CN104783889A - Endoscopic surgery mechanical arm system and visual feedback device thereof - Google Patents
Endoscopic surgery mechanical arm system and visual feedback device thereof Download PDFInfo
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Abstract
The invention discloses an endoscopic surgery mechanical arm system and a visual feedback device thereof. The visual feedback device wraps the periphery of an endoscopic surgery mechanical arm and comprises a structural unit and a functional unit. The structural unit comprises an envelope, a supporting skeleton, a movable control ring, a fixed control ring, a traction line and an elastic restoring unit. The envelope wraps the periphery of the supporting skeleton. The supporting skeleton is connected with the movable control ring and the fixed control ring. The elastic restoring unit is connected between the movable control ring and the fixed control ring. A longitudinal through hole is formed in the fixed control ring. One end of the traction line is connected with the movable control ring, and the other end of the traction line penetrates through the longitudinal through hole in the fixed control ring. The structural unit finishes unfolding and folding motion under matching of the traction line and the elastic restoring unit. The functional unit comprises an illuminating unit and a front-arranged photographing unit which are arranged at the front end of the supporting skeleton. The visual feedback device is applied to a laparoscope and thoracoscopic surgery system, and therefore minimally invasive surgery operation in a narrow space can be completed.
Description
Technical field
The present invention relates to medical apparatus and instruments auxiliary device technical field, specifically a kind of endoscopic surgery mechanical arm system and visual feedback means thereof.
Background technology
Be applied to clinical medical operating robot system at present mostly based on endoscopic surgery principle, be divided into noninvasive surgery system and minimally invasive surgery system.With the U.S.
x2Robotic System is the noninvasive surgery system of example, and its operation tool need enter in patient body by human body natural's tract of long and narrow complexity, and operation easier is large.Thus the operation of single incision is subject to the accreditation of more people gradually in laparoscopic surgery, thoracoscopic operation field.
The a lot of research institution of our times is all devoted to research single hole endoscope surgery system and achieves certain progress, as the people such as M.Piccigallo propose SPRINT system, this system realizes the torsional bending campaign in joint by the micromachine in mechanical arm, imitate doctor's arm motion, realize the single hole endoscope surgery system of a 6DOF.Domestic number of patent application is the single-port laparoscopic minimally-invasive surgery robot system of 201410206379.1, waits motion, complete the multivariant motor performance in space by the brachiocylloosis of Nitinol drive wire driving device is flexible.And above endoscopic surgery robot arm device complicated operation, visual feedback unit and operation technique unit are the very high robot arm device of degree of freedom, and cooperation control is difficult simultaneously, and can interference mutually at limited work space.The design that many mechanical arm mechanisms contract when entering in protection sheath in addition makes the stage that enters not yet arriving target organ to obtain visual feedback; cannot directly arrive best surgical location; and need first to carry out mechanism deploying, carrying out the adjustment of final mechanical arm work space position within sweep of the eye.This operating process not only wastes operating time, and when can not ensure to carry out expansion action, intracorporeal space is sufficient.Little for solving body operative space, visual area exposes the problems such as difference, reduces operating difficulty, generally adopts artificial pneumoperitoneum to carry out the expansion of work space for laparoscopic surgery.Artificial pneumoperitoneum generally builds by being filled with carbon dioxide to abdominal cavity, and CO2 pneumoperitonium makes airway pressure increase, and it is dissolved in blood circulation and can causes hypercapnia.
Occur that some exempt from pneumoperitoneum device for overcoming the above problems laparoscopic surgery field.Domestic number of patent application be 200420076684.5 apparatus for expanding abdominal wall for peritoneoscope needing no air sac and domestic number of patent application be 201310603553.1 tooth open type laparoscope pneumoperitoneum-free device, can solve operation field exposing not good enough and operation inconvenience etc. problem.Upwards prop up stomach wall by support bar, form larger visual-field space.But this device unprotect measure, bracing or strutting arrangement directly contacts with bodily tissue, may cause secondary injuries such as stabbing.Domestic number of patent application be 201220523802.7 laparoscopic surgery exempt from pneumoperitoneum eyelid retractor, many steel bars are penetrated abdominal cavity by body surface otch, and adjustment steel bar camber, is formed and supports domes, to construct larger operation technique space.But it penetrates process need peritoneoscope and guides, complicated operation.If the process of penetrating is dealt with improperly, secondary damage may be caused equally.And except the operative incision of endoscopic surgery, the complementary procedure otch that two are used for running through steel bar need be increased in health both sides.Get rid of considering of security problems, this type of is exempted from pneumoperitoneum device and only can be applicable in laparoscopic surgery, can not be general for thoracoscopic operation operating environment narrow and small equally.
Summary of the invention
The present invention is directed to and to navigate visual feedback shortcoming, vision feedback system when above single hole endoscope surgery system enters when operating and the deficiency such as operating robotic arm is disturbed mutually and in current expansion body surgical workspace equipment safety is low, not general, provide a kind of endoscopic surgery mechanical arm system and visual feedback means thereof.
The present invention is achieved by the following technical solutions.
According to an aspect of the present invention, provide a kind of visual feedback means, comprise construction unit and functional unit:
Described construction unit comprises eyelid covering, support frame, movable control loop, fixing control loop, draught line and elastic return unit; Wherein: described eyelid covering is coated on support frame periphery; Described support frame is connected with fixing control loop with movable control loop respectively; Described elastic return unit is connected between movable control loop and fixing control loop; Described fixing control loop is provided with longitudinal hole, one end of described draught line is connected with movable control loop, the other end of draught line is through the longitudinal hole on fixing control loop, and described construction unit, under coordinate of draught line with elastic return unit, completes and launches and draw action in;
Described functional unit comprises lighting unit and preposition image unit, and described lighting unit and preposition image unit are arranged at the front end of support frame respectively.
Preferably, described elastic return unit adopts spring mechanism, and when draught line does not apply external force, described construction unit tightens up under spring force effect; When draught line is applied in external force, draught line overcomes spring force, and described construction unit launches under spring compression force effect.
Preferably, described fixing control loop is relatively fixing, and described movable control loop is along the relative slide anteroposterior of axis.
Preferably, described eyelid covering adopts elastic fiber material; Described support frame adopts stainless steel.
Preferably, described preposition image unit adopts ccd video camera, and described lighting unit adopts LED.
According to another aspect of the present invention, provide a kind of endoscopic surgery mechanical arm system, comprise endoscopic surgery mechanical arm and above-mentioned visual feedback means, described visual feedback means is wrapped in the periphery of endoscopic surgery mechanical arm.
Preferably, described fixing control loop is fixed on the rear portion of endoscopic surgery mechanical arm; Described movable control loop ring set in the front portion of endoscopic surgery mechanical arm, and along endoscopic surgery mechanical arm axis slide anteroposterior; Described draught line is connected with the drive motors of endoscopic surgery mechanical arm through after the longitudinal hole on fixing control loop, and by drive motors drived control.
Preferably, described construction unit is when rounding state, and endoscopic surgery mechanical arm is in forward traveling, and the image of endoscopic surgery mechanical arm direct of travel carries out visual feedback by preposition image unit; When endoscopic surgery manipulator motion is to target organ, by controlling the relative position between drive motors driving draught line adjustment activity control loop and fixing control loop, and then regulate the expanded angle of support frame, control the visual angle of preposition image unit and the light angle of lighting unit, push surrounding body tissue simultaneously and obtain more working place.
Work process of the present invention is:
The stage in patient body is entered at endoscopic surgery mechanical arm, visual feedback means is in rounding state, reduce and push with systemic the resistance produced, front-facing camera unit and lighting unit are towards direct of travel, there is provided real time imaging to feed back for doctor's controller mechanical arm accurately arrives target organ, help the navigator fix of endoscopic surgery mechanical arm system to control; Arrive target organ, affect draught line, the spring force overcoming elastic return unit makes the Distance Shortened between control loop, and support frame is launched.Support frame pushing surrounding body tissue is that middle arm assembly of operating machine obtains more working place, eyelid covering increases the intensity of device and reduces footprint pressure by increase device and systemic contact area, avoids the contact injury that pushing bodily tissue brings; The expanded angle of support frame is regulated by draught line, thus regulate the ccd video camera of support frame termination and the field range of LED and light angle, device is made to obtain desirable visual pattern feedback, the work such as the endoscopic surgery assisted a physician operation and target organ diagnosis; After having performed the operation, loosen draught line, the spring force of elastic return unit makes the spacing of fixing control loop and movable control loop increase, and support frame draws in again, handles endoscopic surgery mechanical arm system and makes it exit in patient body.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention realizes the integrated of endoscopic surgery mechanical arm and visual feedback means, for operation provides the expansion of visual feedback and working place, not only can be applicable to laparoscopic surgery and exempt from pneumoperitoneum, also can be applicable to the operations such as the narrow and small thoracoscope in same working place, highly versatile;
2, contrast is generally based on the multi-arm robot of endoscope, the invention solves the reconciling spatial scale problem between visual feedback means and endoscopic surgery mechanical arm, and introduce the visual feedback mechanism design of mechanical arm when entering in body, increase navigator fix accuracy, reduce and control difficulty;
3, the present invention provides visual feedback reference for doctor operates, arrive body internal target organ surgery operating space, overcome elastic return unit elastic force by its traction apparatus to be launched, pushing surrounding body tissue obtains larger working place to help the endoscopic surgery mechanical arm being positioned at center, the preposition image unit of support frame front end and the attitude of lighting unit is positioned at by regulating the adjustment of the expanded angle of support frame, photographic head is made to obtain good visual area effect, can be applicable to peritoneoscope and thoracoscopic operation system, complete the Minimally Invasive Surgery operation in small space.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the overall structure rounding state skeleton diagram of apparatus of the present invention
Fig. 2 is the overall structure deployed condition skeleton diagram of apparatus of the present invention
Fig. 3 is the control loop relation control schematic diagram of apparatus of the present invention
Fig. 4 is the left view of fixing control loop
Fig. 5 is the right view of fixing control loop
Fig. 6 is the left view of movable control loop
Fig. 7 is the right view of movable control loop
Fig. 8 is the first support frame schematic diagram
Fig. 9 is the second support frame schematic diagram
In figure, 1 is functional unit, and 2 is construction unit, 3 is eyelid covering, and 4 is elastic return unit, and 5 is the one the first support frames, 6 is the two the second support frames, 7 is steady pin, and 8 is movable control loop, and 9 is fixing control loop, 10 is draught line, 11 is lighting unit, and 12 is preposition image unit, and 13 is endoscopic surgery mechanical arm.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Embodiment 1
Present embodiments provide a kind of visual feedback means being applicable to endoscopic surgery mechanical arm system, described device comprises:
Construction unit, described construction unit comprises eyelid covering, support frame, control loop, draught line and elastic return unit.Described construction unit can under coordinate of draught line with elastic return unit, expansion and the gathering action of finishing device.This device is when entering in patient body, and construction unit is in rounding state.When arriving target organ, tractive draught line finishing device launches, and now this device is played a supporting role to bodily tissue and played shooting, light angle regulating action to the target organ need treating diagnosis.
Functional unit, described functional unit is vision and the lighting unit of endoscope surgery system, comprises preposition image unit and lighting unit, and the location navigation for endoscopic surgery provides image reference.
Further, described support frame relies on bayonet fittings to connect, and support frame and control loop rely on pin to be connected.Described elastic return unit is spring mechanism, and when draught line does not apply external force, due to spring force, device tightens up at endoscopic surgery mechanical arm peripheral.
Further, described control loop comprises a fixing control loop and a movable control loop.Draught line is fixed on movable control loop through fixing control loop, and tractive draught line overcomes elastic return unit elastic force, and spring is compressed, and device is deployed condition.
Further, described eyelid covering is surrounded on support frame periphery, and skin material is elastic fiber material.Strut support frame, push periphery bodily tissue, to obtain larger operation technique space simultaneously.The Rigidity and strength of eyelid covering is utilized to play booster action to support unit integral rigidity; Additionally by increase lifting surface area, make surrounding tissue uniform stressed, reduce support frame to the pressure of internal body tissues, avoid injury.Also avoid the bodily tissues such as the stomach wall between support frame inwardly to subside in addition, ensure working place.
Further, described functional unit is positioned at support frame top.Preposition image unit is ccd video camera, and lighting unit is LED, is in forward-facing state when rounding state, and the image of mechanical arm direct of travel is carried out visual feedback for upper bit platform, so that doctor carries out maneuvering and control for mechanical arm.When manipulator motion is to target organ, by regulating the angle of support frame, control the visual angle of the preposition image unit in skeleton top, and the light angle of lighting unit, the operation technique space being simultaneously positioned at device center is not disturbed by it.The manipulation that described functional unit is endoscopic surgery mechanical arm and organ diagnosis provide image to feed back.
Embodiment 2
Present embodiments provide a kind of endoscopic surgery mechanical arm system, the visual feedback means provided in endoscopic surgery mechanical arm and embodiment 1 is provided; Described visual feedback means is wrapped in the periphery of endoscopic surgery mechanical arm.
Further, described fixing control loop is fixed on the rear portion of endoscopic surgery mechanical arm by steady pin ring set; Described movable control loop ring set in the front portion of endoscopic surgery mechanical arm, and along endoscopic surgery mechanical arm axis slide anteroposterior; Described draught line is connected with the drive motors of endoscopic surgery mechanical arm through after the longitudinal hole on fixing control loop, and by drive motors drived control.
Further, described construction unit is when rounding state, and endoscopic surgery mechanical arm is in forward traveling, and the image of endoscopic surgery mechanical arm direct of travel carries out visual feedback by preposition image unit; When endoscopic surgery manipulator motion is to target organ, by controlling the relative position between drive motors driving draught line adjustment activity control loop and fixing control loop, and then regulate the expanded angle of support frame, control the visual angle of preposition image unit and the light angle of lighting unit.
Below in conjunction with accompanying drawing, above-mentioned two embodiments are further described.
Visual feedback means, comprises construction unit and functional unit.Wherein construction unit contains eyelid covering, support frame, control loop, draught line and elastic return unit.Wherein control loop contains a fixing control loop and a movable control loop.Eyelid covering, for there being certain elastic waterproof fibre, originally being executed in example and is adopted waterproof fabrics to be a kind of novel weaving face fabric, its composition by macromolecule waterproof ventilative material (PTFE film) add that cloth composite material forms.Water-proof breathable fabric is while reinforcement cloth air-tightness, watertightness, and the permeability performance of its uniqueness, can make inside configuration steam discharge rapidly, avoid structure to multiply mycete, is a kind of novel fabric of health environment-friendly.Support frame selects stainless steel material, and control loop is the structure generated with 3D printer.Draught line selects fishing line originally executing example, and fishing line mainly nylon, DYNEEMA fiber etc. is made, and can bear larger pulling force, intensity and abrasion resistance high.Elastic return unit selects spring, and spring is often in compressive state, for fixing control loop and movable control loop provide recovery thrust.
Endoscopic surgery mechanical arm and visual feedback means are being in rounding state as shown in Figure 1 when single otch enters in suffering limb body.It is relative with endoscopic surgery mechanical arm fixing that steady pin will fix control loop, and fixing control loop is located on endoscopic surgery mechanical arm rear portion; It is anterior that movable control loop is located on endoscopic surgery mechanical arm, can move along mechanical arm axis direction.Elastic return unit, between movable control loop and fixing control loop, is often in compressive state, provides thrust restoring force.As shown in Figure 3, movable control loop is fixed in draught line one end, one end is connected on the servomotor of fixed pedestal through the longitudinal hole on fixing control loop, make movable control loop overcome spring force by driven by servomotor tractive draught line to move to fixing control loop direction, support frame launches, as shown in Figure 2.Originally executing routine draught line is 3, be uniformly distributed be fixed on movable control loop circumference bottom.
Control loop and support frame rely on pin to be connected, support frame can rotate along pin axis, with just to paper direction for main apparent direction, Fig. 4 is the left view of movable control loop, Fig. 5 is the right view of movable control loop, Fig. 6 is the left view of fixing control loop, and Fig. 7 is the right view of fixing control loop.Fig. 8 is the schematic diagram of the first support frame, and its one end is connected to pin on movable control loop, and the other end is connected to the middle pin of the second support frame.Fig. 9 is the schematic diagram of the second support frame, connects the first support frame and fixing control loop.Originally execute the structure that example adopts three the first support frames to coordinate with three the second support frames, also can increase skeleton as required to quantity.
Eyelid covering is wrapped in support frame periphery, when arriving target organ, tractive draught line makes skeleton strut as Fig. 2, pushing periphery bodily tissue, centered by endoscopic surgery mechanical arm larger working place is provided, eyelid covering increases the intensity of structure, increases the contact area of support frame and surrounding body tissue simultaneously, reduce footprint pressure, avoid additional injury.
Originally execute functional unit in example and contain a preposition image unit, and two lighting units.Wherein preposition image unit is a ccd video camera, and lighting unit is LED, and position as shown in Figure 1, is positioned at support frame end, can adjust number and the relative position of preposition image unit and lighting unit as required.Endoscopic surgery mechanical arm system system enters in patient body, and preposition image unit, towards direct of travel, for doctor's operating system provides image feedback intuitively, assists to carry out navigator fix.After arriving target organ, preposition image unit and lighting unit change pose along with the expansion of skeleton, as shown in Figure 2.Scalable draught line controls skeleton expanded angle, makes ccd video camera obtain good visual area scope, centered by the operation of endoscope's mechanical arm Image-aided is provided and provides Informational support for diagnosis.After operation technique terminates, loosening draught line makes mechanism slowly draw in due to elastic return unit elastic force, the mark that gathering action completes should be preposition image unit the visual field in only have tissue, and the image of any mechanical arm can not be presented, now controllable endoscope surgery mechanical arm system exits in patient body.
The work process of above-mentioned two embodiments is:
Wherein fix control loop and movable control loop successively ring set in the rear portion of endoscopic surgery mechanical arm and front portion.Fixing control loop is fixed on endoscopic surgery mechanical arm by steady pin, and movable control loop can along the axis relative sliding of endoscopic surgery mechanical arm.Described draught line one end is fixed on fixing control loop, and the other end, through the longitudinal hole on movable control loop, is connected on the motor of fixed pedestal.Complete movable control loop by driving pedestal servomotor tractive draught line to change relative to the distance between fixing control loop.Described support frame is connected on fixing control loop and movable control loop by pin, by regulating the relative position of fixing control loop and movable control loop, completes gathering and the expansion of support frame.Elastic return unit is spring assembly, is connected between fixing control loop and movable control loop, is often in compressive state.Eyelid covering is have the fibers encapsulation of certain elastic force peripheral at support frame.
Preposition image unit and lighting unit are all placed in the front end of support frame.The stage in patient body is entered at endoscopic surgery mechanical arm, this endoscopic surgery mechanical arm system visual feedback means is in rounding state, reduce and push with systemic the resistance produced, front-facing camera and lighting unit are towards direct of travel, there is provided real time imaging to feed back for doctor's controller mechanical arm accurately arrives target organ, help the navigator fix of endoscopic surgery mechanical arm system to control.Arrive target organ, affect draught line, the spring force overcoming elastic return unit makes the Distance Shortened between control loop, and support frame is launched.Support frame pushing surrounding body tissue is that middle arm assembly of operating machine obtains more working place, eyelid covering increases the intensity of device and reduces footprint pressure by increase device and systemic contact area, avoids the contact injury that pushing bodily tissue brings.The expanded angle of support frame is regulated by draught line, thus regulate the ccd video camera of skeleton termination and the field range of LED and light angle, device is made to obtain desirable visual pattern feedback, the work such as the endoscopic surgery assisted a physician operation and target organ diagnosis.After having performed the operation, loosen draught line, the spring force of elastic return unit makes the spacing of fixing control loop and movable control loop increase, and support frame draws in again, handles endoscopic surgery mechanical arm system and makes it exit in patient body.This device makes endoscopic surgery mechanical arm integrated with visual feedback means, for operation provides the expansion of visual feedback and working place, not only can be applicable to laparoscopic surgery and exempt from pneumoperitoneum, also can be applicable to the operations such as the narrow and small thoracoscope in same working place, highly versatile.Contrast is generally based on the multi-arm robot of endoscope, the invention solves the reconciling spatial scale problem of visual feedback means and endoscopic surgery mechanical arm, and introduce the visual feedback mechanism design of mechanical arm when entering in body, increase navigator fix accuracy, reduce and control difficulty.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1. a visual feedback means, is characterized in that, comprises construction unit and functional unit:
Described construction unit comprises eyelid covering, support frame, movable control loop, fixing control loop, draught line and elastic return unit; Wherein: described eyelid covering is coated on support frame periphery; Described support frame is connected with fixing control loop with movable control loop respectively; Described elastic return unit is connected between movable control loop and fixing control loop; Described fixing control loop is provided with longitudinal hole, one end of described draught line is connected with movable control loop, the other end of draught line is through the longitudinal hole on fixing control loop, and described construction unit, under coordinate of draught line with elastic return unit, completes and launches and draw action in;
Described functional unit comprises lighting unit and preposition image unit, and described lighting unit and preposition image unit are arranged at the front end of support frame respectively.
2. visual feedback means according to claim 1, is characterized in that, described elastic return unit adopts spring mechanism, and when draught line does not apply external force, described construction unit tightens up under spring force effect; When draught line is applied in external force, draught line overcomes spring force, and described construction unit launches under spring compression force effect.
3. visual feedback means according to claim 1, is characterized in that, described fixing control loop is relatively fixing, and described movable control loop is along the relative slide anteroposterior of axis.
4. visual feedback means according to claim 1, is characterized in that, described eyelid covering adopts elastic fiber material; Described support frame adopts stainless steel.
5. visual feedback means according to claim 1, is characterized in that, described preposition image unit adopts ccd video camera, and described lighting unit adopts LED.
6. an endoscopic surgery mechanical arm system, is characterized in that, comprises the visual feedback means according to any one of endoscopic surgery mechanical arm and claim 1 to 5, and described visual feedback means is wrapped in the periphery of endoscopic surgery mechanical arm.
7. endoscopic surgery mechanical arm system according to claim 6, is characterized in that, the fixing control loop of described visual feedback means is fixed on the rear portion of endoscopic surgery mechanical arm; The movable control loop ring set of described visual feedback means in the front portion of endoscopic surgery mechanical arm, and along endoscopic surgery mechanical arm axis slide anteroposterior; The draught line of described visual feedback means is connected with the drive motors of endoscopic surgery mechanical arm through after the longitudinal hole on fixing control loop, and by drive motors drived control.
8. endoscopic surgery mechanical arm system according to claim 7, it is characterized in that, the construction unit of described visual feedback means is when rounding state, endoscopic surgery mechanical arm is in forward traveling, and the image of endoscopic surgery mechanical arm direct of travel carries out visual feedback by preposition image unit; When endoscopic surgery manipulator motion is to target organ, by controlling the relative position between drive motors driving draught line adjustment activity control loop and fixing control loop, and then regulate the expanded angle of support frame, control the visual angle of preposition image unit and the light angle of lighting unit, push surrounding body tissue simultaneously and obtain more working place.
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| CN112274249A (en) * | 2020-09-21 | 2021-01-29 | 吴晨凯 | Multi-degree-of-freedom instrument assembly of single-hole surgical robot |
| CN113305845A (en) * | 2021-06-03 | 2021-08-27 | 广东工业大学 | Multi-mechanical arm cooperation method |
| CN113305845B (en) * | 2021-06-03 | 2022-11-04 | 广东工业大学 | Multi-mechanical arm cooperation method |
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