CN108784840A - Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system - Google Patents
Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system Download PDFInfo
- Publication number
- CN108784840A CN108784840A CN201810257906.XA CN201810257906A CN108784840A CN 108784840 A CN108784840 A CN 108784840A CN 201810257906 A CN201810257906 A CN 201810257906A CN 108784840 A CN108784840 A CN 108784840A
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- CN
- China
- Prior art keywords
- ant
- microrobot
- leonardo
- vinci
- leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000003187 abdominal effect Effects 0.000 title claims abstract description 15
- 210000004204 blood vessel Anatomy 0.000 claims abstract description 12
- 238000002604 ultrasonography Methods 0.000 claims abstract description 6
- 238000003384 imaging method Methods 0.000 claims abstract description 5
- 210000003128 head Anatomy 0.000 claims 1
- 210000000683 abdominal cavity Anatomy 0.000 abstract description 5
- 238000011902 gastrointestinal surgery Methods 0.000 abstract description 2
- 241000257303 Hymenoptera Species 0.000 abstract 1
- 238000001839 endoscopy Methods 0.000 abstract 1
- 238000002357 laparoscopic surgery Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000003902 lesion Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001232809 Chorista Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
Classifications
-
- 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
- A61B34/37—Master-slave 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses based on the improved abdominal operation platform of Leonardo da Vinci's surgical system, including console, microrobot and imaging device, the shape of microrobot is identical as ant, microrobot includes leg in ant mouth, left leg, the right side, two ant feelers and two ants eyes, two ant feelers are control line, are mounted on camera in two ant eyes, ant mouth is equipped with blood vessel clip, left leg is equipped with ultrasound knife, and leg is equipped with electric knife in the right side.Microrobot of the present invention design with ant shape, enters abdominal cavity by consing and performs the operation.The present invention is based on the improvement of Leonardo da Vinci's robot system, and micromachine human body type is small, and accurate positioning in abdominal operation can be widely applied to abdominal operation technical field；Especially in gastrointestinal surgery, in conjunction with endoscopic observation and laparoscope straightforward manipulation, reach the optimum efficiency of Intraoperative endoscopy and laparoscope synergy.
Description
Technical field
The present invention relates to abdominal operation technical fields, more particularly to are based on the improved abdominal cavity hand of Leonardo da Vinci's surgical system
Art platform.
Background technology
Surgical operation can be divided into three generations from technological layer.The open surgery of the first generation, that is, traditional, in the 1980s,
It is grown rapidly with the Minimally Invasive Surgery that laparoscopic technique is mark, the third generation that in the 21st century, is artificially represented with Leonardo da Vinci's machine
The development and application of surgical technic gradually develops.With the development of technology, conventional surgical operation will likely gradually by minimally invasiveization with
Accurate detailed-oriented robotic arm manipulation is substituted.However, even if advanced such as Leonardo da Vinci robot, when practical operation be still from
In vitro to being operated in vivo, although work angle and accuracy are greatly improved with respect to laparoscopic surgery, but still by
Limitation, and Leonardo da Vinci robot volume is excessively huge.For gastrointestinal surgery, can only by instrument abdominal cavity assess lesion and
It performs the operation, and lesion can not be assessed simultaneously in alimentary canal inner side and outer side and be operated.
Invention content
Technical problem to be solved by the invention is to provide flat based on the improved abdominal operation of Leonardo da Vinci's surgical system
Platform is covered the shortage on the basis of existing technology, and minimally invasive and accurate advantage is more obvious, and operation is more fine and positions more
Accurately, moving range is more flexible accurate, and imaging volume sense is stronger more acurrate, and surgical field of view is comprehensive more three-dimensional, and notch can
To reach minimally invasive to the greatest extent, makes up conventional laparoscopic and Leonardo da Vinci's robot system can not be same in alimentary canal inner side and outer side
When the assessment lesion and deficiency that is operated, can operate, be played in art in the case where endoscopic observation and laparoscope direct-view combine
The best surgical effect of scope and laparoscope synergy.
Used technical solution to solve above-mentioned technical problem：
Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system, including console, microrobot and at
As equipment, the shape of the microrobot is identical as ant, and the microrobot includes leg, two in ant mouth, left leg, the right side
A ant feeler and two ant eyes, two ant feelers are control line, and camera is mounted in two ant eyes, described
Ant mouth is equipped with blood vessel clip, and the left leg is equipped with ultrasound knife, and leg is equipped with electric knife in the right side.
Further, remaining leg in the microrobot in addition to leg in the left leg and the right side is provided which to walk and prop up
Support acts on.
Further, each ant eye is rotatable.
Further, the camera is high-resolution pick-up lens, has 10 times or more of amplification factor to visual area.
Advantageous effect：The present invention designs microrobot identical with ant shape, enters abdominal cavity by consing
It performs the operation, receives wireless signal by two ant feelers, two ant Eye imagings, leg is installed not in ant mouth, left leg and the right side
Same surgical instrument.The present invention is based on the improvement of Leonardo da Vinci's robot system, and micromachine human body type is small, is positioned in abdominal operation
More precisely, it can be widely applied to abdominal operation technical field.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Specific implementation mode
With reference to Fig. 1, the present invention is described further.
Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system, including console, microrobot and at
As equipment, the console is transformed based on Leonardo da Vinci's robot control system.The shape of the microrobot and ant phase
Together, and the two size is similar, the microrobot include ant mouth 3, left leg 4, it is right in 5, two ant feelers 1 of leg and two
Ant eye 2.Two ant feelers 1 are two control lines, and two control lines can receive the wireless signal from the console.
It is mounted on camera in two ant eyes 2, the camera is identical as common endoscope function, the camera
Including light source and one group of high-resolution pick-up lens, the high-resolution pick-up lens can amplify visual area 10 times or more, and each
The ant eye 2 is rotatable.Artificial stereo camera shooting can be formed by the camera, and image is sent to the imaging device,
This can be that operating doctor bring 3 D stereo high definition image in patient's body lumen, make operating doctor more can be compared with laparoscopy operation
Operating distance is held, can more recognize anatomical structure, improves operation accuracy.
Ant mouth 3 is equipped with blood vessel clip, and the working method of the blood vessel clip is identical as the blood vessel clip in laparoscopic surgery.This implementation
In example, the quantity of the blood vessel clip is only one, and is mounted on the ant mouth 3 in advance.In other examples, the blood vessel clip
Quantity is alternatively multiple, and the structure function of each blood vessel clip is different, using ant body 7 as the repository of blood vessel clip, console
Signal is sent out to microrobot, corresponding blood vessel clip is popped up and is mounted on the ant mouth 3.
Left leg 4 is equipped with ultrasound knife, can carry out chorista and from section blood vessel, the working method of the ultrasound knife and abdominal cavity
Ultrasound knife in videoendoscopic surgery is identical.Leg 5 is equipped with electric knife in the right side, the working method of the electric knife and the electric knife phase in laparoscopic surgery
Together.
Remaining leg in the microrobot in addition to leg 5 in the left leg 4 and the right side all has walking and support is made
With, support microrobot movement, and support the weight of microrobot.
Embodiments of the present invention are explained in detail above in association with attached drawing, but the present invention is not limited to above-mentioned embodiment party
Formula, the technical field those of ordinary skill within the scope of knowledge, can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (4)
1. being based on the improved abdominal operation platform of Leonardo da Vinci's surgical system, it is characterised in that：Including console, micromachine
The shape of people and imaging device, the microrobot is identical as ant, the microrobot include ant mouth, left leg,
Leg, two ant feelers and two ant eyes in the right side, two ant feelers are control line, are mounted on and take the photograph in two ant eyes
As head, the ant mouth is equipped with blood vessel clip, and the left leg is equipped with ultrasound knife, and leg is equipped with electric knife in the right side.
2. according to claim 1 be based on the improved abdominal operation platform of Leonardo da Vinci's surgical system, it is characterised in that：
Remaining leg in the microrobot in addition to leg in the left leg and the right side is provided which walking and supporting role.
3. according to claim 2 be based on the improved abdominal operation platform of Leonardo da Vinci's surgical system, it is characterised in that：
Each ant eye is rotatable.
4. according to claim 2 be based on the improved abdominal operation platform of Leonardo da Vinci's surgical system, it is characterised in that：
The camera is high-resolution pick-up lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810257906.XA CN108784840A (en) | 2018-03-27 | 2018-03-27 | Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810257906.XA CN108784840A (en) | 2018-03-27 | 2018-03-27 | Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108784840A true CN108784840A (en) | 2018-11-13 |
Family
ID=64095356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810257906.XA Pending CN108784840A (en) | 2018-03-27 | 2018-03-27 | Based on the improved abdominal operation platform of Leonardo da Vinci's surgical system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108784840A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
| US6652352B1 (en) * | 2000-02-10 | 2003-11-25 | Macarthur William C. | Robotic toy |
| KR20110017672A (en) * | 2009-08-14 | 2011-02-22 | 박진 | A robot having the shape of a crab |
| CN202554779U (en) * | 2012-05-03 | 2012-11-28 | 张书会 | Bionic ant type robot |
| CN202935468U (en) * | 2012-12-13 | 2013-05-15 | 段雄波 | Centipede type biomimetic multi-foot robot |
| CN204197098U (en) * | 2014-11-14 | 2015-03-11 | 福建省泉州市第七中学 | Based on the bionical spider of path planning design |
| CN106364584A (en) * | 2016-09-22 | 2017-02-01 | 上海理工大学 | Spider detection bionic robot |
| CN106542017A (en) * | 2016-11-04 | 2017-03-29 | 宁波大学 | A kind of bionical four-footed spider robot |
| CN107813323A (en) * | 2017-11-29 | 2018-03-20 | 成都大学 | A kind of bionic type ant robot |
-
2018
- 2018-03-27 CN CN201810257906.XA patent/CN108784840A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
| US6652352B1 (en) * | 2000-02-10 | 2003-11-25 | Macarthur William C. | Robotic toy |
| KR20110017672A (en) * | 2009-08-14 | 2011-02-22 | 박진 | A robot having the shape of a crab |
| CN202554779U (en) * | 2012-05-03 | 2012-11-28 | 张书会 | Bionic ant type robot |
| CN202935468U (en) * | 2012-12-13 | 2013-05-15 | 段雄波 | Centipede type biomimetic multi-foot robot |
| CN204197098U (en) * | 2014-11-14 | 2015-03-11 | 福建省泉州市第七中学 | Based on the bionical spider of path planning design |
| CN106364584A (en) * | 2016-09-22 | 2017-02-01 | 上海理工大学 | Spider detection bionic robot |
| CN106542017A (en) * | 2016-11-04 | 2017-03-29 | 宁波大学 | A kind of bionical four-footed spider robot |
| CN107813323A (en) * | 2017-11-29 | 2018-03-20 | 成都大学 | A kind of bionic type ant robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181113 |
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| RJ01 | Rejection of invention patent application after publication |