CN110269684B - Flexible surgical terminal module and flexible robot for throat minimally invasive surgery - Google Patents
Flexible surgical terminal module and flexible robot for throat minimally invasive surgery Download PDFInfo
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- CN110269684B CN110269684B CN201910524628.4A CN201910524628A CN110269684B CN 110269684 B CN110269684 B CN 110269684B CN 201910524628 A CN201910524628 A CN 201910524628A CN 110269684 B CN110269684 B CN 110269684B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention provides a flexible operation terminal module, which comprises a flexible arm and a bending driving mechanism, wherein the bending driving mechanism drives the flexible arm to bend towards a specified direction; the flexible arm includes a plurality of bending control rings, a bellows, and a sleeve. The invention also provides a flexible robot for the laryngeal minimally invasive surgery, which comprises a linear motion module, a rotary motion module, a flexible surgery terminal module and a surgical instrument channel module. According to the invention, the cooperation of the flexible operation terminal module, the linear motion module and the rotary motion module expands the operation visual field, so that the marginal focus area is exposed, the problems of a visual blind area, an operation blind area and the like in the traditional throat operation are solved, the operation quality is improved, and the operation precision is improved; through the design of the multiple channels in the surgical instrument channel module, the flexible surgical instrument can be conveniently replaced and sterilized, and the complex surgical requirements can be met.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a flexible surgical terminal module and a throat minimally invasive surgical flexible robot comprising the same.
Background
The larynx is an important organ of the human body and has a great influence on food swallowing, breathing and vocalization. Minimally invasive surgery is increasingly becoming the mainstay of laryngeal surgery in order to minimize damage to laryngeal tissues and function. The traditional minimally invasive laryngeal procedure is now a laryngoscope procedure. The operation is carried out by establishing an operation channel through a support laryngoscope and carrying out operation treatment through a narrow operation channel by a doctor holding an operation instrument.
However, this surgical method has several problems as follows. First, there is a blind zone of vision, poor exposure of the focal zone. The space of throat portion is narrow and small and the shape is irregular, and the rigid direct laryngoscope that uses in traditional operation and the field of vision of supporting laryngoscope have certain restriction, can't carry out good exposure to the tissue all around of supporting laryngoscope tip. Second, there is an operational blind zone. The narrow and irregular operation area limits the operation range of the traditional rigid surgical instrument, and the operation has an operation blind area, so that the focus cannot be completely removed. Thirdly, precise operation is difficult. The surgical operation area is adjacent to a plurality of important anatomical tissues, and the requirement on the surgical precision is high. The narrow surgical passage and the trembling fatigue of the hands of the doctor pose great challenges to the precise operation of the surgery. Therefore, the research and the application of the flexible robot for the laryngeal minimally invasive surgery have important significance.
Through the search of the prior art, Chinese patent No. CN1730245A discloses a 'throat surgery robot slave manipulator', the mechanism has 8 degrees of freedom, and the operation is portable and flexible; a double-connecting-rod mechanism is adopted to realize the mechanical structure decoupling of the pose and the position; the operation precision is improved by separating the coarse adjustment direction and the fine adjustment direction. However, the mechanism adopts a traditional rigid structure, and the problems of operation blind areas, vision blind areas and the like in the traditional throat operation cannot be solved.
Further retrieval finds that Chinese patent No. CN106175851A discloses a single-port laparoscopic surgery system based on a flexible arm body, the system is mainly designed for single-port laparoscopic surgery, and a dobby mechanism of the system needs a large space and is not suitable for narrow space of a throat; and the surgical instrument is single, and the requirement of the complex laryngeal surgery cannot be met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a flexible surgical terminal module and a flexible robot for throat minimally invasive surgery, which can solve the problems of visual blind areas, operation blind areas and the like of the traditional throat minimally invasive surgery while realizing intellectualization of the throat minimally invasive surgery by controlling the bending of a flexible arm and further enabling the flexible arm to move linearly and rotationally, improve the quality of the surgery, improve the precision of the surgery operation and meet the requirements of complex surgery.
In order to achieve the purpose, the invention adopts the following technical scheme:
according to a first aspect of the present invention, there is provided a flexible surgical terminal module comprising a flexible arm and a bending driving mechanism connected to the flexible arm, the bending driving mechanism driving the flexible arm to bend in a given direction, wherein:
the flexible arm comprises a plurality of bending control rings, a corrugated pipe and a sleeve, the bending control rings are fixed on the corrugated pipe at intervals, a mounting hole is reserved in the bending control ring at the tail end of the corrugated pipe, the sleeve is connected to the bending control ring at the near end of the corrugated pipe, the bending control ring is connected with the bending driving mechanism, and the bending driving mechanism drives the corrugated pipe to bend.
Preferably, the bending driving mechanism comprises a plurality of motor traction mechanisms, the plurality of motor traction mechanisms are fixed on a main fixing plate, and each motor traction mechanism comprises a rotary wheel, a motor fixing seat, a traction wire and a driving motor, wherein the driving motor is fixed on the motor fixing seat, the rotary wheel is fixed on an output shaft of the driving motor, one end of the traction wire is fixed on the rotary wheel, and the other end of the traction wire is fixed on the bending control ring of the flexible arm; the driving motor achieves traction on the traction line through the rotary wheel, and therefore the flexible arm is driven to bend towards the designated direction.
Preferably, the flexible surgical terminal module further comprises a bending control box, wherein the bending control box controls the flexible arm to bend towards a designated direction; the bending driving mechanism drives the flexible arm to bend wholly or partially in a specified direction through line traction.
Preferably, the bending control box comprises a control box shell and a plurality of motor controllers fixed in the control box shell, wherein the number of the motor controllers is matched with that of the motor traction mechanisms, and the motor controllers are respectively in one-to-one corresponding control connection with the motor traction mechanisms.
Preferably, the bending driving mechanism further comprises a rotary connecting mechanism and a sleeve fixing seat, wherein the rotary connecting mechanism comprises a guide shaft support and a flange fixing seat, the guide shaft support is fixed on the flange fixing seat, and the flange fixing seat is fixed on the main fixing plate; the sleeve fixing seat is fixed on the main fixing plate and used for being connected with the sleeve of the flexible arm to achieve connection of the bending driving mechanism and the flexible arm.
According to a second aspect of the present invention, there is provided a flexible robot for laryngeal minimally invasive surgery, comprising a linear motion module, a rotational motion module, a flexible surgical terminal module, and a surgical instrument channel module, wherein,
the flexible surgical terminal module comprises a flexible arm and a bending driving mechanism connected with the flexible arm, and the bending driving mechanism drives the flexible arm to bend towards a specified direction;
the linear motion module drives the flexible arm to perform linear motion through the linear motion of the linear motion module, so that the pushing operation of the flexible arm is realized;
the rotary motion module drives the flexible operation terminal module to rotate through the self rotary motion, so that the adjustment of the tail end position of the flexible arm is realized;
the surgical instrument channel module providing a surgical instrument channel specific to a procedure and being bendable along with the flexible arm of the flexible surgical terminal module.
Preferably, the rotary motion module is arranged on the linear motion module, the flexible surgical terminal module is arranged on the rotary motion module, and the surgical instrument channel module is arranged on the flexible surgical terminal module;
the linear motion module drives the rotary motion module to perform linear motion through linear motion, so that the flexible operation terminal module positioned on the rotary motion module is driven to perform linear motion, the flexible arm performs linear motion, and the pushing operation of the flexible arm is realized;
the surgical instrument channel module is disposed on the flexible surgical terminal module and is connected to a distal end position of the flexible arm.
Preferably, the linear motion module comprises a linear module, a sliding block, a base fixing plate, a servo motor fixing plate and a first servo motor, wherein the first servo motor is fixed on the servo motor fixing plate, the servo motor fixing plate is fixed at the tail end of the linear module, an output shaft of the first servo motor is connected with the tail end of a screw rod of the linear module through a coupler, the sliding block is embedded on the screw rod of the linear module, the base fixing plate is fixed on the sliding block, and the rotary motion module is fixed on the base fixing plate; the rotary motion of the first servo motor is converted into the linear motion of the sliding block through the screw rod so as to drive the rotary motion module to perform linear motion, and the pushing operation of the flexible arm is realized.
Preferably, the rotary motion module comprises a servo motor fixing seat, a second servo motor, a first rotary supporting mechanism and a second rotary supporting mechanism, the first rotary supporting mechanism and the second rotary supporting mechanism are used for supporting the flexible surgical terminal module, the second servo motor is fixed on the servo motor fixing seat, and the second servo motor and the flexible surgical terminal module form transmission connection; and the rotation motion of the second servo motor drives the flexible operation terminal module to rotate so as to realize the adjustment of the tail end position of the flexible arm.
Preferably, the structure of the flexible surgical terminal module is the same as that described above, the sleeve of the flexible arm is connected to the second rotary supporting mechanism of the rotary motion module, the flange fixing base in the bending driving mechanism is fixed to the main fixing plate, and the guide shaft support of the flange fixing base is assembled to the first rotary supporting mechanism and fixed to the output shaft of the second servo motor through a jackscrew, so as to connect the rotary motion module to the flexible surgical terminal module and adjust the position of the end of the flexible arm.
Preferably, the surgical instrument channel module comprises at least one flexible tube for providing an instrument channel of the flexible surgical instrument, the flexible tube being connected to a distal end position of the flexible arm; or the like, or, alternatively,
the surgical instrument channel module comprises at least one flexible pipeline, a medical endoscope module and a flexible surgical instrument, wherein the flexible pipeline is used for providing an instrument channel of the flexible surgical instrument, the flexible pipeline is connected to the tail end position of the flexible arm, the medical endoscope module is used for displaying medical images in the throat minimally invasive surgery process in real time, and the medical endoscope module is connected to the tail end position of the flexible arm.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. the flexible surgical terminal module realizes the bending of the flexible arm through the bending driving mechanism, enlarges the surgical visual field, improves the surgical operation precision while intelligentizing the throat minimally invasive surgery, and meets the requirements of complex surgery.
2. Furthermore, the flexible arm in the flexible surgical terminal module adopts a structure that a control ring is embedded in the corrugated pipe, the inherent bending property of the corrugated pipe is fully utilized, and the whole structure is lighter. The multi-segment bending design of the flexible arm can realize the access of more complicated lesion positions.
3. The robot realizes the operations of advancing and retreating the flexible arm of the flexible operation terminal module, rotating and adjusting the tail end position of the flexible arm along the axial direction of the sleeve and the like through the linear motion module and the rotary motion module, is suitable for narrow space of throat, enlarges the visual field of throat operation, exposes the marginal focus area, solves the problems of visual blind area, operation blind area and the like in the traditional throat operation, and improves the operation quality.
4. Furthermore, the robot of the invention controls the robot to perform the operation through the computer program, thereby relieving the fatigue of the doctor in the narrow operation channel in the traditional operation and improving the operation precision.
5. Furthermore, the robot adopts a lightweight and modular design, and the flexible operation terminal module in the robot can be carried on the linear motion module and the rotary motion module in the design and can be directly matched with other existing mechanical arms, so that the robot is wide in applicability.
6. Furthermore, the robot is convenient for the replacement and the disinfection of flexible surgical instruments through the design of multiple channels, the surgical instruments are not single any more, and the requirement of complex laryngeal surgery is met.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic overall structure diagram of a flexible robot for laryngeal minimally invasive surgery according to a preferred embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a linear motion module according to a preferred embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a rotational motion module according to a preferred embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a bending actuator according to a preferred embodiment of the present invention;
FIG. 5 is a schematic structural view of a motor traction mechanism in the bending drive mechanism shown in FIG. 4;
FIG. 6 is a schematic structural view of a bend control box according to a preferred embodiment of the present invention;
FIG. 7 is a schematic structural view of a flexible arm according to a preferred embodiment of the present invention;
FIG. 8 is a schematic view of the bellows in the flexible arm of FIG. 7;
fig. 9 is a schematic structural view of a surgical instrument channel module according to a preferred embodiment of the present invention.
The scores in the figure are indicated as:
the device comprises a linear motion module 1, a rotary motion module 2, a flexible operation terminal module 3, a surgical instrument channel module 4, a bending driving mechanism 31, a bending control box 32 and a flexible arm 33;
the linear module 11, a first slide block 12, a second slide block 13, a base fixing plate 14, a servo motor fixing plate 15 and a first servo motor 16;
a servo motor fixing seat 21, a second servo motor 22, a first rotary supporting mechanism 23, a first bearing 231, a first bearing seat 232, a second rotary supporting mechanism 24, a second bearing 241 and a second bearing seat 242;
a first motor traction mechanism 311, a second motor traction mechanism 312, a third motor traction mechanism 313, a fourth motor traction mechanism 314, a fifth motor traction mechanism 315, a sixth motor traction mechanism 316, a rotary connecting mechanism 317, a guide shaft support 3171, a flange fixing seat 3172, a main fixing plate 318 and a sleeve fixing seat 319;
a first rotary wheel 3111, a first motor fixing seat 3112, a first traction wire 3113, a first driving motor 3114;
a first motor controller 321, a second motor controller 322, a third motor controller 323, a fourth motor controller 324, a fifth motor controller 325, a sixth motor controller 326, a control box housing 327, a second controller fixing plate 3271, a rear box plate 3272, a first controller fixing plate 3273, a bottom box plate 3274, and a front box plate 3275;
a first segment of bend control ring structure 331, a distal control ring 3311, a first distal control ring 3312, a second distal control ring 3313, a second segment of bend control ring structure 332, a first proximal control ring 3321, a second proximal control ring 3322, a third proximal control ring 3323, a base control ring 3324, a bellows 333, a sleeve 334;
the medical endoscope comprises a medical endoscope module 41, a medical endoscope 411, a control panel 412, an HDMI wire 413, a display 414, a first flexible pipeline 42, a second flexible pipeline 43 and a flexible surgical instrument 44.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Fig. 1 to 9 are views illustrating a partial embodiment of the flexible robot for laryngeal minimally invasive surgery according to the present invention.
As shown in fig. 1, the flexible robot for laryngeal minimally invasive surgery shown in the figure comprises a linear motion module 1, a rotary motion module 2, a flexible surgery terminal module 3 and a surgical instrument channel module 4, wherein: the flexible surgical terminal module 3 includes a bending driving mechanism 31 and a flexible arm 33, and the bending driving mechanism 31 drives the flexible arm 33 to bend in a predetermined direction. The linear motion module 1 is used for adjusting the linear motion distance of the flexible surgical terminal module 3, and pushing operation of the flexible arm 33 is achieved. The rotary motion module 2 is used for the rotary operation of the flexible operation terminal module 3, and the adjustment of the tail end position of the flexible arm 33 is realized. The surgical instrument channel module 4 provides a surgical instrument channel for a particular surgical procedure.
In an embodiment, the modules may be connected by: the rotary motion module 2 is arranged on the linear motion module 1, the flexible operation terminal module 3 is arranged on the rotary motion module 2, and the surgical instrument channel module 4 is arranged on the flexible operation terminal module 3; the linear motion module 1 drives the rotary motion module 2 to perform linear motion through linear motion, so as to drive the flexible operation terminal module 3 positioned on the rotary motion module 2 to perform linear motion, so that the flexible arm 33 performs linear motion, and the pushing operation of the flexible arm 33 is realized; the surgical instrument channel module 4 is disposed on the flexible surgical terminal module 3 and is connected to the distal end position of the flexible arm 33.
As shown in fig. 2, in some embodiments of the present invention, the following mechanism may be preferably employed for the linear motion module 1. The linear motion module 1 comprises a linear module 11, a first slide block 12, a second slide block 13, a base fixing plate 14, a servo motor fixing plate 15 and a first servo motor 16. The first servo motor 16 is fixed on the servo motor fixing plate 15, the servo motor fixing plate 15 is fixed at the tail end of the linear module 11 through an inner hexagon bolt, and an output shaft of the first servo motor 16 is connected with the tail end of a screw rod of the linear module 11 through a coupler. The first sliding block 12 and the second sliding block 13 are embedded on a lead screw of the linear module 11, and the base fixing plate 14 is fixed on the first sliding block 12 and the second sliding block 13 through hexagon socket head cap screws. The driving force of this structure is derived from a first servomotor 16, and the first servomotor 16 includes an encoder. The rotary motion of the first servo motor 16 is converted into the linear motion of the first slider 12 and the second slider 13 through the lead screw, and the flexible surgical terminal module 3 is driven to perform the linear motion through the linear motion, so that the flexible arm 33 performs the linear motion, and the pushing operation of the flexible arm 33 is realized.
Of course, the above-mentioned linear motion module 1 is one of the preferable structures of the present invention, but the present invention is not limited to the above-mentioned linear motion module 1 in which the linear module 11 is matched with the slider, and other transmission mechanisms, such as a rack and pinion mechanism, may also be adopted, and the rotational motion of the first servo motor 16 drives the flexible surgical terminal module 3 to perform a linear motion through the linear motion of the rack and pinion mechanism, so that the flexible arm 33 performs a linear motion, thereby implementing the pushing operation of the flexible arm 33. In other embodiments, other transmission mechanisms may be used, and the implementation principle is the same as that described above, and is not described herein again.
In some embodiments of the invention, as shown in fig. 3, the following mechanism may be preferably employed for the rotational motion module 2. The rotary motion module 2 comprises a servo motor fixing seat 21, a second servo motor 22, a first rotary supporting mechanism 23 and a second rotary supporting mechanism 24. The first rotation support mechanism 23 is composed of a first bearing 231 and a first bearing housing 232, the first bearing 231 is embedded in the first bearing housing 232, and the long axis portion of the guide shaft housing 3171 is fitted in the first bearing 231. The second rotation support mechanism 24 is composed of a second bearing 241 and a second bearing housing 242, the second bearing 241 being embedded in the second bearing housing 242, and a sleeve 334 being fitted in the second bearing 241. The first rotary supporting mechanism 23 and the second rotary supporting mechanism 24 are respectively located at two ends of the flexible surgical terminal module 3, and are used for bearing the whole weight of the flexible surgical terminal module 3. The second servo motor 22 is fixed to the servo motor fixing base 21 by a hexagon socket head cap screw, and an output shaft of the second servo motor 22 is fixed to the guide shaft support 3171 by a jack screw. The driving force of this structure is derived from a second servomotor 22, and the second servomotor 22 includes an encoder. The rotational movement of the second servomotor 22 drives the flexible surgical terminal module 3 to perform a rotational movement about the central axis of the sleeve 334 via the rotational connection 317.
When used with the linear motion module 1 shown in fig. 2, the rotary motion module 2 may be connected with the linear motion module 1 through the base fixing plate 14. The servo motor fixing seat 21, the first rotation supporting mechanism 23, and the second rotation supporting mechanism 24 of the rotation movement module 2 may be fixed to the base fixing plate 14 by hexagon socket head bolts. The rotary motion of the first servo motor 16 is converted into the linear motion of the first slider 12 and the second slider 13 through the lead screw, so as to drive the rotary motion module 2 to move along the axial direction of the lead screw, and drive the flexible operation terminal module 3 located on the rotary motion module 2 to perform the linear motion, so that the flexible arm 33 performs the linear motion, and the pushing operation of the flexible arm 33 is realized.
As shown in fig. 4, in some embodiments of the present invention, the bending driving mechanism 31 may preferably adopt the following mechanism. Taking six motor traction mechanisms as an example, the bending driving mechanism 31 includes a first motor traction mechanism 311, a second motor traction mechanism 312, a third motor traction mechanism 313, a fourth motor traction mechanism 314, a fifth motor traction mechanism 315, a sixth motor traction mechanism 316, a rotary connection mechanism 317, a main fixing plate 318, and a sleeve fixing seat 319. The first motor traction mechanism 311 to the sixth motor traction mechanism 316 are fixed to the main fixing plate 318 by hexagon socket head bolts. The first motor traction mechanism 311, the second motor traction mechanism 312 and the third motor traction mechanism 313 are used for driving the flexible arm 33 to bend integrally, and the fourth motor traction mechanism 314, the fifth motor traction mechanism 315 and the sixth motor traction mechanism 316 are used for driving the flexible arm 33 to bend at the second section. The rotary coupling mechanism 317 includes a guide shaft holder 3171 and a flange holder 3172. The guide shaft supporting base 3171 is fixed on the flange fixing base 3172 through an inner hexagon bolt, the guide shaft supporting base 3171 is connected with an output shaft of the second servo motor 22 through a jackscrew, and the flange fixing base 3172 is fixed on the main fixing plate 318 through an inner hexagon bolt, so that the connection of the rotary motion module 2 and the flexible operation terminal module 3 is realized. The sleeve holder 319 is fixed to the main fixing plate 318 by a hexagon socket head cap screw, and the sleeve 334 is fixed to the sleeve holder 319, so that the bending driving mechanism 31 is connected to the flexible arm 33.
The above structure is described by taking six motor traction mechanisms as an example, and the number of the motor traction mechanisms can be selected according to the situation, for example, the number of bending sections of the flexible arm is not limited to six motor traction mechanisms.
As shown in fig. 5, in some embodiments of the present invention, the following mechanism may be preferably employed as the motor traction mechanism. The first motor traction mechanism 311 will be described as an example. The first motor traction mechanism 311 may include a first spinning wheel 3111, a first motor holder 3112, a first traction wire 3113, and a first drive motor 3114. First driving motor 3114 passes through the machine silk to be fixed on first motor fixing base 3112, and first head 3111 passes through the jackscrew to be fixed on first driving motor 3114's output shaft, and the one end of first pull wire 3113 is fixed on first head 3111, and the other end of the 3113 of first pull wire is fixed on terminal control ring 3311. The rotational movement of the first drive motor 3114 effects traction of the first pull wire 3113 through the first reel 3111.
Of course, the second motor traction mechanism 312, the third motor traction mechanism 313, the fourth motor traction mechanism 314, the fifth motor traction mechanism 315, and the sixth motor traction mechanism 316 may have the same structure as the first motor traction mechanism 311.
As shown in FIG. 6, in some embodiments of the invention, the bend control box 32 may preferably employ the following mechanism. Taking six motor controllers as an example, the bending control box 32 may include a first motor controller 321, a second motor controller 322, a third motor controller 323, a fourth motor controller 324, a fifth motor controller 325, a sixth motor controller 326, and a control box housing 327. The control box housing 327 includes a second controller fixing plate 3271, a rear box plate 3272, a first controller fixing plate 3273, a bottom box plate 3274, and a front box plate 3275. The first motor controller 321, the second motor controller 322, and the third motor controller 323 are fixed to the first controller fixing plate 3273. The fourth motor controller 324, the fifth motor controller 325, and the sixth motor controller 326 are fixed to the second controller fixing plate 3271. The first motor controller 321 is for controlling the first drive motor 3114, the second motor controller 322 is for controlling the second drive motor 3124, the third motor controller 323 is for controlling the third drive motor 3134, the fourth motor controller 324 is for controlling the fourth drive motor 3144, the fifth motor controller 325 is for controlling the fifth drive motor 3154, and the sixth motor controller 326 is for controlling the sixth drive motor 3164.
The bending control box 32 issues a motor motion instruction combination to the bending driving mechanism 31 through a motor controller, and the bending driving module 31 enables the flexible arm 33 to bend towards a specified direction through line traction for expanding an operation visual field and exposing an edge focus area.
In some embodiments of the invention, as shown in fig. 7, the flexible arms 33 may preferably employ the following mechanism. Taking a six-wire pull, two-segment bending flexible arm as an example, the flexible arm 33 may include a first segment bending control loop structure 331, a second segment bending control loop structure 332, a bellows 333, and a sleeve 334. The first segment of the bend control ring structure 331 includes an end control ring 3311, a first distal control ring 3312, and a second distal control ring 3313. An end control ring 3311 is fixed to the end of the bellows 333. Two instrument passage holes and a square camera fixing hole are reserved on the end control ring 3311 and are respectively used for fixing two flexible pipelines and the medical endoscope 411. The second segment of the bend control ring structure 332 includes a first proximal control ring 3321, a second proximal control ring 3322, a third proximal control ring 3323, and a base control ring 3324. Base control ring 3324 is secured to sleeve 334 and bellows 333 is secured to base control ring 3324. The first distal control ring 3312, the second distal control ring 3313, the first proximal control ring 3321, the second proximal control ring 3322, and the third proximal control ring 3323 are embedded in the bellows 333. The traction wire holes in all the control rings are uniformly distributed around the center of the control ring, the concentricity of the traction wire holes in all the control rings is ensured during installation, and all the control rings are connected in series through six traction wires. The first pull wire 3113, the second pull wire 3123 and the third pull wire 3133 are fixed on the tip control ring 3311, and the second pull wire 3123 and the third pull wire 3133 are not shown in the drawings. The flexible arm 33 can be bent integrally in a single segment by controlling the amount of traction of the first traction wire 3113, the second traction wire 3123 and the third traction wire 3133. The fourth pull wire 3143, the fifth pull wire 3153 and the sixth pull wire 3163 are fixed to the first proximal control ring 3321, and the fifth pull wire 3153 and the sixth pull wire 3163 are not shown. The two-segment bending of the flexible arm 33 may be achieved by controlling the amount of traction of the first traction wire 3113, the second traction wire 3123, the third traction wire 3133, the fourth traction wire 3143, the fifth traction wire 3153, the sixth traction wire 3163.
In some embodiments of the present invention, bellows 333 may be configured as shown in FIG. 8. The traction control rings are uniformly arranged at the sections of the bellows 333 having a relatively large diameter.
Of course, the number of the bending control rings and the pulling wires can be set according to the requirement, such as the length of the flexible arm, the number of the bending sections, the actual operation condition, and the like, and is not limited to the two bending control rings and the six pulling wires.
As shown in fig. 9, in some embodiments of the present invention, the surgical instrument channel module 4 may preferably employ the following mechanism. Taking two flexible channels as an example, the surgical instrument channel module 4 may include a first flexible tube 42 and a second flexible tube 43. The first and second flexible conduits 42, 43 pass through the sleeve 334 and the center of the control ring to be secured in corresponding positions on the end control ring 3311. The first and second flexible tubes 42, 43 provide surgical instrument access for a particular procedure. The first flexible conduit 42 is not prioritized relative to the second flexible conduit 43, and one of the conduits may be selected for a separate surgical procedure, such as a bite, incision, electro-coagulation hemostasis, radio frequency or suction procedure. Or the two flexible pipelines are used together to realize the cooperation of multiple instruments, such as the operations of clamping, shearing, and the like. Of course, in other embodiments, the number of flexible conduits may be different from two, and may be set according to the surgical needs.
In some embodiments of the present invention, the surgical instrument channel module 4 may further include a medical endoscope module 41 and a flexible surgical instrument 44. The medical endoscope 411 is fixed at a corresponding position on the tip control ring 3311 through the sleeve 334 and the center of the control ring. The flexible surgical instrument 44 is passed through the first flexible conduit 42 or the second flexible conduit 43 to the distal end of the flexible arm 33 for a particular surgical procedure.
The medical endoscope module 41 can adopt the prior art, for example, comprises a medical endoscope 411, a control panel 412, an HDMI cable 413 and a display 414, and is used for realizing real-time display of medical images of the laryngeal operation process, and will not be described in detail here.
In another embodiment, the flexible surgical terminal module 3 (shown in fig. 4-8) composed of the flexible arm and the bending driving mechanism connected to the flexible arm can be directly used as a stand-alone module to cooperate with other mechanical arms, and is not limited to the flexible robot for laryngeal minimally invasive surgery in the above-mentioned embodiment of the present invention. The specific structure of the flexible surgical terminal module 3 shown in fig. 4-8 has been described in detail in the above-described embodiment and will not be repeated.
Based on the description of the above embodiments, the above preferred configurations may be used alone, or may be used in combination with each other in the case where there is no conflict. Specifically, in order to better understand the technical solution of the present invention, the working process of the flexible robot for laryngeal minimally invasive surgery in the embodiment of the present invention is described in detail based on the above preferred features.
In a particularly preferred embodiment, the rotary motion module 2 is connected to the linear motion module 1 by a base mounting plate 14. The rotary connection 317 of the flexible surgical terminal module 3 is connected to the output shaft of the second servomotor 22 of the rotary motion module 2 and the first bearing 231 of the first rotary support 23, and the sleeve 334 of the flexible surgical terminal module 3 is connected to the second bearing 241 of the second rotary support 24 of the rotary motion module 2. The flexible surgical terminal module 3 is provided with a distal end control ring 3311, and the medical endoscope 411, the first flexible tube 42 and the second flexible tube 43 of the surgical instrument channel module 4 are fixed to the distal end control ring 3311 of the flexible arm 33. Through the connection mode, the rotary motion module 2 is fixed on the linear motion module 1, the flexible operation terminal module 3 is fixed on the rotary motion module 2, and the surgical instrument channel module 4 is fixed on the flexible operation terminal module 3. The rotary motion module 2 moves linearly along with the linear motion module 1, the rotary motion module 2 drives the flexible surgical terminal module 3 to move rotationally through the rotary motion of the second servo motor 22, and the surgical instrument channel module 4 bends along with the flexible arm 33 of the flexible surgical terminal module 3.
When in specific use:
1. the robot system is first sterilized and installed and debugged. After the computer control program of the robot control system is debugged, the operator needs to turn on the power switch on the control panel 412 of the medical endoscope module 41 and observe whether the image in the display 414 is normal.
2. The operator controls the first servo motor 16 to rotate forward in real time, and the linear module 11 performs forward propelling action to push the flexible arm 33 into the throat position. Care should be taken to control the pushing speed and distance so as not to cause damage to surrounding tissue. The medical image on the display 414 is viewed in real time and the pushing operation is stopped when the distal end of the flexible arm 33 approaches the laryngeal position.
3. When the distal end of the flexible arm 33 approaches the laryngeal position, the operator operates the computer control program to control the flexion driving mechanism 31 in real time through the flexion control box 32, control the flexion of the flexible arm 33 through the appropriate traction combination, and look at the laryngeal field of view on the display 414 to find the approximate location of the lesion.
4. The operator controls the second servo motor 22 in real time to drive the flexible surgical terminal module 3 to rotate around the central axis of the sleeve 334, so that the focus is positioned at the central position of the visual field, and the surgical instrument can be conveniently operated.
At the same time, the position of the flexible arm 33 along the axis of the sleeve 334 and the curved shape of the flexible arm 33 are adjusted to a small extent so that the focal zone is optimally exposed.
Meanwhile, the brightness, the focal length and the contrast of the medical endoscope module 41 are adjusted, so that the medical image is clearer.
5. After the position of the end of the flexible arm 33 is adjusted, the operator inserts the flexible surgical instrument 44 into the first flexible conduit 42 or the second flexible conduit 43, pushes the flexible surgical instrument through the flexible conduit, so that the execution terminal of the flexible surgical instrument reaches the position of the lesion, and the operator controls the surgical instrument to perform a specific surgical operation.
According to the flexible robot system for the throat minimally invasive surgery, disclosed by the embodiment of the invention, the surgery visual field is expanded by controlling the bending of the flexible arm, so that the marginal focus area is exposed, the problems of a visual blind area, an operation blind area and the like in the traditional throat surgery are solved, and the surgery quality is improved. The computer controls the robot to perform the operation, so that the fatigue of a doctor performing the operation in a narrow operation channel in the traditional operation can be relieved, and the operation precision is improved. Through the design of multichannel, be convenient for flexible surgical instruments's change and disinfection, can satisfy complicated operation demand.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments of the invention and the features of the embodiments can be combined with one another arbitrarily without conflict.
Claims (10)
1. A flexible surgical terminal module, characterized by: the bending driving mechanism drives the flexible arm to bend towards a specified direction; wherein:
the flexible arm comprises a plurality of bending control rings, a corrugated pipe and a sleeve, the bending control rings are fixed on the corrugated pipe at intervals, a mounting hole is reserved on the bending control ring at the tail end of the corrugated pipe, the sleeve is connected to the bending control ring at the proximal end of the corrugated pipe, the bending control ring is connected with the bending driving mechanism, and the bending driving mechanism drives the corrugated pipe to bend; the flexible arm adopts a structure that a bending control ring is embedded in the corrugated pipe, so that the inherent bending property of the corrugated pipe is fully utilized;
the bending driving mechanism comprises a plurality of motor traction mechanisms, the motor traction mechanisms are fixed on a main fixing plate, each motor traction mechanism comprises a rotary wheel, a motor fixing seat, a traction wire and a driving motor, the driving motor is fixed on the motor fixing seat, the rotary wheel is fixed on an output shaft of the driving motor, one end of the traction wire is fixed on the rotary wheel, and the other end of the traction wire is fixed on the bending control ring of the flexible arm; the driving motor realizes traction on the traction line through the rotary wheel, so that the flexible arm is driven to bend towards a specified direction;
the flexible surgical terminal module further comprises a bending control box, and the bending control box controls the flexible arm to bend towards a specified direction; the bending driving mechanism drives the flexible arm to wholly bend or partially bend in a specified direction through line traction;
the bending driving mechanism further comprises a rotary connecting mechanism and a sleeve fixing seat, wherein the rotary connecting mechanism comprises a guide shaft support and a flange fixing seat, the guide shaft support is fixed on the flange fixing seat, and the flange fixing seat is fixed on the main fixing plate; the sleeve fixing seat is fixed on the main fixing plate and used for being connected with the sleeve of the flexible arm to realize the connection of the bending driving mechanism and the flexible arm;
when the flexible arm adopts a bending control ring structure with two sections of bending, the single-section bending of the first bending section of the flexible arm can be realized by controlling the traction amount of the first traction wire, the second traction wire and the third traction wire; similarly, the single-section bending of the second bending section of the flexible arm can be realized by controlling the traction amount of the fourth traction wire, the fifth traction wire and the sixth traction wire, so that the local bending control of the flexible arm is realized; through proper control of the traction amount of the first traction wire, the second traction wire, the third traction wire, the fourth traction wire, the fifth traction wire and the sixth traction wire, the integral bending of the flexible arm comprising the first bending section and the second bending section can be realized, and thus the bending of a complex three-dimensional space shape can be realized.
2. The flexible surgical terminal module of claim 1, wherein: the bending control box comprises a control box shell and a plurality of motor controllers fixed in the control box shell, wherein the number of the motor controllers is matched with that of the motor traction mechanisms, and the motor controllers are respectively in one-to-one control connection with the motor traction mechanisms.
3. The utility model provides a throat minimal access surgery flexible robot which characterized in that: comprises a linear motion module, a rotary motion module, a flexible operation terminal module and an operation instrument channel module, wherein,
the flexible surgical terminal module adopts the flexible surgical terminal module of any one of claims 1 or 2;
the linear motion module drives the flexible arm to perform linear motion through the linear motion of the linear motion module, so that the pushing operation of the flexible arm is realized;
the rotary motion module drives the flexible operation terminal module to rotate through the self rotary motion, so that the adjustment of the tail end position of the flexible arm is realized;
the surgical instrument channel module provides a surgical instrument channel for a particular procedure and is bendable along with the flexible arms of the flexible surgical terminal module.
4. The laryngeal minimally invasive surgical flexible robot according to claim 3, wherein: the rotary motion module is arranged on the linear motion module, the flexible operation terminal module is arranged on the rotary motion module, and the surgical instrument channel module is arranged on the flexible operation terminal module;
the linear motion module drives the rotary motion module to perform linear motion through linear motion, so that the flexible operation terminal module positioned on the rotary motion module is driven to perform linear motion, the flexible arm performs linear motion, and the pushing operation of the flexible arm is realized;
the surgical instrument channel module is disposed on the flexible surgical terminal module and is connected to a distal end position of the flexible arm.
5. The flexible robot for laryngeal minimally invasive surgery according to claim 4, characterized in that: the linear motion module comprises a linear module, a sliding block, a base fixing plate, a servo motor fixing plate and a first servo motor, wherein the first servo motor is fixed on the servo motor fixing plate; and the rotary motion of the first servo motor is converted into the linear motion of the sliding block through the screw rod, so that the pushing operation of the flexible arm is realized.
6. The flexible robot for laryngeal minimally invasive surgery according to claim 4, characterized in that: the rotary motion module comprises a servo motor fixing seat, a second servo motor, a first rotary supporting mechanism and a second rotary supporting mechanism, wherein the first rotary supporting mechanism and the second rotary supporting mechanism are used for supporting the flexible operation terminal module; and the rotation motion of the second servo motor drives the flexible operation terminal module to rotate so as to realize the adjustment of the tail end position of the flexible arm.
7. The flexible robot for laryngeal minimally invasive surgery according to claim 4, characterized in that: the surgical instrument channel module comprises at least one flexible tube for providing an instrument channel of a flexible surgical instrument, the flexible tube being connected to a distal end position of the flexible arm.
8. The flexible robot for laryngeal minimally invasive surgery according to claim 4, characterized in that: the linear motion module comprises a linear module, a sliding block, a base fixing plate, a servo motor fixing plate and a first servo motor, wherein the first servo motor is fixed on the servo motor fixing plate; the rotary motion of the first servo motor is converted into the linear motion of the sliding block through the screw rod, and the linear motion is used for realizing the pushing operation of the flexible arm;
the rotary motion module comprises a servo motor fixing seat, a second servo motor, a first rotary supporting mechanism and a second rotary supporting mechanism, wherein the first rotary supporting mechanism and the second rotary supporting mechanism are used for supporting the flexible operation terminal module; and the rotation motion of the second servo motor drives the flexible operation terminal module to rotate so as to realize the adjustment of the tail end position of the flexible arm.
9. The flexible robot for laryngeal minimally invasive surgery according to any one of claims 3-8, characterized in that: the surgical instrument channel module comprises at least one flexible tube for providing an instrument channel of a flexible surgical instrument, the flexible tube being connected to a distal end position of the flexible arm.
10. The flexible robot for laryngeal minimally invasive surgery according to any one of claims 3-8, characterized in that: the surgical instrument channel module comprises at least one flexible pipeline, a medical endoscope module and a flexible surgical instrument, wherein the flexible pipeline is used for providing an instrument channel of the flexible surgical instrument, the flexible pipeline is connected to the tail end position of the flexible arm, the medical endoscope module is used for displaying medical images in the throat minimally invasive surgery process in real time, and the medical endoscope module is connected to the tail end position of the flexible arm.
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| CN112190334B (en) * | 2020-10-22 | 2022-02-18 | 北京唯迈医疗设备有限公司 | Convenient sterile intervention auxiliary operation robot |
| CN113040918B (en) * | 2021-03-17 | 2022-07-26 | 山东大学 | Surgical robot for removing limited space bone lesion area |
| CN113274622A (en) * | 2021-04-27 | 2021-08-20 | 上海火点医疗器械有限公司 | Vascular access system |
| CN113208737B (en) * | 2021-06-08 | 2023-04-28 | 山东大学 | Limited continuum for single-hole surgical robot |
| CN113729946B (en) * | 2021-11-05 | 2022-02-08 | 极限人工智能(北京)有限公司 | Visualization method and device for relative origin offset, electronic equipment and storage medium |
| CN114886498A (en) * | 2022-04-26 | 2022-08-12 | 骨圣元化机器人(深圳)有限公司 | Bone drill device |
| CN114947966B (en) * | 2022-08-01 | 2022-10-28 | 中国科学院自动化研究所 | Flexible medical device |
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