CN104605924A - Double-drive automatic endoscopic surgery operating system - Google Patents
Double-drive automatic endoscopic surgery operating system Download PDFInfo
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- CN104605924A CN104605924A CN201510075663.4A CN201510075663A CN104605924A CN 104605924 A CN104605924 A CN 104605924A CN 201510075663 A CN201510075663 A CN 201510075663A CN 104605924 A CN104605924 A CN 104605924A
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- endoscope
- mechanical arm
- endoscopic
- action
- control station
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
Abstract
The invention discloses a double-drive automatic endoscopic surgery operating system which comprises an external instruction transmission device, an action instruction executive device and an endoscopic device. The endoscopic device comprises an endoscopic pipeline, an endoscopic workstation and an endoscopic monitor, and the external instruction transmission device comprises operating mechanical arms, an external instruction receiver and an instruction transmission control station; the action instruction executive device comprises a tail-end mechanical arm control station, two driving units and two action executive units, each driving unit comprises a plurality of micro-motors and a plurality of power conversion devices corresponding to the micro-motors, and each action executive unit comprises an arm action access end, an S-shaped neck and a tail-end mechanical arm; each driving unit corresponds to a finger driving device of the corresponding tail-end mechanical arm, and the tail-end mechanical arm control station is connected with the driving units and the endoscopic workstation by signal communication cables. The double-drive automatic endoscopic surgery operating system has the advantages of high accuracy, flexibility in operation and convenience in use.
Description
Technical field
The present invention relates to medicine technology field, be specifically related to a kind of operation technique system, particularly a kind of Dual Drive automatization endoscopic surgery operating system.
Background technology
At present, when doing open operation or laparoscopic surgery, the method usually adopted gets involved from abdominal cavity, cuts the wound of more than 20cm, even and Wicresoft's " laparoscopic surgery " also needs the Wicresoft's mouth cutting 3-5 2-3cm.All need stomach, intestinal tissue to cut when carrying out these operations, after extracing inner tumor or polyp, then sew up, post-operative recovery time is generally longer, there is the risk of complication.
Along with the progressively development of Medical Technology, traditional endoscopic surgery is progressively applied, endoscopic surgery normally gets involved through affected part by stomach or rectum, any wound can not be left like this to patient body-surface, do not need thoroughly to cut stomach, intestinal tissue, just directly can extract tumor or polyp from inside, Post operation is also without the need to sewing up, such post-operative recovery time is short, can leave hospital every other day.
But due to the operational restriction of conventional endoscope apparatus itself, operate comparatively complicated, need showmanship and prolonged exercise to carry out skilled operation, adopt traditional endoscopic instrument to perform the operation, the operation process time is longer, and early clinic application complication risk is also relatively high.
Along with further developing of Medical Technology, robot assisted endoscopic surgery starts to be applied to therapeutic treatment field gradually, currently used robot assisted endoscopic surgery operating system comprises the communication port at operating robotic arm, operation-interface, interface controller, interface end control station, connecting interface control station and robot controlling station, and robot controlling station controls mechanical arm respectively by control system and carries out operation technique.In addition, described robot assisted endoscope surgery system also comprises the endoscopic system of auxiliary endoscopic surgery, realizes robot assisted endoscopic surgery like this by the combination of mechanical arm and endoscopic system.
At present, when practical operation robot carries out auxiliary endoscopic surgery, there is end mechanical arm malfunction, the operational order of external mechanical manipulation arm cannot precisely be quickly transferred to end effector arm, there is the execution of end effector arm action slow, unhandy drawback.
In addition, currently used robot assisted endoscopic surgery mostly is and arranges single end mechanical arm in endoscope tip, but, in the application of reality, sometimes not only need also to need to cut, currently used single end mechanical arm also cannot complete this generic operation, has some limitations in actual use procedure.
Summary of the invention
The invention provides a kind of Dual Drive automatization endoscopic surgery operating system, when it solving employing robot assisted endoscopic surgery, built-in function arm cannot perform the problem of external mechanical manipulation arm command adapted thereto by fast accurate, overcome existing operating system many employings single operation arm, the drawback capturing and cut two tasks cannot be completed simultaneously.The features such as the precision that it has action executing is high, and motility is strong, easy to operate.
In order to solve the problem, the technical solution adopted in the present invention is: a kind of Dual Drive automatization endoscopic surgery operating system, comprise external command input equipment, action command actuating unit and endoscope apparatus, it is characterized in that, described endoscope apparatus comprises endoscope, endoscope's work station and endoscopic monitors, and described endoscope's work station connects endoscope and endoscopic monitors respectively by holding wire; Described endoscope comprises ducts of endoscope and is arranged on the endoscope body of ducts of endoscope bottom, and the end of described endoscope body is provided with camera head;
Described action command actuating unit comprises end mechanical arm control station, driver element, action execution unit, and described end mechanical arm control station is connected to driver element and endoscope's work station respectively by connection; Described driver element comprises some micromachines and some power switching devices of arranging corresponding to micromachine;
Described action execution unit is two covers, and two cover action execution unit are connected respectively the power switching device in driver element, and described often cover action execution unit comprises arm and drives link, serpentine neck, end mechanical arm; Described arm drives link, serpentine neck, end mechanical arm to be connected successively; One end that described serpentine neck connects end mechanical arm is stretched in the ducts of endoscope of endoscope apparatus, and the end mechanical arm being connected to serpentine neck end stretches out ducts of endoscope;
Described end mechanical arm comprises finger actuation device and operation finger, and described finger actuation device comprises deflection mechanism and rotating mechanism, and described operation finger is arranged on finger actuation device;
The deflection mechanism of the finger actuation device of described end mechanical arm and rotating mechanism correspond respectively to two driver elements of action command actuating unit, deflection mechanism and being connected by bracing wire between rotating mechanism with the corresponding driver element arranged;
Described external command input equipment comprises operating robotic arm, external command receptor, command control station and input equipment monitor, be connected by holding wire successively between described operating robotic arm, external command receptor, command control station, described input equipment monitor is respectively by the endoscopic monitors of order wire link order transmission control station and endoscope apparatus;
Arrange communication port between described external command input equipment and action command actuating unit, described communication port connects the command control station of external command input equipment and the end mechanical arm control station of action command actuating unit.
Preferably, in Dual Drive automatization provided by the invention endoscopic surgery operating system, described deflection mechanism comprises bracing wire I, understructure, pulley structure, described pulley structure is arranged on the bracing frame on understructure top, described bracing wire I is two, two described bracing wires I are each passed through understructure, walk around pulley and are fixed on pulley.
Preferably, in Dual Drive automatization provided by the invention endoscopic surgery operating system, described rotating mechanism comprises bracing wire II, understructure, rotary joint, described bracing wire II is two, two bracing wires II are each passed through understructure and enter rotary joint inside, two described bracing wires II all wind with one circuit along rotary joint inside, and described bracing wire II end is fixed on rotary joint.
In certain embodiments of the present invention, in Dual Drive automatization provided by the invention endoscopic surgery operating system, the wherein operation finger putting setting of two described cover action execution unit refers to structure for two, described two finger structure comprises two holding fingers, and the inner side that described two holding fingers are relative arranges clamping tooth; Other one of two described cover action execution unit put the operation finger of setting for singly to refer to structure, singly refer to that the end of structure connects cutting tool.
Preferably, in Dual Drive automatization provided by the invention endoscopic surgery operating system, the driver element of described action command actuating unit is also provided with force transducer, described force transducer is spring pressure sensor.
Preferably, in Dual Drive automatization provided by the invention endoscopic surgery operating system, the photographic head that described ducts of endoscope end is arranged is integrated camera.
The invention has the beneficial effects as follows:
1, a kind of Dual Drive automatization of the present invention endoscopic surgery operating system it it solve when adopting robot assisted endoscopic surgery, built-in function arm cannot perform the problem of external mechanical manipulation arm command adapted thereto by fast accurate, overcome existing operating system many employings single operation arm, the drawback capturing and cut two tasks cannot be completed simultaneously.
2, the present invention is while remaining the various advantage of currently used robot assisted endoscope surgery system, and built-in function arm is more accurate for the various actions response performed by peripheral operation arm, and the operating time is shorter, and it is more convenient to use.
3, present invention employs the structural design of the finger actuation device of the corresponding end mechanical arm of two driver elements of action command actuating unit, can ensure the accuracy of end mechanical arm action executing like this, flexibility ratio is also higher, and operability is stronger.
4, present invention employs the design of dual operation arm, the operation finger of one of them operation arm adopts two finger structural design, the operation finger of another one operation arm adopts and singly refers to structural design, can complete in operation process so simultaneously and capture and cutting two operations, greatly expand this systematic difference scope.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the structural representation of action execution unit;
Fig. 3 is the A-A profile of Fig. 2;
Fig. 4 driver element internal structure schematic diagram;
Fig. 5 is the partial structurtes schematic diagram of deflection structure;
Fig. 6 is the partial structurtes schematic diagram of rotational structure;
Fig. 7 is operation finger two finger structural representation;
Fig. 8 is that operation finger singly refers to structural representation;
Fig. 9 is Dual Drive unit and finger actuation device combinative structure schematic diagram;
Figure 10 is the structural representation that spring pressure sensor and driver element combine when using;
Figure 11 is the structural representation of ducts of endoscope end;
In figure: 1-external command transmitting device, 11-operating robotic arm, 12-external command receptor, 13-command control station, 14-input equipment monitor, 2-action command actuating unit, 21-driver element, 211-micromachine, 212-power switching device, 22-action execution unit, 221-arm action incoming end, 222-serpentine neck, 223-end mechanical arm, 23-end mechanical arm control station, 3-endoscope apparatus, 31-ducts of endoscope, 311-ducts of endoscope, 312-endoscope body, 313-integrated camera, 32-endoscope work station, 33-endoscopic monitors, 4-communication port, 5-finger actuation device, 51-deflection structure, 511-bracing wire I, 512-understructure, 513-pulley structure, 52-rotating mechanism, 521-bracing wire II, 522-understructure, 523-rotary joint, 6-operates finger, 61-holding finger, 611-clamps tooth, 62-cutting tool, 7-force transducer.
Detailed description of the invention
For the technical characterstic of this programme can be clearly demonstrated, below by a detailed description of the invention, and in conjunction with its accompanying drawing, this programme is set forth.
As shown in figs. 1-11, a kind of Dual Drive automatization of the present invention endoscopic surgery operating system, it comprises external command transmitting device 1, action command actuating unit 2 and endoscope apparatus 3.
External command input equipment 1 comprises operating robotic arm 11, external command receptor 12, command control station 13 and input equipment monitor 14, be connected by holding wire successively between described operating robotic arm 11, external command receptor 12, command control station 13, jointly complete the transmission of external action instruction.Described input equipment monitor 14 distinguishes the endoscopic monitors of link order transmission control station 13 and endoscope apparatus 3 by connection, for receiving the picture signal transmitted from endoscopic monitors, being convenient to doctor and performing the operation according to the picture situation operating robotic arm of transmission.
In use, the camera head that endoscope apparatus 3 is arranged needs to match with input equipment monitor 14 and endoscopic monitors 33, thus obtain corresponding 2D/3D image feedback, the image feedback obtained after treatment, thus on input equipment monitor display device people mode of operation, allow doctor more understand operation information and state.
During work, the command control station 13 of external command input equipment 1 transmits corresponding actuating signal by communication port 4 to action command actuating unit 2.
Action command actuating unit 2 comprises driver element 21, action execution unit 22 and end mechanical arm control station 23, and end mechanical arm control station 23 is connected to endoscope's work station of driver element 21 and endoscope apparatus 3 respectively by connection.Described driver element 21 comprises some micromachines 211 and some power switching devices 212 of arranging corresponding to micromachine 211, described power conversion apparatus 212 is power converter, the power-conversion of micromachine 211 can be become linearly pulling of bracing wire by generator, completes corresponding operation with drive actions performance element 22 action.
Described action execution unit 22 is two covers, and two cover action execution unit 22 are connected respectively the power switching device 212 in driver element 21.
Described often cover action execution unit 22 comprises arm and drives link 221, serpentine neck 222, end mechanical arm 223; Described arm drives link 221, serpentine neck 222, end mechanical arm 223 to be connected successively, thus jointly completes end mechanical arm 223 and operate accordingly.
One end that described serpentine neck 222 connects end mechanical arm 223 is stretched in the ducts of endoscope of endoscope apparatus 3, and the end mechanical arm 223 being connected to serpentine neck 222 end stretches out ducts of endoscope, described in stretch out ducts of endoscope end mechanical arm 223 be fixed on the end of ducts of endoscope.
Described end mechanical arm 223 comprises finger actuation device 5 and operation finger 6, and described operation finger is arranged on finger actuation device, and described finger actuation device 5 comprises deflection mechanism 51 and rotating mechanism 52.
The action of end mechanical arm drives the finger actuation device 5 of end mechanical arm 223 to realize by the driver element 21 of action command actuating unit 2.
The deflection mechanism 51 of the finger actuation device 5 of end mechanical arm 223 and rotating mechanism 52 correspond respectively to two driver elements 21 of action command actuating unit 2, the deflection mechanism 51 of described finger actuation device 5 and being connected by a bracing wire between rotating mechanism 52 with driver element 21, this kind of structural design also can realize the operation of end mechanical arm 223 Multi-angle free.
The driver element 21 of action command actuating unit 2 drives the concrete condition of end mechanical arm 223 action to be: the micromachine 211 of two driver elements 21 is connected respectively the two ends in a bracing wire, the driving mechanism of end mechanical arm 223 is arranged on the middle part of bracing wire, driver element 21 can control the rotation of two micromachines 211 respectively according to the pulling force situation of transient measurement, controlled the driving mechanism of end mechanical arm 223 like this by two micromachines 211, control effects more accurately can be reached.
Described endoscope apparatus 3 comprises endoscope 31, endoscope's work station 32 and endoscopic monitors 33, and endoscope's work station 32 connects endoscope 31 and endoscopic monitors 33 respectively by holding wire.Described endoscope 31 comprises ducts of endoscope 311 and is arranged on the endoscope body 312 of ducts of endoscope 311 bottom, the end of described endoscope body 312 is provided with camera head, described camera head is integrated camera 313, integrated camera 313 can adopt 2D's or 3D, and can be controlled by endoscope apparatus 3.
Described endoscope 31 is mainly used in observing chamber situation, and the information monitored is fed back to endoscope's work station 32 in time, signal transfers to endoscopic monitors 33 after endoscope's work station 32 processes, and facilitates in surgical process like this, observes chamber situation at any time.
During use, end mechanical arm control station 23 is connected with the driver element 21 of action command actuating unit 2 and endoscope's work station 32 of endoscope apparatus 3 respectively by signal and communication line, can be transmitted the various operational orders of operating robotic arm like this by end mechanical arm control station 23 to action command actuating unit 2.In addition, end mechanical arm control station 23 object that is connected with endoscope apparatus 3 feeds back the chamber information of coming to receive endoscope apparatus 3.
Deflection structure 51 described above comprises bracing wire I 511, understructure 512, pulley structure 513, described pulley structure 513 is arranged on the bracing frame on understructure 512 top, described bracing wire I 511 is two, two described bracing wires I 511 are each passed through understructure 512, walk around pulley and are fixed on pulley.
During use, a side guy tension, opposite side bracing wire is loosened, and pulley structure 513 drives operation finger 6 to deflect to tight side.Otherwise a side guy loosens, opposite side bracing wire is strained, and pulley structure 513 drives operation finger 6 to deflect to opposite side.
Described finger actuation device 5 also comprises rotating mechanism 52, described rotating mechanism 52 comprises bracing wire II 521, understructure 522, rotary joint 523, described bracing wire II is two, two bracing wires II are each passed through understructure 522 and enter rotary joint 523 inside, two described bracing wires II all wind with one circuit along rotary joint 523 inside, and the end of bracing wire II is fixed on rotary joint 523.
Described two rotations be symmetrical arranged for driving rotary joint 523.During use, the bracing wire tension of side, opposite side bracing wire is loosened, and rotary joint 523 is to tension one sideway swivel; In addition, when a side guy loosens, opposite side bracing wire is strained, and now rotary joint reversely rotates.Bottom described rotary joint 523, active card is placed in understructure 522, can effectively avoid rotary joint 523 to misplace when rotating like this.
As shown in Figure 7, the wherein operation putting setting of two described cover action execution unit 22 is pointed 6 and is referred to structures for two, and described two finger structure comprises two holding fingers 61, and the inner side that described two holding fingers 61 are relative arranges clamping tooth 611; Clamping tooth 611 can help holding finger 61 to capture.
As shown in Figure 8, other one of two described cover action execution unit 22 put the operation finger 6 of setting for singly to refer to structure, singly refer to that the end of structure connects cutting tool 62, singly refer to that the end of structure also can connect different instruments as required.
The driver element 21 of action command actuating unit 2 is also provided with force transducer 7, and described force transducer 7 is spring pressure sensor.
When adopting pulling force sensor to detect the size of bracing wire pulling force, the size of equivalent measurement bracing wire pulling force can be carried out by measuring the power that driver element bears, thus determine the elasticity of bracing wire; When adopting spring pressure sensor to detect the size of bracing wire pulling force, be arranged on spring pressure sensor overhead on driver element in bracing wire, bracing wire forms a tensile force under spring force, by measuring the change of this tensile force thus realizing measurement to bracing wire pulling force size.
After obtaining the bracing wire pulling force size controlling the action of end mechanical arm 223, these measurement data will transfer to end mechanical arm control station 23 by holding wire, measurement data is after the process of end mechanical arm control station 23, get rid of the interference factors such as transmission resistance, obtain the size that in fact operating robotic arm 11 should apply power, the treated data obtained will transfer to command control station 13 by communication port 4, determine that doctor is applied to the size of operating robotic arm 11 power further, be convenient to doctor applies power size when operation process determination operation mechanical arm 11 like this.
The above is the preferred embodiment of the present invention, and for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications are also regarded as protection scope of the present invention.
Claims (6)
1. a Dual Drive automatization endoscopic surgery operating system, comprise external command input equipment, action command actuating unit and endoscope apparatus, it is characterized in that, described endoscope apparatus comprises endoscope, endoscope's work station and endoscopic monitors, and described endoscope's work station connects endoscope and endoscopic monitors respectively by holding wire; Described endoscope comprises ducts of endoscope and is arranged on the endoscope body of ducts of endoscope bottom, and the end of described endoscope body is provided with camera head;
Described action command actuating unit comprises end mechanical arm control station, driver element, action execution unit, and described end mechanical arm control station is connected to driver element and endoscope's work station respectively by connection; Described driver element comprises some micromachines and some power switching devices of arranging corresponding to micromachine;
Described action execution unit is two covers, and two cover action execution unit are connected respectively the power switching device in driver element, and described often cover action execution unit comprises arm and drives link, serpentine neck, end mechanical arm; Described arm drives link, serpentine neck, end mechanical arm to be connected successively; One end that described serpentine neck connects end mechanical arm is stretched in the ducts of endoscope of endoscope apparatus, and the end mechanical arm being connected to serpentine neck end stretches out ducts of endoscope;
Described end mechanical arm comprises finger actuation device and operation finger, and described finger actuation device comprises deflection mechanism and rotating mechanism, and described operation finger is arranged on finger actuation device;
The deflection mechanism of the finger actuation device of described end mechanical arm and rotating mechanism correspond respectively to two driver elements of action command actuating unit, deflection mechanism and being connected by bracing wire between rotating mechanism with the corresponding driver element arranged;
Described external command input equipment comprises operating robotic arm, external command receptor, command control station and input equipment monitor, be connected by holding wire successively between described operating robotic arm, external command receptor, command control station, described input equipment monitor is respectively by the endoscopic monitors of order wire link order transmission control station and endoscope apparatus;
Arrange communication port between described external command input equipment and action command actuating unit, described communication port connects the command control station of external command input equipment and the end mechanical arm control station of action command actuating unit.
2. a kind of Dual Drive automatization as claimed in claim 1 endoscopic surgery operating system, it is characterized in that, described deflection mechanism comprises bracing wire, understructure, pulley structure, described pulley structure is arranged on the bracing frame on understructure top, described bracing wire is two, two described bracing wires are each passed through understructure, walk around pulley and are fixed on pulley.
3. a kind of Dual Drive automatization as claimed in claim 1 endoscopic surgery operating system, it is characterized in that, described rotating mechanism comprises bracing wire, understructure, rotary joint, described bracing wire is two, two bracing wires are each passed through understructure and enter rotary joint inside, two described bracing wires all wind with one circuit along rotary joint inside, and described end of pulling is fixed on rotary joint.
4. a kind of Dual Drive automatization as claimed in claim 1 endoscopic surgery operating system, it is characterized in that, the wherein operation finger putting setting of two described cover action execution unit refers to structure for two, described two finger structure comprises two holding fingers, and the inner side that described two holding fingers are relative arranges clamping tooth; Other one of two described cover action execution unit put the operation finger of setting for singly to refer to structure, singly refer to that the end of structure connects cutting tool.
5. a kind of Dual Drive automatization as claimed in claim 1 endoscopic surgery operating system, is characterized in that, the driver element of described action command actuating unit is also provided with force transducer, and described force transducer is spring pressure sensor.
6. a kind of Dual Drive automatization as claimed in claim 1 endoscopic surgery operating system, is characterized in that, the photographic head that described ducts of endoscope end is arranged is integrated camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510075663.4A CN104605924A (en) | 2015-02-12 | 2015-02-12 | Double-drive automatic endoscopic surgery operating system |
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| CN201510075663.4A CN104605924A (en) | 2015-02-12 | 2015-02-12 | Double-drive automatic endoscopic surgery operating system |
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| CN201510075663.4A Pending CN104605924A (en) | 2015-02-12 | 2015-02-12 | Double-drive automatic endoscopic surgery operating system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104622523A (en) * | 2015-02-12 | 2015-05-20 | 苏州华奥医药科技有限公司 | Endoscopic surgical operation system |
| CN109330544A (en) * | 2018-11-16 | 2019-02-15 | 中国医学科学院北京协和医院 | A kind of hysteroscope bracket and cavity mirror system |
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