CN110811842A

CN110811842A - Portable ureter soft lens robot

Info

Publication number: CN110811842A
Application number: CN201911002796.3A
Authority: CN
Inventors: 余月; 王共先; 傅斌; 习海波
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-02-21

Abstract

The invention discloses a portable ureter soft lens robot, and relates to the field of master-slave medical endoscope robot systems. The tripod is foldable and the height of the tripod can be adjusted. There is a level indicator. The integral part can be disassembled into a plurality of separate parts. The size of the part is reasonable, and the weight of the part does not exceed 25 kg. Can be conveniently placed in a customized aluminum box or a customized suitcase, reduces disordered communication and invalid communication among specialties except for medical science, is beneficial to subsequent mass production, and can be carried with a soft lens by a doctor.

Description

Portable ureter soft lens robot

Technical Field

The invention relates to the field of master-slave medical endoscope robot systems, in particular to a portable ureteroscope robot.

Background

The development of surgical instruments has led to surgical advances. Hundreds of years ago, specialized surgical instruments separated surgeons from a small group of handwork professionals. The development of endoscopes has taken surgery from traditional open surgery into the minimally invasive endoscopic surgery era decades ago. Medically, a "master-slave" robot is used, which is directed by a doctor, i.e. a program in which the robot runs without automation. The surgeon is required to control it in the "master hand" (master console), and the robot itself (slave hand) is responsible for replicating the surgeon's actions, performing the surgery, or manipulating the instruments.

The only dedicated robot now related to the soft ureteroscope surgery was the RoboflexAvicenna soft ureteroscope robot from 2012, which has the following drawbacks: 1. the eyes and hands are separated during operation. In the operation of the ureteroscope, it is difficult for a beginner to quickly understand the link between the operation and the lens action. 2. Due to the fact that the mobility of a hand of a person is limited, when the flexible ureteroscope is rotated, the rotation angle is limited, and movement of the flexible ureteroscope section is limited. Reduces the operation flexibility of the operator and increases the difficulty of the operation. 3. The operator needs to operate the flexible instrument with the long handle by a long-time cantilever, the physical requirement is higher, and the trembling generated by muscle fatigue and stiffness in the later period can influence the accuracy and the safety of the operation. 4. When on-site fluoroscopy is required to guide guidewire placement and review the stone crushing situation, there is a long-term exposure to radiation for the surgeon. .

Disclosure of Invention

The invention aims to solve the technical problem of providing a portable ureter soft lens robot, which reduces disordered communication and invalid communication among specialties except for medical science, is beneficial to subsequent mass production, and can be carried with soft lenses by doctors.

In order to achieve the above purpose, the present invention provides the following technical solutions:

this portable ureter soft mirror robot includes radio remote control transmitter and the power of 4 passageways, whole set of robot system places on folding tripod, mainly by tripod and base, axis and support, driving pulley and belt, the rocking arm, the balancing weight, linear slide rail and slider, gear and rack, soft mirror rocking bar connector, steering wheel and cable, the receiver, the battery is constituteed, whole set of system can dismantle fast, the tripod is collapsible, but height-adjusting, there is the level indicator, the remote control transmitter is supplied power by 3.7V lithium polymer battery, receiver and the steering wheel from the hand are supplied power by 7.4V lithium polymer battery, 3 degrees of freedom (3DOF) of master control end are responsible for controlling 3 servo steering wheel control soft mirrors of driven end and accomplish 3 actions of soft mirror motion in the human body, promptly: the steering engine advances/retreats, the steering engine is clockwise/anticlockwise rotated, the positive/reverse bending of steering engine soft mirror head end, all mechanical action parts are integrated on the tripod, the soft mirror is placed in a fixed clamping groove designed by a sliding block on a linear sliding rail, a nylon magic tape can quickly lock the soft mirror, a steering engine capable of rotating 180 degrees clockwise/anticlockwise is arranged on a support at the top end of the tripod, a driving wheel is installed on the steering engine, a driven wheel on a center porridge is driven through a gear belt, the driving wheel and the gear belt are integrated into a mechanism, a middle shaft is driven to rotate, two support arms are driven to rotate, axial rotation of the soft mirror is driven, the support arms are symmetrically designed and are positioned at two ends of a middle shaft, one end of the support arms is a fixed end of the soft mirror, a steering engine device which is used for advancing/retreating the soft.

On the support arm of soft mirror end, there are a set of linear slide rail and slider, steering wheel that is fixed in on the slider can positive and negative rotation 720, gear on the steering wheel dish and the mutual interlock of the rack of linear slide rail side, when steering wheel toothed disc rotated, the slip module back-and-forth movement that can support the steering wheel place exceeded 5cm, the event is fixed on the slider and the soft mirror also can corresponding back-and-forth movement, scope 10cm, finally, in the side of slip module, there is a steering wheel that can positive and negative rotation 90, the steering wheel rocking arm can positive and negative rotation 45, the flexible fixing device through bulb pull rod and silica gel texture links to each other with the remote pole (thumb control in traditional operation) of traditional soft mirror, when the steering wheel rocking arm was rotatory, drive soft mirror remote pole, thereby drive soft mirror head end joint positive and.

The beneficial effect of adopting above technical scheme is:

1. multi-robot robots like the da vinci surgical robot system have 7DOF per robot arm. And the mechanical arms need to be communicated and coordinated. The research and development investment is huge. The structure is complex, and the research and development time is long. The special robot for the flexible ureteroscope only needs a single mechanical arm, and the flexible ureteroscope only has 3DOF in a human body, namely: advance/retreat, forward/counterclockwise rotation, forward/reverse curvature of the soft lens end. And 4DOF is added to the control chip laser fiber to move forward and backward by 1 DOF. The structure is relatively simple, and the medical robot is an entry point of the medical robot according with the actual technical level.

2. The medical robot technology is a cross field integrating multiple disciplines of medicine, biomechanics, mechanics, computer graphics, computer vision, mathematical analysis and the like, and the related disciplines are multiple and difficult to communicate. Based on ripe and reliable finished product steering engine and radio remote control model product advantage is many: (1) the commercial property means mass production, and directly reduces the research and development cost of the project. (2) The commercialized attributes mean direct purchase and debugging, and do not need to be manufactured by oneself. The development period is reduced. (3) The problem of mechanical and electrical parts is solved, and disordered communication and ineffective communication among specialties except for the medical science are reduced. (4) Is beneficial to subsequent mass production.

3. Miniaturization and wireless control are blanks at home and abroad. Is portable and can be carried with a soft lens by a doctor. In the future clinical application, the method is favorable for realizing the capabilities of 'giving doctors to home' and 'giving new technologies to home' in the primary medical institution.

Drawings

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of the portable ureteroscope robot.

The device comprises a power supply 1, a tripod 2, a base 3, a middle shaft, a support, a transmission belt pulley 4, a belt 5, a rocker arm 6, a counterweight block 7, a linear slide rail 7, a slide block 8, a gear 9, a rack 10, a soft mirror rocker connector 11, a steering engine 12, a steering engine 13, a steering engine 14, a cable 15, a receiver 16, a battery 17 and a rocker 18.

Detailed Description

The preferred embodiment of the portable ureteroscope robot is explained in detail in the following with reference to the attached drawings.

Fig. 1 shows a specific embodiment of the portable ureteroscope robot:

as shown in figure 1, the portable ureteral soft lens robot comprises a 4-channel radio remote control transmitter and a power supply 1, wherein the whole set of robot system is placed on a foldable tripod and mainly comprises a tripod and a base 2, a middle shaft and a support 3, a transmission belt pulley and a belt 4, a rocker arm 5, a balancing weight 6, a linear slide rail 7, a slide block 8, a gear 9, a rack 10, a soft lens rocker connector 11, steering gears 12, 13, 14, a cable 15, a receiver 16 and a battery 17, and the whole set of system can be quickly disassembled, the tripod can be folded, the height can be adjusted and a level indicator is arranged.

The remote control transmitter 1 is powered by a 3.7V lithium polymer battery, the whole system has low energy consumption, and can continuously work for 6 hours in a full power state. The receiver 16 and the steering engines 12, 13 and 14 are powered by 7.4v lithium polymer batteries 17.

The battery at the side of the transmitter 1 and the receiver 16 is connected, the flexible ureteroscope is placed in a fixed clamping groove of a sliding block 8 on a hand-operated arm 5, the flexible ureteroscope is manually placed in a flexible ureteroscope conveying sheath, the flexible ureteroscope is adjusted to a proper height from a mobile mechanism 2 and is placed (basically horizontal to the urethral orifice, a male patient can be fixed on a surgical drape by using gauze and forceps, and the penis of the male patient is assisted to be close to the horizontal state), the flexible ureteroscope is placed between two legs of a lithotomy position of the patient, the head end of a lens reaches the position of a renal pelvis, a doctor controls a rocker 18 on a master hand, controls a steering engine 12, a steering engine 13 and a steering engine 14 on the slave hand to act, so that a related mechanism is driven, the flexible ureteroscope placed in the.

An operator operates the rocker 18 on the transmitter 1, the action model is transmitted to the receiver through radio waves by processing a deflection current signal, the receiver 16 translates the signal into a pulse signal and then transmits the pulse signal to the steering engine 12, the steering engine 13, the steering engine 14, the steering engine 12 and the steering engine 13, and the steering engine 14 makes an action angle posture according to an action command of the operator. One steering engine occupies one channel to realize one degree of freedom (DOF). A plurality of steering engines can simultaneously realize a plurality of degrees of freedom. The system meets the requirements of the framework of the subject "active-passive".

The 3 degrees of freedom mobility (3DOF) of master control end are responsible for controlling 3 servo steering wheel 12 of driven end, steering wheel 13, and 3 actions of soft mirror motion in the human body are accomplished to steering wheel 14 control soft mirror, promptly: the steering engine 13 moves forward/backward, the steering engine 12 rotates clockwise/counterclockwise, and the steering engine 14 bends the soft lens end forwards/backwards.

All mechanical action parts are integrated on tripod 2, the soft mirror is placed in the fixed slot designed by slide block 8 on the linear slide rail, the nylon magic tape can lock the soft mirror fast, on the support on 2 tops of tripod, there is a steering wheel 12 that can rotate 180 degrees clockwise/anticlockwise, the steering wheel installation action wheel, through gear belt, drive the driven wheel on the central congee, the action wheel, gear belt, return to mechanism 4 from the driven wheel, it is rotatory to drive axis 3, thereby drive two support arms 5 and rotate, thereby drive the axial rotation of soft mirror.

The support arms 5 are symmetrically designed and are positioned at two ends of the middle shaft 3, one end of each support arm is a fixed end of the soft lens, a steering gear device which is used for moving the soft lens forwards and backwards and operating the soft lens handle to rotate is arranged on each support arm, and the other end of each support arm is provided with a balance weight 6.

On the support arm of soft mirror end 5, there are a set of linear slide rail 7 and slider 8, steering wheel 13 that is fixed in on slider 8 can rotate 720 in the forward and reverse direction, gear 9 on the steering wheel dish and the mutual interlock of rack 10 of linear slide rail side, when steering wheel 13 toothed disc rotated, can support the slip module 8 back-and-forth movement at steering wheel place and exceed 5cm, so fix on slider 8 soft mirror also can corresponding back-and-forth movement, the scope 10cm, finally, in the side of slip module 8, there is a steering wheel 14 that can rotate 90 in the forward and reverse direction, steering wheel 14 rocking arm can rotate 45 in the forward and reverse direction, through the soft fixing device 11 of bulb pull rod and silica gel texture and the soft remote rod (thumb control in traditional operation) of traditional soft mirror link to each other, when steering wheel 14 rocking arm rotates, drive soft mirror remote rod 11, thereby drive soft mirror head end joint.

The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the inventive concept of the present invention, which falls into the protection scope of the present invention.

Claims

1. The utility model provides a portable ureteroscope robot which characterized in that: the portable ureteroscope robot comprises a 4-channel radio remote control transmitter and a power supply (1), a whole set of robot system is placed on a foldable tripod and mainly comprises a tripod and a base (2), a middle shaft and a support (3), a transmission belt pulley and a belt (4), a rocker arm (5), a balancing weight (6), a linear sliding rail (7), a sliding block (8), a gear (9), a rack (10), a flexible-mirror rocker connector (11), steering gears (12, 13, 14), a cable (15), a receiver (16) and a battery (17), the whole set of system can be rapidly disassembled, the tripod can be folded, the height can be adjusted, a horizontal indicator is arranged, the remote control transmitter (1) is powered by a 3.7V lithium polymer battery, the receiver (16) and the steering gears (12, 13, 14) of a slave hand are powered by a 7.4V lithium polymer battery (17), and the 3 degrees of freedom (3DOF) of a master control end is responsible for controlling 3 servo steering gears (12) of a slave end, 13, 14) controlling the soft lens to complete 3 actions of the soft lens moving in the human body, namely: the steering engine (13) advances/retreats, the steering engine (12) rotates clockwise/anticlockwise, the steering engine (14) bends the soft lens end clockwise/reversely, all mechanical action parts are integrated on a tripod (2), the soft lens is placed in a fixed clamping groove designed by a sliding block (8) on a linear sliding rail, a nylon magic tape can lock the soft lens quickly, a steering engine (12) capable of rotating clockwise/anticlockwise by 180 degrees is arranged on a support at the top end of the tripod (2), the steering engine is provided with a driving wheel, a driven wheel on a central porridge is driven through a gear belt, the driving wheel and the gear belt are returned to a mechanism (4) to drive a central shaft (3) to rotate so as to drive two support arms (5) to rotate axially, the support arms (5) are designed symmetrically and are positioned at two ends of the central shaft (3), one end of the soft lens is a fixed end of the soft lens, and a steering engine device which is responsible for the forward/retreating of the soft lens and operating, the other end is provided with a counterweight (6).

2. The portable ureteroscope robot of claim 1, wherein: a group of linear sliding rails (7) and a sliding block (8) are arranged on a support arm (5) at the end of the soft mirror, a steering engine (13) fixed on the sliding block (8) can rotate in the forward and reverse directions by 720 degrees, a gear (9) on a wheel disc of the steering engine is meshed with a rack (10) at the side edge of the linear sliding rail, when the gear disc of the steering engine (13) rotates, a sliding module (8) where the steering engine is arranged can be supported to move back and forth by more than 5cm, so that the soft mirror fixed on the sliding block (8) can also move back and forth correspondingly within a range of 10cm, finally, a steering engine (14) capable of rotating in the forward and reverse directions by 90 degrees is arranged on the side surface of the sliding module (8), a rocker arm of the steering engine (14) can rotate in the forward and reverse directions by 45 degrees, a soft fixing device (11) made of ball-head pull rods and silica gel is connected with, thereby driving the joint at the head end of the soft lens to do forward and backward bending motion.