CN108354668B - Auxiliary robot system for digestive tract operation - Google Patents
Auxiliary robot system for digestive tract operation Download PDFInfo
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- CN108354668B CN108354668B CN201810218889.9A CN201810218889A CN108354668B CN 108354668 B CN108354668 B CN 108354668B CN 201810218889 A CN201810218889 A CN 201810218889A CN 108354668 B CN108354668 B CN 108354668B
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- 210000001035 gastrointestinal tract Anatomy 0.000 title claims abstract description 12
- 238000002347 injection Methods 0.000 claims abstract description 32
- 239000007924 injection Substances 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000001079 digestive effect Effects 0.000 claims abstract description 12
- 238000001356 surgical procedure Methods 0.000 claims abstract description 6
- 238000004804 winding Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims 2
- 238000000429 assembly Methods 0.000 claims 2
- 238000011902 gastrointestinal surgery Methods 0.000 claims 2
- 210000004877 mucosa Anatomy 0.000 abstract description 8
- 238000005520 cutting process Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000012827 research and development Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000004400 mucous membrane Anatomy 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000219122 Cucurbita Species 0.000 description 1
- 235000009852 Cucurbita pepo Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012326 endoscopic mucosal resection Methods 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention provides an auxiliary robot system for digestive tract surgery, which is provided with a movable base unit and a lifting unit fixed on the movable base unit; the lifting unit is provided with a flexible surgical instrument unit, one end of the flexible surgical instrument unit extends to an operation area through the auxiliary channel, and the control handle is operated to control the multi-degree-of-freedom motion of the flexible surgical instrument unit and drive the feeding motion of the flexible surgical instrument unit by controlling the flexible surgical instrument driving unit. The invention is based on not changing the structure of the traditional digestive endoscope, the mechanical arm with multiple degrees of freedom is sent to the target operation area through the external cavity channel by the external auxiliary instrument cavity channel, and the lifting and cutting functions of the target mucosa are realized together with the traditional endoscope and the electric knife; and for common tools such as an electric knife and an injection needle, the common tools are fixed by using the clamping device, and the extension lengths of the electric knife head and the injection needle head can be adjusted at will, so that the research and development cost and the maintenance cost are reduced, and the use efficiency is improved.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to an auxiliary robot system for digestive tract surgery.
Background
The conventional endoscopic mucosal resection (ESD operation) is a procedure in which a digestive surgeon performs a resection of a diseased mucosa with the aid of a digestive endoscope. Most of endoscopes used in the market at present are single-instrument-channel endoscopes, only can cut diseased mucous membranes, and lifting action cannot be achieved when the diseased mucous membranes are cut, so that requirements on personal skills and experience of doctors in the whole operation process are high, the complication risk of the operation is increased, and the operation time is prolonged. Although the digestive endoscopes with double instrument channels are used in the market, the coaxiality of the two channels makes the lifting and cutting inconvenient, and the surgical complications are increased.
In order to meet the requirement that the target mucosa has an auxiliary lifting function in the digestive endoscopy treatment process when being cut, a plurality of researches are developed in the field at home and abroad, and a general research is to design two multi-freedom double-mechanical-arm systems to be arranged at the tail end of a traditional endoscope, wherein one mechanical arm is used for lifting the target mucosa, and the other mechanical arm is used for cutting the mucosa. However, most of these researches have been carried out to change the structure of the endoscope itself, which increases the cost of developing the whole system and the cost of late promotion.
Whether the conventional EDS surgical instrument or the treatment system with the double mechanical arms is adopted, the problem of placing an electrotome and an injection needle in the surgical process is not solved, and a nurse is still required to hold the surgical instrument constantly, so that not only is the operation performed with the traditional EDS surgical instrument boring machine, but also the labor intensity of the nurse is increased.
Disclosure of Invention
In order to achieve the main purpose of the invention, the invention provides an auxiliary robot system for digestive tract operation, which is matched with a traditional endoscope and an electrotome to realize the lifting and cutting functions of a target mucosa.
In order to solve the above problems, a primary object of the present invention is to provide an auxiliary robot system for digestive tract surgery, having a moving base unit and a lifting unit fixed on the moving base unit; the lifting unit is provided with a flexible surgical instrument unit, one end of the flexible surgical instrument unit extends to an operation area through the auxiliary channel, and the operation main operation hand controls the multi-degree-of-freedom motion of the flexible surgical instrument unit and drives the feeding motion of the flexible surgical instrument unit by controlling the flexible surgical instrument driving unit.
In a further aspect, the flexible surgical instrument unit includes an instrument box, a flexible arm extending from an outlet of the instrument box, and a flexible surgical instrument front end connected to an extending end of the flexible arm; the instrument box is internally provided with a plurality of driving parts for driving the flexible arms to drive the front end of the flexible surgical instrument to move in multiple degrees of freedom, and an electrotome is fixed on one side of the front end of the flexible surgical instrument in parallel.
Still further, the driving part includes a plurality of joint driving parts and a single integral driving part; the joint driving part comprises two groups of driving units with the same structure, the driving units comprise driving ropes which pass through a wire guide wheel and are wound on wire winding grooves of the wire winding discs after penetrating out from the spring tube, the spiral directions of the two wire winding discs on the two groups of driving units are opposite, a gear shaft is arranged between the two wire winding discs, when the gear shaft rotates in one direction, the driving ropes on one wire winding disc are in a winding state, the driving ropes on the other wire winding disc are in a winding state, and the winding quantity of the two driving ropes are the same; the integral driving part is provided with a central shaft, one end of the central shaft is a semicircular shaft, and a first end cover and a second end cover are arranged outside the central shaft.
The flexible arm comprises a central branch and a plurality of spring tubes, the central branch is arranged in a central through hole of the central shaft, and the central shaft and the central branch are fixed at a semicircular shaft by the first end cover and the second end cover, so that the central shaft drives the central branch to rotate when rotating.
The front end of the flexible surgical instrument is sequentially composed of a plurality of joint components, each joint component is driven by two driving ropes to realize forward and backward movement of each joint component, the driving ropes required by the movement of the joint components are fixedly connected with the joint components, and spring tubes required by the driving ropes of each joint component are fixed with the latter joint component.
The flexible surgical instrument driving unit comprises a consumable contact layer, a driving main body layer, a moving platform layer and a moving base layer from top to bottom in sequence;
a plurality of groups of driving components are arranged on the driving main body layer, and the driving components penetrate through the consumable contact layer to drive the flexible surgical instrument unit to move; the bottom of the driving component is provided with a sliding block, and the sliding block is clamped with a sliding rail fixed on the bottom plate to drive the driving component to slide;
the movable base layer drives the consumable contact layer, the driving main body layer and the movable platform layer to perform integral movement.
Still further, the driving assembly comprises a motor and a rack, a reel is fixed on the shaft of the motor, a steel wire rope is wound on the reel, and two ends of the steel wire rope are respectively connected with two ends of the rack.
The lifting unit comprises an operation table top for placing a main manipulator, a lower upright post fixed on the movable base unit, a supporting plate for placing a flexible surgical instrument driving unit and arranged on the lower upright post, and an upper upright post nested on the lower upright post and fixedly connected with the lower end of the operation table top, wherein the lower upright post drives the upper upright post to drive the operation table top to lift through an electric push rod.
Still further scheme still includes the clamping unit for centre gripping electric knife pole and syringe, syringe and electric knife pole are fixed on the grip slipper, carry out elasticity adjustment and position adjustment through the locking handle.
In a further scheme, the front end of the injector is provided with an injection needle sliding block and an injection needle piston rod, the front end of the injector is installed in an installation hole of the injection needle piston rod, and the injection needle piston rod is installed in a groove of the injection needle sliding block.
The beneficial effects of the invention are as follows: the digestive tract operation auxiliary robot system is based on the fact that the structure of a traditional digestive endoscope is not changed, a mechanical arm with multiple degrees of freedom is sent to a target operation area through an external cavity through an external auxiliary instrument cavity, and the traditional endoscope and an electric knife are matched to achieve the function of lifting and cutting a target mucosa together; and for common tools such as an electrotome and an injection needle, the clamping device is used for fixing the common tools, and the extension lengths of the electrotome head and the injection needle head can be adjusted at will, so that the problem of placing the electrotome and the injection needle is solved, and the use efficiency is improved while the research and development cost and the maintenance cost are reduced.
Drawings
FIG. 1 is a schematic view showing the overall structure of an auxiliary robot system for digestive tract surgery in an embodiment of the present invention;
FIG. 2 is a schematic view of the attachment of the front end of a flexible surgical instrument unit in accordance with an embodiment of the present invention;
FIG. 3 is a schematic illustration of the connection of a flexible surgical instrument unit to an auxiliary channel in an embodiment of the invention;
FIG. 4 is a schematic view of the overall structure of a flexible surgical instrument unit in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of the internal structure of the cartridge according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of the driving principle of a joint in an embodiment of the present invention;
FIG. 7a is a first schematic view of a spool structure according to an embodiment of the present invention;
FIG. 7b is a second schematic diagram of a wire spool structure according to an embodiment of the present invention;
FIG. 8a is a schematic view of a gear shaft in an embodiment of the invention;
FIG. 8b is a schematic diagram of a gear shaft and spool connection;
FIG. 9 is a schematic view of the overall driving part in the embodiment of the present invention;
FIG. 10 is a schematic diagram of a central axis in an embodiment of the invention;
FIG. 11 is a schematic view of the configuration of the front end of a flexible surgical instrument in accordance with an embodiment of the present invention;
FIG. 12a is a schematic diagram showing a connection manner between a flange and a central limb according to an embodiment of the present invention;
fig. 12b is a schematic view of a flange and its fixing manner in the embodiment of the present invention.
FIG. 13 is a schematic view of the position of a flexible surgical instrument drive unit and consumables of a surgical instrument in accordance with an embodiment of the present invention;
FIG. 14 is a partial exploded view of a flexible surgical instrument drive unit for a surgical instrument in accordance with an embodiment of the present invention;
FIG. 15 is a schematic view of a contact layer of a consumable material according to an embodiment of the present invention;
FIG. 16 is a side view of a drive body layer in an embodiment of the present invention;
FIG. 17 is a schematic diagram of a mobile platform layer according to an embodiment of the present invention;
FIG. 18 is a schematic view of the structure of the driving body layer according to the embodiment of the present invention;
FIG. 19 is a schematic view of a lifting unit according to an embodiment of the present invention;
fig. 20 is a schematic structural view of a clamping unit according to an embodiment of the present invention.
Description of the reference numerals:
1, digesting an endoscope; an endoscope arm 11; 12 electric knives; 2 auxiliary channels; 21 a fixing cap;
3 a flexible surgical instrument unit; a 32 flexible arm; 33 instrument box; 311 a first joint driving unit; 3110 wire wheel support; 3111. a first spring tube; 3113 a first terminal; 3115 a first wire guide wheel; 3117 a first drive string; 3119 a first spool; 3112 a second spring tube; 3114 a second terminal; 3116 a second wire guide wheel; 3118 a second drive string; 3120 a second spool; 3190 wire winding grooves; 3191 a first notch; 3192 a second notch; 3193 arc-shaped slot; 3194 a terminal counterbore; 3195 a first friction surface; 390 gear shaft; 3900 second friction surface; 3901 threaded holes; a second joint driving part 312; 3121 a third spring tube; 3122 a fourth spring tube; 313 a third joint driving section; 3131 a fifth spring tube; 3132 a sixth spring tube; 314 a fourth joint driving section; 3141 a seventh spring tube; 3142 an eighth spring tube; 315 an overall drive section; 350 center axis; 3501 semi-circular shaft; 3502 a first axial plane; 3503 a second axial surface; 351 central branches; 352 first end cap; 353 a second end cap; 354 a first bearing mount; 355 a second bearing mount; 356 gear; 300 outlet; 301 upper cover; 302 a bottom plate; 31 the front end of the flexible surgical instrument; 361 clip one; 321 clip two; 331 yaw joint; 341 lifting the joint; 371 joint base; 3510 flange plate; 3511 cannula; 3512 pin shaft.
4 a flexible surgical instrument drive unit; 41 a consumable contact layer; 410 a second floor; 411 a first motor driver; 412 grooves; 42 drive the body layer; 420 a first base plate; 421 a first motor; 422 reel; 423 wire rope; 424 racks; 427 a first opto-electronic switch; 429 first microswitch; 43 moving the platform layer; 430 a third floor; 431 a second motor driver; 432 second flap; 433 pressing plate; 44 moving the base layer; 440 a fourth bottom plate; 441 a second motor; 442 synchronous belt; 443 second pulley; 444 second opto-electronic switch; 445 second microswitch; 446 second slide rail; 447 a second slider;
5 lifting units; 51 an operating table; 52 upper upright posts; 53 pallet; 54 a support plate; 55 lower upright posts; 56 electric push rod; 57 a fixing ring; 58 ducts; 59 clamping bands; 510 a conduit mounting plate; 511 locking blocks; 512 line concentration hook;
6, moving the base unit; 61 casters; 62 a base;
a clamping unit 7; 71 a clamping seat; 72 syringes; 73 support columns; 74 a carriage mounting plate; 75 ejector rod supports; 76 ejector pin handle; 77 electric knife top ring; 78 electric knife stop block; 79 electric knife ring slide; 710 electric knife ring; 711 electric knife bar; 713 locking the handle; 715 injection needle shaft; 716 needle stop; 717 needle piston rod; 718 a slider mounting plate; 719 a needle slide; 720 piston rod;
8a control unit; 81 main operators; 82 industrial personal computers.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Fig. 1 is a schematic view showing the overall structure of an auxiliary robot system for an operation of the digestive tract in the present embodiment, which is composed of a conventional digestive endoscope 1, an auxiliary channel 2, a flexible surgical instrument unit 3, a flexible surgical instrument driving unit 4, a lifting unit 5, a movable base unit 6, a clamping unit 7, a control unit 8, and the like. Wherein the mobile base unit 6 consists of a base 62 and 4 lockable casters 61 mounted; the control unit 8 consists of a main manipulator 81, an industrial personal computer 82 and other power switches and buttons; the lifting unit 5 is fixed on the movable base unit 6 through bolts, the clamping unit 7 and the main manipulator 81 are fixed on the lifting unit 5 through screws, the industrial personal computer 82 is fixed on the base 62 through screws, the flexible surgical instrument driving unit 4 is installed on the lifting unit 5, the flexible surgical instrument unit 3 is fixed on the flexible surgical instrument driving unit 4 through screws, one end of the auxiliary channel 2 is installed on the lifting unit 5, and the rest part of the auxiliary channel 2 is tied with the pipeline of the digestion endoscope 1.
The operation mode of the digestive tract operation auxiliary robot system in the embodiment is as follows: the main operation doctor holds the digestive endoscope handle by the left hand, controls the azimuth angle and the pitch angle of the tail end of the endoscope pipeline to swing, and holds the digestive endoscope pipeline by the right hand, and continuously adjusts the azimuth of the digestive endoscope pipeline to be sent into the region to be operated through the mouth of the patient; the nurse operates the electrotome or the injection needle clamping device by left hand, controls the opening and closing of the electrotome or the injection needle clamping device, and controls the main hand by right hand operation, thereby controlling 5 degrees of freedom of the flexible surgical instrument unit 3.
As can be seen from fig. 2, the electrotome 12 enters the operation area from the instrument channel on the endoscope arm 11, the flexible surgical instrument unit 3 extends to the operation area through the auxiliary channel 2, and the front end 31 of the flexible surgical instrument cooperates with the electrotome 12 to complete the lifting and cutting function of the lesion mucosa. The auxiliary channel 2 and the endoscope arm 11 are fixed through the fixing cap 21 at the end part, the fixing cap 21 is in a gourd shape, the wall thickness is thinner, the whole diameter after installation can be reduced to the greatest extent, and the fixing mode is fast to assemble and disassemble and is convenient to decontaminate.
As can be seen in conjunction with fig. 3 and 4, the flexible surgical instrument unit 3 of the present embodiment includes a flexible arm 32 and an instrument pod 33. The flexible arm 32 extends from the outlet 300 of the instrument box 33 and then enters the auxiliary channel 2, and the other end of the flexible arm 32 is connected with the front end 31 of the flexible surgical instrument. The instrument box 33 comprises an upper cover 301, a bottom plate 302, an outlet 300 and a plurality of internal driving modules, wherein a spring tube and a central limb of each driving module are converged at the outlet 300 of the instrument box. The flexible arms 32 are wrapped by the auxiliary channel 2 and extend to connect with the flexible surgical instrument front end 31.
Referring to fig. 5, the driving module inside the instrument cassette 33 includes five driving portions, a first joint driving portion 311, a second joint driving portion 312, a third joint driving portion 313, a fourth joint driving portion 314, an overall driving portion 315, and first, second, third, fourth, fifth, sixth, seventh and eighth spring tubes 3111, 3112 connected to the first joint driving portion 311, 3111, 3122 connected to the second joint driving portion 312, 3131, 3132 connected to the third joint driving portion 313, 3141, 3142 connected to the fourth joint driving portion 314. The five joint driving parts realize the motion of five degrees of freedom of the independent motion, the tilting motion, the lifting motion and the turnover motion of the two clamps of the front end 31 of the flexible surgical instrument.
The first to fourth joint driving structures in this embodiment are similar, and taking the first joint driving portion 311 as an example, the first joint driving portion 311 includes two groups of driving units with the same structure, and a tendon sheath (tendon) driving mode is adopted. Referring to fig. 6, a first spring tube 3111 is fixedly connected to a first terminal 3113, a second spring tube 3112 is fixedly connected to a second terminal 3114, the first terminal 3113 and the second terminal 3114 are fixedly connected to a wire guide wheel bracket 3110, and a first wire guide wheel 3115 and a second wire guide wheel 3116 are connected to the wire guide wheel bracket 3110 through a pin shaft; the first driving rope 3117 and the second driving rope 3118 are wound on the winding grooves of the first wire spool 3119 and the second wire spool 3120 after being respectively led out from the first spring tube 3111 and the second spring tube 3112 and respectively passed through the first wire guide wheel 3115 and the second wire guide wheel 3116, the first wire spool 3119 and the second wire spool 3120 are respectively provided with a notch I and a notch II arranged on a pair of sides of the notch, and the first driving rope 3117 and the second driving rope 3118 are fixed at the terminal counter bore after reaching the notch I on the pair of sides through the notch II on the first wire spool 3119 and the second wire spool 3120. The winding mode can effectively improve the direct stress condition and the stress of the end part of the driving rope.
The first spool 3119 and the second spool 3120 have the same structure, and as shown in fig. 7a and 7b, the first spool 3119 has three arc-shaped notches 3193, a first notch 3191, a second notch 3192 disposed opposite to the first notch 3191, a winding groove 3190, a terminal counter bore 3194, and a first friction surface 3195, which are uniformly distributed circumferentially on the first spool 3119 as an example. The first drive rope 3117 is finally fixed to the terminal counterbore 3194 after passing through the first spring tube 3111, the first wire guide wheel 3115, the wire winding slot 3190, the second notch 3192, and the first notch 3191. When the first driving rope 3117 needs to be tensioned, the gear shaft can be kept still, the first wire spool 3119 is rotated circumferentially, and after the driving rope is tensioned, the first wire spool 3119 and the gear shaft 390 are pressed at the first friction surface 3195 by the screw at the arc-shaped notch 3193.
The spiral directions of the two spools 3119 and 3120 of the same joint are opposite, so that the tightening directions are also opposite, so that it is ensured that the driving rope on one side is wound when the gear shaft rotates in one direction, the driving rope on the spool on the other side is wound, and the winding amounts of the driving ropes on the two spools are the same. The structure not only has the function of bidirectional tensioning, but also ensures that two driving ropes of the joint are always in a tensioning state in the process of joint movement, and structurally reduces the hysteresis phenomenon of rope driving.
As shown in fig. 8a and 8b, a gear shaft 390 is disposed between the first wire spool 3119 and the second wire spool 3120, two sides of the gear shaft 390 are respectively provided with a second friction surface 3900, 10 threaded holes 3901 uniformly distributed on the circumference are provided on the second friction surface 3900, a first shaft surface and a second shaft surface are symmetrically distributed on the gear shaft 390, the first shaft surface is used for being matched with a central hole of the wire spool, and the second shaft surface is matched with a supporting bearing inner ring of the gear shaft 390. In the process of tensioning the driving rope, no matter how much the wire spool rotates relative to the gear shaft 390, at least 6 threaded holes 3901 can be guaranteed to be used for locking the wire spool on the second friction surface 3900 of the gear shaft 390, so that the tensioning structure has the characteristics of large locking force and firm locking, and the requirement on the length of the rope is not high. The two spools of each set of drive units may rotate circumferentially relative to the gear shaft 390. In this embodiment, when the driving ropes 3117 and 3118 need to be tensioned, the gear shaft 390 is stationary, the wire reels 3119 and 3120 are rotated circumferentially, and after the driving ropes 3117 and 3118 are tensioned, the wire reels 3119 and 3120 are pressed against the second friction surface 3900 of the gear shaft 390 by screws to tension the corresponding driving ropes 3117 and 3118.
As shown in fig. 9, in the present embodiment, the integral driving portion 315 includes a flexible arm 32 and a central shaft 350, the flexible arm 32 includes a plurality of spring tubes and a central limb 351, the central shaft 350 has a central through hole matched with the central limb 351, the central limb 351 is installed in the central through hole of the central shaft 350, and one end of the central shaft 350 is a semicircular shaft; the first end cap 352, the second end cap 353, the first bearing support 354, the gear 356, and the second bearing support 355 are mounted outside the central shaft 350. The first end cap 352 is provided with two through holes, the second end cap 353 is provided with threaded holes corresponding to the two through holes, the first end cap 352 and the second end cap 353 are connected together through screws, and the two clamp the central shaft 350 and the central limb 351, so that the central limb 351 and the central shaft 350 are fixed at a semicircular shaft, and therefore the central shaft 350 rotates synchronously together with the central limb 351 when rotating. The central limb 351 is made of nickel-titanium alloy, the central shaft 350 is made of stainless steel, and the central shaft are not suitable for direct welding and fixing.
As shown in fig. 10, one end of the center shaft 350 is a semicircular shaft 3501, and the semicircular shaft 3501, a first shaft surface 3502 engaged with the bearing inner race, and a second shaft surface 3503 engaged with the gear 356 are disposed in this order along the center shaft 350. The gear 356 is fixedly connected with the central shaft 350, so that the gear 356 drives the central shaft 350 and the central limb 351 to rotate together under the rotation of external force, and the central limb 351 is of a rigid and bendable structure, so that torque and push-pull force can be transmitted, and the turnover motion of the front end 31 of the flexible surgical instrument is finally realized.
Fig. 11 is a schematic view of the structure of the instrument flexible surgical instrument front end 31. The flexible surgical instrument front end 31 is composed of a first clip 361, a second clip 321, a yaw joint 331, a lift joint 341, and a joint base 371. Each joint is driven by two driving ropes to realize the forward and backward movement of each joint. The motions of the clip one 361, the clip two 321, the yaw joint 331, and the lift joint 341 require four joint driving units and eight driving ropes in total. The driving rope required by the joint movement is fixedly connected with the joint; the spring tube required for the drive cord of each knuckle is fixed with the next knuckle and the spring tube required for the drive cord of the pull knuckle 341 is fixed with the knuckle base 371. The drive ropes of all joints of the front end 31 of the flexible surgical instrument are on the same radius arc, so that the drive of all joints theoretically belongs to linear drive. The central limb 351 of the flexible arm 32 is fixedly connected to the joint base 371, so that the respective joints of the flexible surgical instrument front end 31 can transmit push-pull and torsion movements on the central limb 351. A certain number of flanges 3510 are distributed on the central limb 351 at intervals, 8 circular through holes are uniformly distributed on the flange 3510 in the circumferential direction, and spring tubes required by the front end 31 of the flexible surgical instrument uniformly penetrate through the circular through holes of the flange 3510. The function of the flange 3510 not only limits the distribution of the spring tubes, but also reduces the friction force between the outer tube and the central limb 351 in the axial rotation process, and simultaneously can ensure that the central limb 351 can effectively transfer the pushing and pulling force to realize better linear motion.
As shown in fig. 12a and 12b, two sides of the flange plate 3510 are respectively provided with a sleeve 3511, the sleeve 3511 is provided with a pin shaft 3512 hole, and the sleeve 3511 and the central branch 351 are fixedly connected through the pin shaft 3512. The pin 3512 is welded to the sleeve 3511. The mode not only can ensure that the central limb 351 has the capability of well transmitting torque and pulling pressure, but also solves the difficult problem of poor welding effect of the central limb 351 and the flange 3510 caused by material and process problems.
As can be seen from fig. 13 and 14, the flexible surgical instrument driving unit 4 provided in this embodiment includes, in order from top to bottom, a consumable contact layer 41, a driving body layer 42, a moving platform layer 43, and a moving base layer 44; the consumable contact layer 41, the driving main body layer 42 and the moving platform layer 23 are fixedly connected, specifically, in this embodiment, are fixedly connected through a column; the movable base layer 44 drives the consumable contact layer 41, the driving body layer 42 and the movable platform layer 43 to integrally slide by driving the movable platform layer 43 to slide.
As can be seen from fig. 15, the consumable contact layer 41 includes a second base plate 410 and a first motor driver 411 fixed on the second base plate 410, a plurality of grooves 412 are formed on the second base plate 410, racks 424 on a plurality of driving components penetrate through the grooves 412 to drive the instrument box 33 to move, and in particular, the racks 424 engage with gears on the instrument box 33 to drive the instrument box 33 to move; the first motor driver 411 on the consumable contact layer 41 controls the first motor 421 on the driving body layer 42 to rotate.
As can be seen from fig. 16, the driving main body layer 42 is provided with a plurality of groups of driving components, preferably 5 groups of driving components in this embodiment, and the driving components penetrate through the consumable contact layer 41 to drive the instrument box 33 to move; the bottom of the driving assembly is provided with a first sliding block (not shown in the figure), and the first sliding block is clamped with a first sliding rail (not shown in the figure) fixed on the first bottom plate 420 to drive the driving assembly to slide.
Specifically, the driving assembly includes a first motor 421 and a rack 424, a reel 422 is fixed on the shaft of the first motor 421, a wire rope 423 is wound on the reel 422, two ends of the wire rope 423 are respectively connected to two ends of the rack 424, one end of the wire rope 423 bypasses the first pulley to be connected to one end of the rack 424, and the other end of the wire rope 423 is directly connected to the other end of the rack 424; a first slider connected to the first slide rail is fixed under the rack 424.
Preferably, first micro switches 429 are respectively arranged at the outer sides of the two ends of the rack 424 along the sliding direction, so that the movement of the rack 424 is limited, and other structures of the flexible surgical instrument driving unit 4 are prevented from being damaged by the rack 424 in the moving process.
The first blocking piece is connected to the side face of the rack 424 in the vertical sliding direction, and the first blocking piece blocks the first photoelectric switch 427 arranged on the first bottom plate 420, and the first blocking piece cooperates with the photoelectric switch 427 to achieve initial position determination of the motion of the driving assembly, so that the driving assembly can achieve position zeroing under a starting program.
As can be seen from fig. 17, the movable platform 43 includes a third bottom plate 430 and a second motor driver 431 fixed on the third bottom plate 430, and a pressing plate 433 and a second blocking piece 432 are disposed on the side of the third bottom plate 430 opposite to the second motor driver 431.
As can be seen from fig. 18, the moving base layer 44 includes a fourth bottom plate 440 and a second motor 441 fixed on the fourth bottom plate 440, a second sliding rail 446 is fixed on the fourth bottom plate 440, a second sliding block 447 is clamped on the second sliding rail 446, and second micro switches 445 are respectively disposed beside two ends of the second sliding rail 446 along the sliding direction of the second sliding block 447, so as to limit the second sliding block 447 in the sliding direction, and prevent the rack 424 from damaging other structures of the flexible surgical instrument driving unit 4 during the running process.
One end of a synchronous belt 442 is sleeved on the shaft of the second motor 441, the other end of the synchronous belt 442 is sleeved on a second pulley 443, a second photoelectric switch 444 is fixed beside the synchronous belt 442 and corresponds to the position of the second baffle 432 on the movable platform layer 43, the second photoelectric switch 444 triggers the enabled second baffle 432, and the initial position of the whole flexible surgical instrument driving unit 4 is determined.
In this embodiment, the second photoelectric switch 444 is used to set the overall initial position of the driving unit 4 of the flexible surgical instrument, and the first photoelectric switch 427 is combined to make the flexible surgical instrument in the instrument box 33 be in a certain known position, and at the same time, the positions of the movable base layer and the driving component can be respectively reset to zero under the starting-up procedure, so that the flexible surgical instrument is in a first-test state.
As can be seen from fig. 17 and 18, the timing belt 442 of the moving base layer 44 is pressed by the pressing plate 433 of the moving platform layer 43, and the second slider 447 of the moving base layer 44 is connected to the bottom of the third bottom plate 430 of the moving platform layer 43. The second motor driver 431 on the moving platform layer 43 drives the second motor 441 on the moving base layer 44 to rotate, the second motor 441 drives the synchronous belt 442 to rotate, and the synchronous belt 442 drives the moving platform layer 43 to slide along the second sliding rail 446 by pulling the pressing plate 433.
The consumable contact layer 41, the driving main body layer 42 and the moving platform layer 43 are fixedly connected, specifically, in this embodiment, are fixedly connected through a column; the movable base layer 44 drives the consumable contact layer 41, the driving body layer 42 and the movable platform layer 43 to integrally slide by driving the movable platform layer 43 to slide.
In this embodiment, the second motor 441 is used to drive the upper hierarchical structure to drive the flexible surgical device driving unit 4 to integrally perform feeding motion, so that feeding of the flexible surgical device is achieved, and the flexible surgical device driving unit 4 of the present invention is fed in multiple layers by combining with the driving assembly on the driving main body layer 42.
Fig. 19 is a schematic structural diagram of the lifting unit 5 in this embodiment, in which the operation table top 51 is fixed on the upper upright 52 by screws, the upper upright 52 is nested in the lower upright 55, an electric push rod 56 is connected between the upper upright 52 and the lower upright 55, the lower upright 55 is fixed on the base 62 by the locking block 511, and the operation table top 51 can realize height adjustment under the pushing action of the electric push rod 56, so as to meet the demands of nurses with different heights, and make the operation more comfortable; the supporting plate 53 is fixed on the supporting plate 54 through a screw, and the supporting plate 54 is arranged on the lower upright post 55 through a plum blossom handle and can adjust the installation height; the catheter mounting plate 510 is fixed on the supporting plate 53, the catheter 58 is a hollow tube with a flange at the end part, the catheter mounting plate 510 is mounted by a bearing, the fixing ring 57 is used for limiting the axial movement of the catheter 58, the clamp 59 is used for clamping the auxiliary channel 2 mounted on the catheter 58, the wire collecting hook 512 is used for collecting the instrument wires of an electrotome and an injection needle, and the instrument wires which are temporarily not used in the operation process can be coiled into a plurality of circles to be clamped and placed on the wire collecting hook 512 by using a clamp, so that confusion is prevented.
Fig. 20 shows a clamping unit 7 in this embodiment, in which a clamping seat 71 is fixed at the left side of an operation table 51 through 4 supporting columns 73, the inner contour of a needle stop 716 is the same as the outer contour of a needle rod 715, the needle stop 716 is fixed on the clamping seat 71 through screws, the needle rod 715 can be placed in the needle stop 716 and prevented from being separated by using a stop rod, a needle piston rod 717 is a movable part of a needle, the needle piston rod 717 is installed in a groove of the needle slide 719 and prevented from being separated by using a piston stop rod 720, the needle slide 719 is fixed on a slide mounting plate 718 through screws, the end part of a locking handle 713 is provided with threads and is assembled at the left end of the slide mounting plate 718, and the locking handle 713 is used for adjusting the position of the needle slide 719 on the clamping seat 71 and realizing loosening and locking, so that the extending distance of the needle head can be locked at a safe position when not in use, the needle head is prevented from damaging a human body, and the front end of the injector 72 is installed in a mounting hole of the needle piston rod 717 for injecting liquid required in an operation; the electric knife stop block 78 ejector rod support 75 is fixed on the clamping seat 71 through a screw, the rear end of the electric knife rod 711 is sleeved on the electric knife stop block 78, the electric knife ejector ring 77 is pushed by the rotary ejector rod handle 76 to achieve the rear end clamping effect of the electric knife rod 711, a pair of clamps are used for clamping the front end of the electric knife rod 711, the moving distance of the electric knife ejector ring 77 and the opening and closing size of the clamps can be adjusted, so that electric knives with different shapes and different sizes are adapted, the electric knife ring 710 is nested on the electric knife rod 711, the electric knife is a moving part of the electric knife, the electric knife ring slide 79 and the slide mounting plate 74 are mounted together through the screw, two holes of the electric knife ring 710 are sleeved on the outer sides of the two electric knife ring slide 79 respectively, the locking handle 713 is assembled at the left end of the slide mounting plate 74, and the locking handle 713 is used for adjusting the position of the electric knife ring slide 79 on the clamping seat 71 and achieving loosening and locking, and therefore the extending distance of the electric knife head can be controlled, and the electric knife head can be locked at a safe position when not used, and injury to a human body is avoided.
The clamping unit 7 of the embodiment is used for replacing nurses to fix electric knives and syringes, has the advantages of convenient operation and safe use, and has stronger universality for electric knives of different shapes and syringes of different diameters.
The above embodiments are only preferred examples of the present invention and are not intended to limit the scope of the present invention, so that all equivalent changes or modifications made according to the construction, characteristics and principles of the present invention shall be included in the scope of the present invention.
Claims (4)
1. An auxiliary robot system for digestive tract surgery comprises a movable base unit, a lifting unit fixed on the movable base unit, a digestive endoscope, an auxiliary channel, a flexible surgical instrument unit, a flexible surgical instrument driving unit and a clamping unit; the method is characterized in that:
the lifting unit comprises an operation table top, an upper upright post and a lower upright post, the lower upright post is fixed on the movable base unit, the operation table top is fixed on the upper upright post, and an electric push rod is connected between the upper upright post and the lower upright post; a supporting plate is arranged on one side of the lower upright post through a plum blossom handle, a supporting plate is fixed on the supporting plate through a screw, a conduit mounting plate is fixed on the supporting plate, a conduit is arranged on the conduit mounting plate through a bearing, and the auxiliary channel is arranged on the conduit in a clamping way through a clamp;
the flexible surgical instrument unit comprises a flexible arm and an instrument box, wherein the flexible arm extends out of an outlet of the instrument box and then enters the auxiliary channel, and the flexible arm is provided with a front end of a flexible surgical instrument; a driving part is arranged in the instrument box, and drives the flexible arm to drive the flexible surgical instrument to move in multiple degrees of freedom; the driving part comprises a plurality of joint driving parts and a single integral driving part;
the plurality of joint driving parts comprise two groups of driving units with the same structure, each group of driving unit comprises a driving rope, a wire guide wheel and a wire spool, the spiral directions of the two wire spools on the two groups of driving units are opposite, a gear shaft is arranged between the two wire spools of the two groups of driving units, when the gear shaft rotates in one direction, the driving rope on one wire spool is in a winding state, the driving rope on the other wire spool is in a winding state, and the winding quantity of the two driving ropes are the same; when the driving rope is required to be tensioned, the wire spool is rotated circumferentially, and after the driving rope is tensioned, the wire spool and the gear shaft are locked by using screws at the arc-shaped notch of the wire spool;
the flexible surgical instrument driving unit is arranged on the supporting plate; the flexible surgical instrument driving unit sequentially comprises a consumable contact layer, a driving main body layer, a moving platform layer and a moving base layer from top to bottom; the consumable contact layer, the driving main body layer and the moving platform layer are fixedly connected, and the moving base layer drives the moving platform layer to slide and drives the consumable contact layer, the driving main body layer and the moving platform layer to integrally slide; the consumable contact layer comprises a second bottom plate, and a plurality of grooves are formed in the second bottom plate; the driving main body layer comprises a first bottom plate, a plurality of groups of driving components are arranged on the driving main body layer, and first sliding blocks are arranged at the bottoms of the driving components; the plurality of driving assemblies comprise a first motor and racks, and the racks on the plurality of driving assemblies penetrate through grooves on the second bottom plate to be clamped with the corresponding gear shafts of the plurality of joint driving parts; a reel is fixed on the shaft of the first motor, a steel wire rope is wound on the reel, one end of the steel wire rope bypasses the first pulley and is connected to one end of the rack, and the other end of the steel wire rope is directly connected to the other end of the rack; the first sliding block is fixed below the rack, and a first sliding rail connected with the first sliding block is fixed on the first bottom plate; the movable platform layer comprises a third bottom plate and a second motor driver fixed on the third bottom plate, and a pressing plate is arranged on the side edge, opposite to the second motor driver, of the third bottom plate; the movable base layer comprises a fourth bottom plate and a second motor fixed on the fourth bottom plate, a second sliding rail is fixed on the fourth bottom plate, and a second sliding block is clamped on the second sliding rail; one end of a synchronous belt is sleeved on the shaft of the second motor, and the other end of the synchronous belt is sleeved on the second pulley; the synchronous belt is pressed by the pressing plate, the second sliding block is connected with the bottom of the third bottom plate, and the synchronous belt drives the movable platform layer to slide along the second sliding rail by pulling the pressing plate;
the clamping seat of the clamping unit is fixed at the left side of the operating table top through 4 supporting upright posts, and the clamping seat is provided with an injection needle stop block, a stop rod, an injection needle sliding block, a sliding block mounting plate, a piston stop rod and a first locking handle; the injection needle stop block is fixed on the clamping seat through a screw, the inner contour of the injection needle stop block is the same as the outer contour of the injection needle, the injection needle is placed in the injection needle stop block, and the stop rod prevents the injection needle from falling off; the injection needle sliding block is fixed on the sliding block mounting plate through a screw, the first locking handle with threads at the end part is assembled at the left end of the sliding block mounting plate, the injection needle piston rod is mounted in the groove of the injection needle sliding block, the piston baffle rod prevents the injection needle piston rod from falling out, the first locking handle can be used for loosening and locking the injection needle sliding block, and the first locking handle is used for adjusting the position of the injection needle sliding block on the clamping seat so as to control the extending distance of the head part of the injection needle and lock the head part of the injection needle at a safe position when the injection needle is not used; the clamping seat is provided with an electric knife stop block, a push rod support, a push rod handle, an electric knife top ring, a pair of clamps, an electric knife ring sliding seat, a sliding seat mounting plate and a second locking handle; the electric knife stop block and the ejector rod support are fixed on the clamping seat through screws, the rear end of the electric knife rod is sleeved on the electric knife stop block, the electric knife ejector ring is pushed by rotating the ejector rod handle to clamp the rear end of the electric knife rod, the pair of clamps are used for clamping the front end of the electric knife rod, the moving distance of the electric knife ejector ring and the opening and closing size of the pair of clamps can be adjusted, the electric knife ring is nested on the electric knife rod, the electric knife ring sliding seat and the sliding seat mounting plate are mounted together through screws, two holes of the electric knife ring are respectively sleeved on the outer sides of the two electric knife ring sliding seats, the second locking handle is assembled at the left end of the sliding seat mounting plate and can be used for loosening and locking the electric knife ring sliding seat, and the second locking handle is used for adjusting the position of the electric knife ring sliding seat on the clamping seat so as to control the extending distance of the electric knife head and lock the electric knife head at a safe position when the electric knife head is not used;
the electrotome head is accessed to the surgical area by an instrument channel on an endoscope arm of the digestive endoscope, and the flexible surgical instrument unit extends to the surgical area through the auxiliary channel.
2. The gastrointestinal surgery assisting robot system according to claim 1, wherein:
the integral driving part is provided with a central shaft, one end of the central shaft is a semicircular shaft, and a first end cover and a second end cover are arranged outside the central shaft.
3. The gastrointestinal surgery assisting robot system according to claim 2, wherein:
the flexible arm comprises a central branch and a plurality of spring tubes, the central branch is installed in a central through hole of the central shaft, the central shaft and the central branch are fixed at the semicircular shaft through the first end cover and the second end cover, and the central shaft is enabled to drive the central branch to rotate when rotating.
4. The digestive tract surgery assisting robot system according to claim 3, wherein:
the front end of the flexible surgical instrument comprises a plurality of joint parts, each joint part is driven by two driving ropes to realize the forward and backward movement of each joint part, the driving ropes required by the movement of the joint parts are fixedly connected with the joint parts, and the spring tube corresponding to the driving rope of each joint part is fixed with the next joint part.
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| CN201810218889.9A CN108354668B (en) | 2018-03-16 | 2018-03-16 | Auxiliary robot system for digestive tract operation |
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| CN201810218889.9A CN108354668B (en) | 2018-03-16 | 2018-03-16 | Auxiliary robot system for digestive tract operation |
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| JP6809720B2 (en) * | 2019-03-13 | 2021-01-06 | リバーフィールド株式会社 | Surgical tool |
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| CN110710996A (en) * | 2019-10-18 | 2020-01-21 | 淄博科智星机器人有限公司 | Surgical instrument |
| JP6815679B2 (en) * | 2020-08-18 | 2021-01-20 | リバーフィールド株式会社 | Surgical tool |
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