10 reclaims backward, and then drive robot arm 3 to move backward, again by manipulation robot shoulder joint 7, wrist joint of robot 8 and robot flapping articulation 9, realize lower spoke 11, upper spoke 10 and robot arm 3 and be in full rounding state.Finally exit through natural tract endoscope robot Surgery Platform under the supervision of robot chamber mirror hands 6-4.
Claims (9)
1. the robotic surgery platform through natural tract endoscopic surgery, comprise conveyance conduit, spoke, robot arm and base, it is characterized in that, described conveyance conduit connects in the base, described spoke comprises spoke and lower spoke, described upper spoke is connected with conveyance conduit by upper spoke-conveyance conduit joint, be connected with robots arm by robot shoulder joint, lower spoke is connected with lower spoke slideway by conveyance conduit joint, described robot arm is by robots arm, robot, robot shoulder joint, wrist joint of robot becomes with robot horizontal joint set, robots arm is connected with upper spoke by robot shoulder joint, robots arm is connected with robot by carpal joint, the middle part of robots arm is provided with robot flapping articulation.
2. the robotic surgery platform through natural tract endoscopic surgery according to claim 1, it is characterized in that, described robot is divided into pliers hands, tweezers hands, shears hands, chamber mirror hands and suction hands five type, and robot is connected with robots arm by carpal joint.
3. the robotic surgery platform through natural tract endoscopic surgery according to claim 1, it is characterized in that, the anterior surrounding of described conveyance conduit has many lower spoke slideways, there is multiple upper spoke-conveyance conduit joint front end, there are instrument channel, suction passage, carbon dioxide channel and upper spoke data cable channel and lower spoke data channel in inside, described instrument channel is positioned at the center of conveyance conduit, suction passage, carbon dioxide channel, upper spoke data cable channel are positioned at around instrument channel, and described suction passage is corresponding with suction palmistry.
4. the robotic surgery platform through natural tract endoscopic surgery according to claim 1,2, is characterized in that, the robot suction carpal joint that described suction hands connects and robot suction arm are tubular structure, and wherein robot suction arm has side opening.
5. the robotic surgery platform through natural tract endoscopic surgery according to claim 1, it is characterized in that, described conveyance conduit has bending section, and the bone Sexual Physiology of bending section and human body abdominopelvic cavity is bending to adapt.
6. the robotic surgery platform through natural tract endoscopic surgery according to claim 1, it is characterized in that, described lower spoke is divided into spoke Four types under spoke under spoke under the lower spoke in left side, right side, top, below, the lower spoke of every type is made up of lower spoke bar, lower spoke-conveyance conduit joint and lower spoke-upper spoke joint, lower spoke is connected with the lower spoke slideway of conveyance conduit by lower spoke-conveyance conduit joint, and lower spoke is connected with upper spoke by lower spoke-upper spoke joint.
7. the robotic surgery platform through natural tract endoscopic surgery according to claim 3, it is characterized in that, described lower spoke data cable channel is opened on the rear end of lower spoke slideway, and lower spoke data cable channel, lower spoke slideway and upper spoke-conveyance conduit joint are positioned at the outermost of conveyance conduit.
8. the robotic surgery platform through natural tract endoscopic surgery according to claim 1, is characterized in that, described upper spoke to be divided on the upper spoke in left side, right side on spoke, top spoke Four types on spoke and below.
9. the robotic surgery platform through natural tract endoscopic surgery according to claim 1, is characterized in that, described conveyance conduit, spoke, robot arm and base are metal and form.
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| WO2020006811A1 (en) * | 2018-07-06 | 2020-01-09 | Bio-Medical Engineering (HK) Limited | Port assembly for use with robotic devices and systems to perform single incision procedures and natural orifice translumenal endoscopic surgical procedures |
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Application publication date: 20141224 |