CN110507416B - Minimally invasive surgery system adopting self-unfolding flexible micro-fine operation arm and control method thereof - Google Patents
Minimally invasive surgery system adopting self-unfolding flexible micro-fine operation arm and control method thereof Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
- A61B34/72—Micromanipulators
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
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Abstract
The invention provides a minimally invasive surgery system adopting a self-unfolding flexible micro-fine operating arm and a control method thereof, wherein the surgery system comprises a self-unfolding flexible micro-fine operating arm structure, a driving rope quick connecting mechanism and a rope driving control mechanism; the flexible fine operation arm structure comprises a folding flexible fine operation arm and folding surgical forceps; the flexible fine operating arm is positioned at the end part of the whole surgical system, extends into the surgical object, and is internally connected to the rope driving control mechanism through a rope structure; the rope driving control mechanism enables the rope in the system to extend or shorten through the motor so as to drive the flexible micro-fine operation arm structure to deform, and the folding type operation forceps can complete operation actions. The operation system structure provided by the invention is convenient to miniaturize and has the functions of driving, sensing, rigidity changing and the like. The problems that the traditional surgical robot is difficult to miniaturize and lacks of sensing feedback are solved. The operation arm can be unfolded after passing through a narrow wound, and the requirement of minimally invasive surgery in a narrow space is met.
Description
Technical Field
The invention relates to a robot minimally invasive surgery system and a control method thereof, in particular to a micro surgery robot which adopts a flexible micro operating arm made of multilayer materials, a conical distribution rope driving controller and a quick connecting line mechanism and a control method thereof.
Background
With the continuous development of medical technology in recent years, the minimally invasive technology as a new medical technology can effectively reduce surgical trauma, shorten postoperative time and improve the success rate of surgery. With the above advantages, minimally invasive techniques are favored by the industry and are considered to be one of the most promising medical technology development directions. However, smaller surgical incisions also present higher operational technical challenges to the surgeon. In order to perform surgical tasks, instruments need to pass through a narrow passage to reach the target surgical area for operation, and the tips of the instruments need to have extremely high flexibility.
The flexibility and the operation stability of the tail end of the existing surgical instrument cannot completely meet the requirements of minimally invasive surgery, and simultaneously, higher requirements are also provided for surgical operators. For this reason, new minimally invasive surgery operation instruments, auxiliary tools and robot operation platforms are continuously developed, wherein minimally invasive surgery robot systems are gradually developing into efficient and mature surgical techniques. The end effectors can accomplish efficient and flexible operation, and greatly relieve the fatigue of the operation. In order to adapt to a narrow working environment, a new generation of surgical robot system should be as light-weighted and miniaturized as possible. However, the high degree of miniaturization and the minimal number of components of the drive system and the transmission mechanism in the conventional design cannot meet the requirements of high flexibility and stability of the surgical robot end effector.
Taking urinary surgery as an example, the operation robot operating arm needs to enter the bladder through a narrow urethra to complete the operation, and higher requirements are put on the size and the flexibility of the tail end of the robot operating arm. The existing surgical robots such as DaVinci and Zeus are mostly rigid multi-joint structures, the diameter of the shaft of the surgical robot is thick, and the surgical robot cannot work in narrow spaces such as urethra and nasal cavity due to large volume. The flexibility and the activity space of the rigid structure are small, and the requirement of minimally invasive surgery in a complex and narrow environment cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the surgical robot and designs a minimally invasive surgical robot system with a flexible micro-fine operation arm and a control method thereof. The micro-operation arm has simple structure and flexible operation, and can meet the requirements of minimally invasive or even non-invasive surgery in narrow space.
The invention comprises two types of contents, including a minimally invasive surgery system adopting a self-unfolding flexible micro-fine operation arm and a control method thereof;
the minimally invasive surgery system comprises a self-unfolding flexible micro-fine operating arm structure, a rope driving control mechanism and a driving rope quick connecting mechanism;
the flexible fine operation arm structure comprises a folding flexible fine operation arm and folding operation forceps. The micro camera and the laser ablation optical fiber are arranged at the tail end of the micro operation arm;
the flexible micro operating arm consists of an outer stainless steel layer, an adhesive film layer, a soft film layer, a variable stiffness layer, an embedded air bag, a signal layer, a strain sensor and an embedded driving metal wire. Three groups of different medical instruments are arranged at the tail end of the operating arm and are independently controlled, so that different requirements of the operation are met. The outermost layer of the operating arm is a stainless steel layer, the middle of the operating arm comprises a soft thin film layer, a variable stiffness layer and a signal layer, the soft thin film layer is connected with the stainless steel layer, and the layers are connected with each other through an adhesive thin film layer. The variable stiffness layer is made of shape memory polymer, and resistance wires are embedded in the variable stiffness layer; the embedded air bag is made of high-temperature resistant materials and is wrapped by the variable-rigidity layer. The inner side of the operating arm is provided with prestressed super-elastic alloy. The materials of the operation arm are cut into a specified shape by laser in a plane unfolding state, are superposed together after being cleaned and heated to connect the layers together, and then are folded into a three-dimensional state along planned creases, and the edge joint is connected and fixed through a fixing hole. The operation arm after being stretched can be seen as being composed of stainless steel unit blocks, no stainless steel layer is arranged between the unit blocks, and in order to support the structure of the whole operation arm, the side edges of two adjacent unit blocks are connected by a slender strip-shaped stainless steel layer. The stainless steel connecting strips are distributed in a staggered mode, the first unit block and the second unit block are connected through two stainless steel strips opposite to the side edges, the stainless steel strips between the second unit block and the third unit block are located on two different sides of the last pair of stainless steel strips, and so on. The flexible joint without the stainless steel layer is provided with the strain sensor which can be freely bent, so that a single-section operating arm has bending freedom degrees in two directions, and multiple sections are connected in series to realize more freedom degrees. The drive metal wire is embedded into the soft film layer, the motor rotates to pull the metal wire, the operation arm bends, and the end effector reaches the designated position to perform the operation. When the material of the operating arm is cut by laser, a circuit can be preset on the signal layer of the operating arm, and the sensor is arranged on the outer side, so that wiring is reduced, and space is saved.
The folding type surgical forceps comprise a surgical forceps body, a surgical forceps head, a strain type clamping force sensor and a sheet-shaped touch sensor; the clamp body is composed of a stainless steel layer, a soft film layer, an adhesive film layer and a signal layer, the material layers are bonded together after being processed and formed by laser, the clamp body is folded into a hexagonal prism shape, prestress hyperelastic alloy is arranged on the inner side of the clamp body, and the clamp body is stretched during working. The clamp head is composed of two trapezoidal pieces with the same shape, namely a first clamping piece and a second clamping piece. The manufacturing method of the clamping piece is the same as that of the clamp body. The clamping pieces are connected with the clamp body through the soft film layer, and the clamping pieces can freely rotate around the clamp body to achieve the effect of opening and closing. The clamping piece is provided with a rectangular hole in the center, the front end of the first rectangular connecting piece is connected with one end of the rectangular hole of the clamping piece through the middle soft film layer, and the rectangular connecting piece can rotate around the clamping piece. The first rectangular connecting sheet is made in the same way as the surgical forceps body. The tail end of the rectangular connecting sheet is connected with the second rectangular connecting sheet through the middle soft film layer. The second rectangular tab is of short length and is attached to the third intermediate laminate sheet. The connecting sheet and the clamping sheet form a four-bar linkage. The second rectangular connecting sheets of the first clamping sheet and the second clamping sheet are connected in three phases through the middle soft body layer sheet. When the third middle soft layer sheet is pulled, the first rectangular connecting sheet is driven to move. The first rectangular connecting piece pulls the clamping pieces to transmit around the clamp body, so that the two clamping pieces are closed to clamp the clamped object; when the middle soft body layer is released, the clamp is released to release the clamped object. The strain type clamping force sensor is adhered to the outermost layer close to the tail end of the clamping piece, and the sheet-shaped touch sensor is placed on the inner layer of the clamping piece.
The micro camera is arranged at the tail end of the micro operating arm, so that visual feedback is provided for minimally invasive surgery, and the operation is guaranteed.
The laser ablation optical fiber is arranged at the tail end of the micro-fine operation arm, and the pathological change tissue is removed by using laser energy.
The quick connecting mechanism of the driving rope comprises an external fixed connecting mechanism, an internal rope connector and a long guide pipe.
The external connecting mechanism is divided into two parts, a first connector is fixed with a first support frame of the driving controller through a stud, and a second connector is connected with the long guide tube of the surgical robot. The first connector and the second connector are connected with each other through a hole pin, and cylindrical holes are drilled in the two connectors for the rope and the internal rope connecting connector to pass through. The inner rope connector is a cylindrical small block, and the tail part of the connector is connected with the rope. When the head of the rope connector is close to the head of the rope connector, the driving rope of the fine operation arm and the driving rope of the motor set part are connected together by utilizing the magnetic force. The drive cord connector may slide within the bore of the outer connection mechanism. The tail part of the second connector extends out of the long catheter, so that minimally invasive surgery can be conveniently performed close to pathological tissues.
The rope driving controller structure comprises a motor set, a winding shaft, a first support frame, a second support frame, a motor driving plate and a guide pulley block mechanism;
the motor group mechanism comprises three groups of motors and controls the movement of three micro-fine operation arms of the robot operation system. Each group of motors comprises four motors, the tail end of each motor is connected with the winding shaft, and the traction rope wound on the winding shaft is driven. Three groups of motors are distributed in a conical shape, two motors which are arranged side by side in each group of motors are fixedly connected with the first supporting frame through screws, and the other two motors are connected with the second supporting frame through screws. The first support frame and the second support frame are connected and fixed through a stud. Each group of motors needs four motor drive plates, two motor drive plates are respectively fixed on the first support frame and the second support frame, and the motor drive plates are connected through copper columns. The guide pulley mechanism is connected with the support frames through screws, six guide pulleys are arranged on the front and back surfaces of the first support frame respectively and are distributed in a triangular mode, six guide pulleys are arranged on the back surface of the second support frame, and a hole is formed in the second support frame for a rope to pass through; the motor winding shaft fixed on the first support frame is close to the first support frame, the rope on the shaft is guided through the front pulley, the motor winding shaft fixed on the second support frame is far away from the first support frame, and the rope on the shaft is guided through the pulleys on the reverse side of the second support frame and the reverse side of the first support frame. The guide pulley cooperates with the motor, stimulates the gesture that the rope changed fine operation arm.
The invention also provides a control method based on the minimally invasive surgery system, which comprises a control method of a micro-fine operation arm, and the method comprises the following steps:
the method comprises the following steps that firstly, a micro camera is configured at the tail end of a micro operation arm and used for finding a focus, the postures of the camera and other actuators are adjusted according to signals fed back by the vision of the micro camera, and a better observation visual angle is provided to ensure that a clamp and a laser probe are close to the focus;
secondly, if visual feedback exists in a visual field blind area and the posture of the actuator cannot be fed back completely, the strain sensor at the flexible joint of the operating arm transmits data to an upper computer through an embedded signal layer to represent the posture of the actuator, an operator controls the motor according to the combination of feedback of the strain gauge and visual information, and the tension of the adjusting rope controls the posture of the actuator;
and step three, feeding back the picture in the patient body through the miniature camera in the operation, and controlling the rope to stretch by an operator through a motor to realize that the flexible operation arm is bent to be close to the lesion area. In order to obtain better control precision, the resistance wire of the variable stiffness layer is electrified to change the temperature when approaching the focus; the embedded air bag layer air pressure is changed. Under the combined action of the embedded air bag layer and the variable stiffness layer, on the premise of meeting the load requirement, an operator adjusts the stiffness of the micro-fine operating arm to obtain higher control precision and sensitivity, controls the tail end operating forceps to clamp the pathological change tissue and removes the pathological change tissue by using a laser ablation optical fiber, and greatly improves the control precision and the flexibility of the micro-fine operating arm in a complex operation environment;
and step four, when the operation forceps at the tail end of the fine operation arm hold the pathological change tissue, a feedback signal is transmitted to the upper computer through the signal layer, the clamping force of the operation forceps is controlled according to the strain, and meanwhile, the state of the pathological change tissue is judged according to the feedback of the touch sensor, so that reference is provided for the operation.
Has the advantages that:
compared with the traditional minimally invasive surgery system, the minimally invasive surgery system adopting the self-unfolding flexible micro-fine operation arm has the following beneficial effects:
1. the whole robot minimally invasive surgery system structure provided by the invention is convenient to miniaturize, and has the functions of driving, sensing, rigidity changing and the like. The problems that the traditional surgical robot is difficult to miniaturize and lacks of sensing feedback are solved. The operation arm can be unfolded by itself through the narrow wound, and the requirement of minimally invasive surgery in the narrow space is met.
2. The invention provides a conical distribution motor set which is fixedly connected by a triangular support frame and comprises a motor drive plate and a guide pulley. The tapered distribution motor set enables the traction rope to be concentrated at the tail end, so that the traction rope is convenient to be collected, and the length of the operation system is reduced.
3. The quick connector for the driving rope provided by the invention is used for quickly connecting the rope through magnetic force, so that the characteristic of modularization of a surgical robot system is reflected, and the efficiency of replacing the operating arm is improved. The end effector with different configurations can be flexibly replaced and used in the operation.
4. The folding type micro-fine operation arm provided by the invention is used for processing a high-precision two-dimensional multilayer material by laser, then is folded by a reserved crease to form a three-dimensional continuous body structure, and is automatically unfolded by utilizing the prestressed super-elastic alloy during working. A signal layer, a shape memory polymer, an embedded air bag and various sensors are embedded in the material during processing, so that the complexity of the structure of the micro operating arm is reduced. And the micro-fine operating arm is designed by integrated layered processing, so that the assembly error caused by the mode of processing before assembling and after assembling of the traditional continuum robot is avoided, and higher control precision can be realized. The micro-fine operating arm bends at the reserved flexible joint under the action of the driving rope, and the degree of freedom in two directions meets the operation requirements.
5. The folding surgical forceps have a self-unfolding function and a simple structure, and force feedback can be provided for operation by embedding the force sensor, the touch sensor and the signal layer.
The control method of the minimally invasive surgery mechanical arm has the advantages that:
1. the invention adopts a mode of combining visual feedback and stress feedback, thereby avoiding the visual blind area caused by single visual feedback, and the user can effectively control the posture of the fine operation arm.
2. The multilayer folding type micro operating arm comprises a variable rigidity layer and an air bag layer, and the rigidity of the continuum actuator can be changed through heating resistance wires and air suction. The two rigidity changing modes simultaneously act on the continuum, so that the change range of the rigidity of the operation arm is enlarged, and an operator can control the micro operation arm more accurately and flexibly.
3. The folding type surgical forceps adopt a multilayer folding structure, and the clamping pieces are provided with the strain sensors and the sheet-shaped touch sensors, so that the clamping force of the surgical forceps and the state of clamped tissues are visually reflected, and compared with common surgical forceps, more surgical information can be fed back to a user, and the operation is more accurate.
Drawings
FIG. 1 is a schematic diagram of the overall mechanism of a robotic minimally invasive surgery system;
FIG. 2 is a schematic view of a rope drive control mechanism;
FIG. 3 is a schematic view of a drive rope quick connect mechanism;
FIG. 4 is a schematic view of a flexible micro manipulator arm;
FIG. 5 is a schematic view of the flexible micro manipulator arm deployed;
fig. 6 is a material arrangement diagram of a flexible fine operation arm;
FIG. 7 is a schematic view of a folding forceps mechanism;
FIG. 8 is a schematic block diagram of a minimally invasive surgical robotic system;
number designation in the figures: 1, a flexible micro-fine operating arm mechanism; 2 driving a rope quick connecting mechanism; 3 the rope connector is connected with the stud by the rope driving control mechanism; 4 a rope drive control mechanism; 5 driving the rope; 6 the rope driver is connected with the rope driving control mechanism through a nut; 7 the urinary bladder; 8 a reverse side guide pulley of the second support frame; 9 rope driving motor group motor driving board; 10, connecting a motor driving plate with a copper column; 11 passing a rope hole through the second support frame; 12, connecting studs of the first support frame and the second support frame; 13 connecting nuts of the motor drive plate and the copper columns; 14 motor; 15 connecting screws of the motor support frame and the motor; 16 the guide pulley is connected with a support frame through a screw; 17 a front guide pulley of the first support frame; 18 first support frame reverse side guide pulleys; 19 driving motor group first support frame; 20 driving motor set second support frame; 21 a reverse side guide pulley of the second support frame; 22 a long catheter of a microsurgical system; 23 a magnetic first cord connector; 24 a magnetic second cord connector; 25 a first connector; 26 positioning pins; 27 a second connector; 28 a flexible fine manipulator arm; 29 stress sensors at the flexible joints; 30 prestressed super-elastic alloy; 31 the surfaces of the operation arms are connected in a strip shape; 32 operating arm flexible joints; 33 embedding a drive wire; 34 a stainless steel layer; 35 an intermediate layer 36 of a soft film layer; 37 a variable stiffness layer; 38 an adhesive film layer; 39 a signal layer; 40 variable stiffness layer embedded airbags; 41 folding type operation forceps body; 42 a first clip; 43 patch type tactile sensors; 44 a first rectangular connecting piece; 45 second rectangular connecting pieces; 46 third intermediate soft body layer.
Detailed Description
The technical solution of the present invention will now be fully described with reference to the accompanying drawings. The following description is merely exemplary of some, but not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art without any inventive step are within the scope of the present invention.
Example 1
Referring to fig. 1, a robotic minimally invasive surgery system is provided, taking bladder surgery as an example, a flexible micro-manipulator mechanism 1; a driving rope quick connecting mechanism 2; the rope connector and the rope driving control mechanism are connected with the stud 3; a rope drive control mechanism 4; a drive rope 5; the rope driver and the rope driving control mechanism are connected with a nut 6; the bladder 7.
Referring to fig. 2, a schematic diagram of a rope drive control mechanism is shown. The mechanism comprises two motor supporting frames; two support frames of a first support frame 19 of a driving motor set and a second support frame 20 of the driving motor set are connected with a second support frame connecting stud 12 through the first support frame, a motor 14 is connected to the support frames through a motor support frame and a motor connecting screw 15, the three groups of motors are distributed on the support frames in a conical shape, and a traction rope is concentrated at the tail end and convenient to gather. The motor driving plate 9 is fixed at two ends of the motor set through the copper columns 10 and the connecting nuts 13 to drive and control the motor. A spool 21 is connected to the motor output for driving the pull cord when the motor is rotating. Each group has four motors which can control the movement of a fine operation arm in two directions. The winding shafts of the two motors point to the direction far away from the tail end operating arm, and the driving rope wound on the driving rope pulls the operating arm through the rope passing hole 11 of the second support frame through the guide pulley 8 on the back of the second support frame and the guide pulley 18 on the back of the first support frame. The winding shafts of the other two motors point to the direction of the operating arm, and the driving rope wound on the winding shafts changes the movement direction through the guide pulley 17 on the front surface of the first support frame to pull the operating arm. The guide pulley is fixed on the support frame through a guide pulley and a support frame connecting screw 16.
Referring to fig. 3, a schematic view of the drive rope quick connect mechanism is shown. The mechanism includes a microsurgical system long catheter 22; a magnetic first cord connector 23; a magnetic second cord connector 24; a first connector 25; positioning pins 26; a second connector 27; the long catheter 22 of the microsurgical robot is connected with a first connector, and the long catheter can convey an actuator to a diseased tissue site during operation. The first connector and the second connector are connected together through a pin. The positioning pins 26 ensure a one-to-one correspondence of the two connectors for the passage of the magnetic cord connectors 22 and 23. The magnetic connectors are connected with each other by magnetic force, and the tail part of the connector is tied with a rope. The requirements of quickly connecting the driving rope and replacing the actuator module are met.
Referring to fig. 4, a schematic view of a flexible micro manipulator is shown. The mechanism includes a flexible micro manipulator arm 28; stress sensors 29 at the flexible joints; a pre-stressed super-elastic alloy 30; the operating arm surface is strip-shaped connected 31; an operating arm flexible joint 32; drive wires 33 are embedded. The outermost layer of the flexible fine manipulator arm 28 is provided with a stainless steel metal layer to provide rigid support for the entire manipulator arm structure. The flexible joint 32 is adhered with the patch type strain sensor 29, so that the bending stress at the flexible joint can be accurately reflected; the connecting strip 31 connects the rigid units of the two flexible fine manipulation arms. The prestressed superelastic alloy strip 30 is embedded inside the fine manipulation arm, and the manipulation arm is unfolded from the folded state to the working state after the electric power is applied. The wire 33 embedded in the continuous flexible layer is connected to a drive cord which pulls the wire to bend the actuator to a desired surgical site.
Fig. 5 is a schematic view showing the unfolding of the flexible micro-manipulator. Including a pre-stressed superelastic alloy 30; an outer stainless steel layer 34 and an intermediate layer 35. When the device is not unfolded, the operation arm is in a plane two-dimensional state, so that the volume is saved, and the device is convenient to convey. The operating arm is unfolded to a working state by the prestressed elastic alloy.
Fig. 6 is a diagram showing a layout of a flexible fine manipulator. Including a stainless steel layer 34; an intermediate layer 35; a soft film layer 36; a variable stiffness layer 37; an adhesive film layer 38; a signal layer 39; the variable stiffness layer embeds a bladder 40. The outermost layer of the flexible fine manipulator arm is a stainless steel metal layer 34, which provides rigid support for the whole manipulator arm. At the flexible joint part of the mechanical arm, the outermost layer is a soft film layer 36 which has good toughness and bendability, so that the degree of freedom of the mechanical arm actuator during bending is ensured. The soft film layer and the stainless steel layer are joined together by an adhesive film layer 38. The driving wire 33 is embedded in the cavity of the soft film layer and connected with the driving rope to drive the whole flexible fine operating arm. The variable stiffness layer 37 is bonded to the soft film layer through the adhesive film layer, and the main material of the variable stiffness layer is shape memory polymer. The rigidity of the material changes along with the change of temperature, when the temperature is increased, the rigidity of the material becomes smaller, and when the temperature is reduced, the rigidity of the material becomes larger. The resistance wire embedded in the variable stiffness layer can effectively change the temperature of the variable stiffness layer material, so that the stiffness of the operating arm can be adjusted. The rigidity-variable layer comprises an air bag layer 39 made of a temperature-resistant material film, and when the air bag layer is filled with air under other conditions, the rigidity of the whole operating arm is reduced. When the air bag layer is vacuumized, the rigidity of the whole operation arm is increased. The inflatable air bag is combined with the variable-rigidity material, so that the adjustable rigidity range of the operating arm is greatly increased, and the requirement of flexible operation is met. The signal layer 39 is connected with the variable stiffness layer through the adhesive film layer, and the output signal of the external sensor of the micro-fine operation arm can be transmitted in the signal layer to eliminate the peripheral wiring requirement of the actuator. The pre-stressed superelastic alloy 30 is deployed inside the fine manipulator arms, enabling the manipulator arms to self-expand. The variable stiffness layer is made of shape memory polymer, and the embedded air bag is made of high-temperature resistant material and is wrapped by the variable stiffness layer.
In the present embodiment, a forceps mechanism is taken as an example, and on the basis of the above-mentioned surgical system, different medical instruments can be replaced according to different surgical items by being configured at the distal end of the operation arm. Referring to fig. 7, a schematic diagram of a folding forceps mechanism is shown, including a variable stiffness layer embedded balloon 40; a foldable surgical body 41; a first jaw 42; a patch type tactile sensor 43; a first rectangular connecting piece 44; a second rectangular connecting piece 45; a third intermediate soft-body layer 46. The surgical forceps body 40 is hexagonal prism-shaped, and the inner side is pasted with the prestress super-elastic alloy 30. The surgical forceps body can be unfolded automatically under the action of the elastic alloy, and the forceps body is connected with the first clamping piece 42 through the soft film layer. The clamping piece can freely rotate around the clamp body. The stress sensor 30 and the patch type tactile sensor 43 are attached to the outside and the inside of the first clip piece, respectively. The strain sensor can transmit deformation information of the caliper body. The effective cooperation of meeting an emergency and touch sensor can effectively reflect the size of first clamping piece clamping-force and the soft or hard degree information of pathological change tissue. The first rectangular connecting piece 44 is connected with the first clamping piece of the soft film layer, and the first rectangular connecting piece is connected with the second rectangular connecting piece 45, and both the first rectangular connecting piece and the second rectangular connecting piece can rotate freely. The second rectangular tab is an elongated strip that is attached to the third intermediate soft body layer 46. The third middle soft body layer and the second rectangular connecting sheet, the first rectangular connecting sheet and the first clamping sheet form a four-bar mechanism, the third middle soft body layer is pulled, the first clamping sheet is bent around the body of the surgical forceps, the surgical forceps hold the lesion tissue, and the three surgical forceps of the middle soft body layer are released. The operation forceps can be flexibly operated, and the requirement of minimally invasive surgery is met.
Example 2
Fig. 8 is a schematic block diagram of a robot system for minimally invasive surgery. The operator controls the rope driving controller through visual feedback of the camera, force feedback of the surgical forceps and stress feedback on the operating arm, and the posture and the rigidity of the operating arm are adjusted to complete the operation.
Specifically, the control method of the minimally invasive surgery system comprises a control method of a fine operation arm, and the method comprises the following steps:
the method comprises the following steps that firstly, a micro camera is configured at the tail end of a micro operation arm and used for finding a focus, the postures of the camera and other actuators are adjusted according to signals fed back by the vision of the micro camera, and a better observation visual angle is provided to ensure that a clamp and a laser probe are close to the focus;
secondly, if visual feedback exists in a visual field blind area and the posture of the actuator cannot be fed back completely, the strain sensor at the flexible joint of the operating arm transmits data to an upper computer through an embedded signal layer to represent the posture of the actuator, an operator controls the motor according to the combination of feedback of the strain gauge and visual information, and the tension of the adjusting rope controls the posture of the actuator;
and step three, feeding back the picture in the patient body through the miniature camera in the operation, and controlling the rope to stretch by an operator through a motor to realize that the flexible operation arm is bent to be close to the lesion area. In order to obtain better control precision, the resistance wire of the variable stiffness layer is electrified to change the temperature when approaching the focus; the embedded air bag layer air pressure is changed. Under the combined action of the embedded air bag layer and the variable stiffness layer, on the premise of meeting the load requirement, an operator adjusts the stiffness of the micro-fine operating arm to obtain higher control precision and sensitivity, controls the tail end operating forceps to clamp the pathological change tissue and removes the pathological change tissue by using a laser ablation optical fiber, and greatly improves the control precision and the flexibility of the micro-fine operating arm in a complex operation environment;
and step four, when the operation forceps at the tail end of the fine operation arm hold the pathological change tissue, a feedback signal is transmitted to the upper computer through the signal layer, the clamping force of the operation forceps is controlled according to the strain, and meanwhile, the state of the pathological change tissue is judged according to the feedback of the touch sensor, so that reference is provided for the operation.
The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art should make various changes or modifications without departing from the spirit and scope of the present invention.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification and equivalents thereof.
Claims (7)
1. A minimally invasive surgery system adopting a self-unfolding flexible micro-fine operating arm is characterized by comprising a self-unfolding flexible micro-fine operating arm structure, a driving rope quick connecting mechanism and a rope driving control mechanism which are sequentially connected;
the flexible fine operation arm structure comprises a folding flexible fine operation arm and folding surgical forceps;
the flexible fine operating arm is positioned at the end part of the whole surgical system, extends into the surgical object, and is internally connected to the rope driving control mechanism through a rope structure;
the rope driving control mechanism enables the rope in the system to extend or shorten through the motor so as to drive the flexible micro-fine operation arm structure to deform, and the folding type surgical forceps can complete surgical actions;
the flexible micro-fine operation arm structure comprises a plurality of flexible micro-fine operation arms, and each flexible micro-fine operation arm comprises an outer metal layer, an adhesive film layer, a soft film layer, a variable stiffness layer, an embedded air bag, a signal layer, a strain sensor and an embedded driving metal wire; the flexible micro-fine operation arms are connected through flexible joints, and the whole flexible micro-fine operation arms are strip-shaped; the outermost layer of each flexible fine operating arm is a metal layer, the middle of each flexible fine operating arm comprises a soft thin film layer, a variable stiffness layer and a signal layer, the soft thin film layers are connected with the metal layer, and the layers are connected with each other through an adhesive thin film layer;
the variable-stiffness layer is internally embedded with a driving metal wire and an embedded air bag; a stress sensor is arranged at the flexible joint; the inner side of the flexible fine operation arm is provided with prestressed super-elastic alloy;
and a laser ablation optical fiber is arranged at the tail end of the flexible micro-fine operation arm.
2. The minimally invasive surgical system adopting the self-unfolding flexible micro manipulator according to claim 1, wherein, during operation, the built-in prestressed super-elastic alloy automatically unfolds, the unfolded flexible micro manipulator is formed by connecting metal unit blocks through manipulator flexible joints, the side edges of two adjacent metal unit blocks are connected by a slender strip-shaped metal layer, and the slender strip-shaped metal layer is wrapped outside the manipulator flexible joints;
the slender strip-shaped metal layers are distributed in a staggered mode, the first metal unit block is connected with the second metal unit block through two slender strip-shaped metal layers with opposite side edges, the slender strip-shaped metal layers between the second metal unit block and the third metal unit block are located on two different surfaces of the last pair of slender strip-shaped metal layers, and the like;
the strain sensors are arranged between the two strip-shaped metal layers and are distributed in a staggered mode.
3. The minimally invasive surgical system using the self-expanding flexible micro-manipulator arm according to claim 1, wherein the folding forceps comprise a forceps body, a forceps head, a strain gauge force sensor and a plate-like tactile sensor; wherein,
the surgical forceps body is connected with a surgical forceps head, the surgical forceps head consists of two trapezoidal pieces with the same shape, namely a first clamping piece and a second clamping piece, the clamping pieces are connected with the surgical forceps body through a soft film layer, and the clamping pieces rotate freely around the forceps body to achieve the opening and closing effects;
a surface-mounted touch sensor is attached to the opposite surface of the tail end of each clamping piece, and a stress sensor is attached to the outer side surface of the tail end of each clamping piece.
4. The minimally invasive surgical system using the self-expanding flexible micro manipulator arm as claimed in claim 3, wherein a rectangular hole is formed in the center of the clamping piece, the front end of the first rectangular connecting piece is connected to one end of the rectangular hole of the clamping piece through the third middle soft body layer, and the rectangular connecting piece rotates around the clamping piece;
the tail end of the first rectangular connecting sheet is connected with a second rectangular connecting sheet through an intermediate soft film layer, the length of the second rectangular connecting sheet is smaller than that of the first rectangular connecting sheet, the second rectangular connecting sheet is connected to a third intermediate soft film layer, and the rectangular connecting sheet and the clamping sheet form a four-bar mechanism;
the second rectangular connecting sheets of the first clamping sheet and the second clamping sheet are connected in a three-phase mode through a third middle soft body layer sheet.
5. The minimally invasive surgical system adopting the self-expanding flexible micro-manipulator arm as claimed in claim 4, wherein the surgical forceps body is made of a material pressed by a metal layer, a soft film layer, an adhesive film layer and a signal layer, the material planes are bonded together after laser processing and formed, and are folded into a hexagonal prism shape, the inner side surface is provided with the prestressed super-elastic alloy, and the surgical forceps body is expanded during operation;
the first rectangular connecting sheet is manufactured in the same way as the surgical forceps body;
when the third middle soft layer sheet is pulled, the first rectangular connecting sheet is driven to move;
the first rectangular connecting piece pulls the clamping pieces to transmit around the clamp body, so that the two clamping pieces are closed to clamp the clamped object; when the middle soft body layer is loosened, the clamp is loosened to release the clamped object;
the strain type clamping force sensor is adhered to the outermost layer close to the tail end of the clamping piece, and the sheet-shaped touch sensor is placed on the inner layer of the clamping piece.
6. The minimally invasive surgical system using a self-deploying flexible micro manipulator arm according to claim 1, wherein the drive cable quick connect mechanism comprises an external fixed connection mechanism, an internal cable connector, and a long conduit;
the external fixed connection mechanism is divided into two parts, a first connector is fixed with the driving rope connector through a stud, and a second connector is connected with the long guide pipe of the surgical robot; the first connector and the second connector are mutually connected through a hole pin, and cylindrical holes are drilled in the two connectors for the rope and the internal rope connector to pass through;
the inner rope connector is a cylindrical small block, the tail part of the inner rope connector is connected with the rope, when the head part of the inner rope connector is close to the inner rope connector, the inner rope connector and the inner rope connector are connected through magnetic force, and a driving rope of the fine operating arm and a driving rope of the motor set are connected together; the driving rope connector slides in a hole of the external fixed connecting mechanism, and the tail part of the second connector extends out of the long catheter, so that minimally invasive surgery can be conveniently performed by approaching lesion tissues.
7. The minimally invasive surgical system using a self-deploying flexible micro-manipulator arm according to claim 6, wherein the cable drive control mechanism comprises a motor set, a spool, a first support bracket, a second support bracket, a motor drive plate, and a guide pulley assembly mechanism;
the motor set mechanism comprises three groups of motors, and the minimally invasive surgery system comprises three micro-fine operation arms; each group of motors comprises four motors, the tail end of each motor is connected with the winding shaft, and the traction rope wound on the winding shaft is driven; the three groups of motors are distributed in a conical shape, two parallel motors in each group of motors are fixedly connected with the first support frame, and the other two motors are fixedly connected with the second support frame;
the first support frame is fixedly connected with the second support frame, each group of motors comprises four motor drive boards, the first support frame and the second support frame are respectively fixedly provided with two motor drive boards, and the motor drive boards are connected through copper columns;
the guide pulley block mechanism is connected with the support frames, six guide pulleys are respectively arranged on the front surface and the back surface of the first support frame and are distributed in a triangular mode, six guide pulleys are arranged on the back surface of the second support frame, and a hole is formed in the second support frame for a rope to pass through; the motor winding shaft fixed on the first support frame is close to the first support frame, the rope on the shaft is guided by the pulley on the front side, the motor winding shaft fixed on the second support frame is far away from the first support frame, and the rope on the shaft is guided by the pulleys on the back side of the second support frame and the back side of the first support frame;
the guide pulley is matched with the motor, and pulls the rope to change the posture of the fine operation arm.
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| CN111223374B (en) * | 2020-03-12 | 2021-01-05 | 吉林大学 | Demonstration device for minimally invasive surgery model of Maimengtong |
| CN111407411B (en) * | 2020-03-27 | 2023-03-17 | 南京航空航天大学 | Micro-fine operation arm system and control method thereof |
| CN113303911B (en) * | 2021-06-17 | 2022-04-08 | 浙江大学 | Modular flexible operating arm based on single power source |
| CN114748110B (en) * | 2022-04-01 | 2024-08-13 | 天津大学 | Flexible joint and flexible instrument arm |
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