CN111557636B

CN111557636B - Soft mirror operation auxiliary system

Info

Publication number: CN111557636B
Application number: CN202010248379.3A
Authority: CN
Inventors: 牛金富; 徐佳; 施晨阳
Original assignee: Hangzhou Fibo Laser High Tech Co ltd
Current assignee: Hangzhou Fibo Laser High Tech Co ltd
Priority date: 2020-01-14
Filing date: 2020-04-01
Publication date: 2023-08-11
Anticipated expiration: 2040-04-01
Also published as: CN111557636A

Abstract

The application discloses a soft mirror operation auxiliary system, which comprises: soft mirror device, auxiliary device, control device; wherein the soft mirror device comprises a radio frequency tag; the auxiliary device comprises: a driving motor; a first controller for transmitting a driving signal to the driving motor; the first reading and writing device is used for reading the soft mirror label of the soft mirror device; the first communication module is used for enabling the first controller to be in communication connection with the outside through a wireless network so as to transmit information read by the first reading and writing device. Further, the manipulation device includes: a manipulator for being manipulated by a user to generate a manipulation signal; the second communication module is used for enabling the second controller to be in communication connection with the outside through a wireless communication network; the first communication module and the second communication form wireless communication connection so that the operating device can acquire the data of the RFID tag. The application has the advantage of providing a soft mirror operation auxiliary system capable of identifying and managing the soft mirror device.

Description

Soft mirror operation auxiliary system

Technical Field

The present application relates to a surgical assistance system, and in particular to a soft-mirror surgical assistance system.

Background

Upper urinary tract stones are one of the most common diseases of the urinary system, accounting for about 40% of urinary surgery. Percutaneous nephrolithotripsy (PCNL) has been considered as the gold standard for treating large stones, multiple stones or lower stones, due to its minimal trauma and high clearance of stones. However, given the complexity of renal anatomy and the lesions caused by stones, and the variability of adjacent organs, PCNL remains a number of unpredictable, most critical and difficult, accurate puncture positioning, and complications resulting therefrom are bleeding and infection. PCNL has been found to have a bleeding rate of about 13.7% during and after surgery, a pleural lesion of about 4.5-16% and a peripheral adjacent organ lesion of about 0.4%. In addition, multiple pass and multiple stage lithotripsy treatments are often required for complex stones, further increasing the risk of surgical bleeding and infection.

Ureteroscope (FURS) has evolved rapidly over the last decade and has been a new generation of treatment for upper urinary tract stones in combination with holmium lasers to replace Extracorporeal Shock Wave Lithotripsy (ESWL) and percutaneous nephroscopy lithotomy (PCNL). FURS is a noninvasive technology operated through natural channels of human bodies, so that the risk of PCNL kidney hemorrhage and infection is avoided, and the safety is higher. The soft structure design of the endoscope body enables the soft endoscope to reach the whole upper urinary tract renal pelvis renal calyx system, greatly improves the diagnosis and treatment range and reduces the damage to tissues such as human urethra and ureter. However, fuss are challenging to operate, and are mainly characterized by a complex upper urinary tract aggregation system that is difficult to master and a long learning curve; the ureteral soft lens has high price, the lens body is easy to damage, and the medical cost is high; the operation of the ureteroscope cannot be independently finished by one person, a plurality of assistants are needed to assist in finishing pouring, placing optical fibers, sleeving stone baskets and the like, and the coordination is poor; the operation posture does not accord with the human engineering principle, the operation fatigue degree of operators is high, and the stability and the operation quality are affected; when X-ray positioning is needed in the operation, accumulated radiation injury is caused to the operator; these factors limit their further popularization and application.

On the other hand, robotic adjuvant therapy technology plays an important role in the field of laparoscopic treatment of urology. Da vinci surgical robots have been widely used in gynecological, urological, general surgery, and other surgical fields since being approved for clinical use by the FDA in the united states in 2001. Since surgical robots have significant advantages in improving the ergonomics of minimally invasive/non-invasive surgery, they have been used in recent years to solve the problems of fuss in clinical procedures.

The existing soft mirror auxiliary system often adopts cables for signal and data transmission, and cannot effectively manage equipment and equipment users.

Disclosure of Invention

A soft mirror surgical assist system, comprising:

the soft mirror device is used for realizing a soft mirror function;

auxiliary means for operating said soft mirror means;

the control device is used for being operated by a user to control the action of the auxiliary device;

wherein, the liquid crystal display device comprises a liquid crystal display device,

the soft mirror device comprises a radio frequency tag;

the auxiliary device includes:

a driving motor for generating a force acting on the soft mirror device;

a first controller for transmitting a driving signal to the driving motor;

the first reading and writing device is used for reading the soft mirror label of the soft mirror device;

The first communication module is used for enabling the first controller to be in communication connection with the outside through a wireless network so as to transmit information read by the first reading and writing device.

Further, the manipulation device includes:

a manipulator for being manipulated by a user to generate a manipulation signal;

the second communication module is used for enabling the second controller to be in communication connection with the outside through a wireless communication network;

the first communication module and the second communication form wireless communication connection so that the operating device can acquire the data of the RFID tag.

Further, the soft-mirror surgical assist system further includes:

the server can form communication connection with the first communication module to interact data;

and the first communication module sends the equipment identification data in the radio frequency tag of the soft mirror device read by the first read-write device to the server.

Further, the server includes a database for storing the device identification data received from the radio frequency tag of the soft mirror device so that the server uniquely binds the device identification data of the soft mirror device with the device identification data of the auxiliary device and the usage time data.

Further, the server and the second communication module form communication connection to interact data.

Further, after receiving the device identification data of the soft mirror device, the server judges whether the device identification data of the soft mirror device is bound, and if so, sends instruction data to the second communication module to disable the control device to control the auxiliary device.

Further, after receiving the device identification data of the soft mirror device, the server judges whether the device identification data of the soft mirror device is bound, and if not, sends instruction data to the second communication module to activate the control device to control the auxiliary device.

Further, after the control device is activated, the second communication module transmits operation data to the server in real time, so that the server can uniquely bind the operation data, the equipment identification data of the soft mirror device, and the equipment identification data and time data of the control device.

Further, the operating device further includes:

and the identity recognition device is used for recognizing the human body characteristics of the operator.

Further, the operation device transmits the identity data collected by the identity recognition device to the server through the second communication module so that the server can uniquely bind the identity data with the equipment recognition data of the soft mirror device.

The application has the advantages that:

a soft-mirror surgical assist system capable of identifying and managing a soft-mirror device is provided.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application.

In the drawings:

FIG. 1 is a schematic view of an auxiliary device according to a first embodiment of the present application;

FIG. 2 is a schematic view of the auxiliary device shown in FIG. 1 from a second perspective;

FIG. 3 is a schematic view of the auxiliary device shown in FIG. 1 from a third perspective;

FIG. 4 is a schematic view of the auxiliary device of FIG. 1 from a first perspective after the housing has been removed;

FIG. 5 is a schematic view of the auxiliary device of FIG. 1 from a second perspective after the housing has been removed;

FIG. 6 is a schematic view of the auxiliary device of FIG. 1 from a third perspective after the housing has been removed;

FIG. 7 is a schematic view of the auxiliary device of FIG. 1 from a fourth perspective after the housing has been removed;

FIG. 8 is a schematic view of the auxiliary device shown in FIG. 1 from a first perspective;

FIG. 9 is a schematic view of the auxiliary device shown in FIG. 1 from a second perspective;

FIG. 10 is a schematic view of the driving portion of the auxiliary device shown in FIG. 1 from a third perspective;

FIG. 11 is a schematic view of a fourth view of the driving portion of the auxiliary device shown in FIG. 1;

FIG. 12 is a schematic view of the drive section of the auxiliary device of FIG. 1;

FIG. 13 is a schematic view of an exploded view of the actuator arm and its associated parts of the auxiliary device shown in FIG. 1;

FIG. 14 is a schematic view of a portion of the structure of FIG. 13;

FIG. 15 is a schematic view of the structure of FIG. 14 from another perspective;

FIG. 16 is a schematic diagram of a soft mirror assist system of the present application;

FIG. 17 is a schematic block diagram illustrating one embodiment of an auxiliary device of the present application;

FIG. 18 is a schematic block diagram of one embodiment of a steering apparatus of the present application;

FIG. 19 is a schematic diagram of a system of soft mirror assist systems of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1 to 15, as one specific example of the present application, the auxiliary device 10 of the present application includes a first-dimensional driving device 100, a second-dimensional driving device 200, a pivot driving device 300, and an operation arm 400. The arm 400 is used to load and/or manipulate a soft mirror device, where the soft mirror device may be either a general soft mirror device or a soft mirror device provided by the present application.

The operating arm 400 may clamp a soft mirror device such that the operating arm 400 can operate the soft mirror device. Operations referred to herein include moving the soft mirror device, changing attitude, changing state.

The manipulator arm 400 is primarily intended to replace the action of a doctor's arm and hand to manipulate the soft mirror device. Such as driving the soft mirror device to change its position or posture to suit the needs of the operation, and further such as operating a toggle button and other operable parts of the soft mirror device to perform the function of the soft mirror device during the operation.

The driving system of the auxiliary device 10 for driving the operation arm 400 includes: the first dimension drive 100, the second dimension drive 200, and the pivot drive 300.

Wherein the first dimension driving device 100 is used for driving the operation arm 400 to move along the first direction D1. The first dimension driving device 100 mainly drives the operation arm 400 in the substantially front-rear direction.

As a specific solution, the first dimension driving device 100 includes a first driving motor 101, a first displacement device 102, and a first transmission device 103. Wherein the first drive motor 101 comprises at least one first rotor (not shown) rotating about a first motor axis a 1; the first displacement device 102 comprises a first screw 102a and a first nut 102b, the first screw 102a being rotatable relative to each other about a first displacement axis b 1.

The first motor axis a1 of the first rotor is parallel to the first displacement axis b1 of the first displacement device 102, but the first motor axis a1 of the first rotor is different from the first displacement axis b1 of the first displacement device 102, i.e. the first motor axis a1 and the first displacement axis b1 do not coincide (are not on the same straight line).

The first screw 102a is formed to extend substantially along the first displacement axis b1, a screw thread is formed on the surface of the first screw 102a, the first nut 102b is sleeved on the first screw 102a, and when the first screw 102a rotates around the first displacement axis b1, the first nut 102b can move along the first displacement axis b 1.

The first screw 102a of the first displacement device 102 can be driven to rotate around the first displacement axis b1 by the first driving motor 101; the first transmission device 103 is used for realizing transmission between the first driving motor 101 and the first displacement device 102; the first drive motor 101 and the first lead screw 102a are positioned such that the first motor rotation axis is parallel to the first displacement axis b1. The first drive motor 101 is connected to a first transmission 103 and the first displacement device 102 is also connected to the first transmission 103, the first transmission 103 constituting a transmission between the first drive motor 101 and the first transmission 103 to enable the first drive motor 101 to drive the first displacement device 102.

The first drive motor 101 is arranged to at least partially coincide with the projection of the first displacement device 102 in the first direction D1.

The line segment is defined as a projection in the first direction D1 by spatially rotating any one of the straight lines parallel to the first direction D1, and when a plurality of selected projection objects are projected in the same projection straight line, the selected object is projected in the projection straight line.

As a preferred embodiment, the ratio of the length of the first driving motor 101 overlapping with the projection of the first displacement device 102 in the first direction D1 to the length of the projection of the first driving motor 101 in the first direction D1 ranges from 0.75 to 0.98.

As a further solution, by providing that the motor shaft of the first driving motor 101 at least partially coincides with the projection of the first screw 102a of the first displacement device 102 in the first direction D1, and that the ratio of the length of the motor shaft of the first driving motor 101 coinciding with the projection of the first screw 102a of the first displacement device 102 in the first direction D1 to the projection length of the motor shaft of the first driving motor 101 in the first direction D1 has a value ranging from 0.75 to 0.98.

Because the first dimension drive 100 is the most important surgical action, a high coincidence ratio is required to ensure smooth operation.

The first drive motor 101 is located on the side of the first lead screw 102a remote from the operating arm 400, and the first transmission 103 is also located on the side of the first lead screw 102a remote from the operating arm 400.

As a specific solution, the first driving motor 101 is a stepper motor, which drives the first displacement device 102 indirectly through the first transmission device 103.

As an alternative, the first transmission 103 comprises a gearbox in which the switching of the transmission speed and the transmission direction is achieved by meshing of gears.

The second dimension driving device 200 is used for driving the operation arm 400 to move along a second direction D2 different from the first direction D1; the second-dimensional driving device 200 mainly achieves driving of the operation arm 400 in a substantially vertical direction.

As a specific solution, the second dimensional driving device 200 includes a second driving motor 201, a second displacement device 202, and a second transmission device 203. Wherein the second drive motor 201 comprises at least one second rotor (not shown) rotating about a second motor axis a 2; the second displacement device 202 comprises a second threaded spindle 202a and a second nut (not shown, reference being made to the version of the first dimension drive 100), the second threaded spindle 202a being rotatable relative to each other about a second displacement axis b2.

The second motor axis a2 of the second rotor is parallel to the second displacement axis b2 of the second displacement device 202, but the second motor axis a2 of the second rotor is different from the second displacement axis b2 of the second displacement device 202, i.e. the second motor axis a2 and the second displacement axis b2 do not coincide (are not collinear).

The second screw 202a is formed to extend substantially along the second displacement axis b2, a screw thread is formed on a surface of the second screw 202a, and a second nut (not shown) is sleeved on the second screw 202a, and the second nut (not shown) is movable along the second displacement axis b2 when the second screw 202a rotates around the second displacement axis b2.

The second lead screw 202a of the second displacement device 202 can be driven to rotate around the second displacement axis b2 by the second driving motor 201; the second transmission device 203 is used for realizing transmission between the second driving motor 201 and the second displacement device 202; the second drive motor 201 and the second lead screw 202a are positioned such that the second motor rotation axis is parallel to the second displacement axis b2. The second drive motor 201 is connected to a second transmission 203, and the second displacement device 202 is also connected to the second transmission 203, the second transmission 203 constituting a transmission between the second drive motor 201 and the second transmission 203, so that the second drive motor 201 can drive the second displacement device 202.

The second drive motor 201 is arranged to at least partially coincide with the projection of the second displacement device 202 in the second direction D2.

In addition, when any one of the straight lines parallel to the second direction D2 is spatially rotated, as a projection straight line, the projection of the selected object onto the projection straight line is defined as the projection of the line segment in the second direction D2, and when a plurality of selected projection objects are selected, they need to be projected onto the same projection straight line.

As a preferred embodiment, the ratio of the length of the second driving motor 201 overlapping with the projection of the second displacement device 202 in the second direction D2 to the length of the projection of the second driving motor 201 in the second direction D2 ranges from 0.5 to 0.8.

As a further solution, by providing that the motor shaft of the second driving motor 201 and the projection of the second screw 202a of the second displacement device 202 in the second direction D2 are at least partially overlapped, and the ratio of the length of the motor shaft of the second driving motor 201 and the projection of the second screw 202a of the second displacement device 202 in the second direction D2 to the projection length of the motor shaft of the second driving motor 201 in the second direction D2 is in the range of 0.5 to 0.8.

Since the second dimension driving device 200 is mainly used for lifting, lifting often needs to be adjusted before and after operation, and the lifting often does not need to be adjusted during operation, even if the adjustment is fine-tuning with small probability, the overlapping ratio can be properly reduced.

As a specific solution, the second driving motor 201 is a stepper motor, which drives the second displacement device 202 indirectly through the second transmission device 203.

As an alternative, the second transmission 203 comprises a gearbox in which the switching of the transmission speed and the transmission direction is achieved by meshing of gears.

As a specific embodiment, the second-dimension driving device 200 drives the operation arm 400 indirectly, and the second-dimension driving device 200 directly drives a lifting seat 501. The mounting end of the telescopic rod 510a of the support frame 510 is fixedly connected to the lifting seat 501 by a connecting member. The elevating base 501 can be elevated by the second dimension driving device 200.

The second driving motor 201 is located at a side of the second lead screw 202a away from the lifting seat 501, and the second transmission device 203 is also located at a side of the second lead screw 202a away from the lifting seat 501.

In view of the heavy weight and long travel distance supported by the second dimension driving device 200, as a specific solution, the guide seat 512 and the guide rod 513 may be provided to guide and ensure the running stability, and the guide rod 513 passes through the guide seat 512 and forms a sliding connection with the guide seat so as to enable

As an extension, a third-dimensional driving device (not shown in the drawing) may be provided to drive the operation arm 400 to move left and right, and the third-dimensional driving device may employ a similar scheme to the first-dimensional driving device 100 and the second-dimensional driving device 200.

Although the corresponding structures are not shown in the drawings, it will be appreciated from the above first and second dimension driving devices 100 and 200 that the third dimension driving device includes a third driving motor, a third displacement device and a third transmission device. Wherein the third drive motor comprises at least one third rotor rotating about a third motor axis; the third displacement device comprises a third lead screw and a third nut, and the third lead screw can rotate relatively around a third displacement axis.

The third motor axis of the third rotor is parallel to the third displacement axis of the third displacement device, but the third motor axis of the third rotor is different from the third displacement axis of the third displacement device, i.e. the third motor axis and the third displacement axis do not coincide (are not on the same straight line).

The third screw rod is formed by extending along a third displacement axis, screw threads are formed on the surface of the third screw rod, and the third nut is sleeved on the third screw rod and can move along the third displacement axis when the third screw rod rotates around the third displacement axis.

The third lead screw of the third displacement device can be driven by a third driving motor to rotate around a third displacement axis; the third transmission device is used for realizing transmission between the third driving motor and the third displacement device; the third drive motor and the third lead screw are positioned such that the third motor shaft is parallel to the third displacement axis. The third drive motor is connected to a third transmission, and the third displacement device is also connected to the third transmission, the third transmission constituting a transmission between the third drive motor and the third transmission, so that the third drive motor can drive the third displacement device.

The third drive motor is arranged to at least partially coincide with the third displacement means in the projection in the third direction D3.

The line segment is defined as a projection to the third direction D3 by spatially rotating any one of the straight lines parallel to the third direction D3 as a projection straight line, and when a plurality of selected projection objects are projected to the same projection straight line, the selected projection objects are required to be projected to the same projection straight line.

As a preferable mode, the value range of the ratio of the length of the third driving motor, which coincides with the projection of the third displacement device in the third direction D3, to the length of the projection of the third driving motor in the third direction D3 is 0.3 to 0.8.

As a further proposal, the motor shaft of the third driving motor and the projection of the third screw rod of the third displacement device in the third direction D3 are at least partially overlapped, and the value range of the ratio of the length of the motor shaft of the third driving motor overlapped with the projection of the third screw rod of the third displacement device in the third direction D3 to the projection length of the motor shaft of the third driving motor in the third direction D3 is 0.3 to 0.8. Because the left-right movement is not a common operation, the overlapping ratio can be properly lowered in sequence like lifting.

As a specific scheme, the third driving motor is a stepping motor, and the stepping motor indirectly drives the third displacement device through the third transmission device.

As an alternative, the third transmission comprises a gearbox in which the switching of the transmission speed and the transmission direction is effected by meshing of the gears.

As a specific solution, the third displacement axis is perpendicular to the first displacement axis b1, and the second displacement axis b2 is perpendicular to the first displacement axis b1.

As a concrete scheme, the distance from the first motor axis a1 to the first displacement axis b1 is smaller than the length of the first driving motor 101 in the first direction D1; the distance from the second motor axis a2 to the second displacement axis b2 is smaller than the length of the second drive motor 201 in the second direction D2; the distance from the third motor axis to the third displacement axis is smaller than the length of the third drive motor in the third direction D3.

The original motor and screw rod coaxial scheme is that the screw rod is unstable in transmission due to the length, and the lever effect caused by the torque of the external motor further aggravates shaking and impact.

By adopting the scheme, the driving motor can be overlapped with the screw rod, the space is saved, and meanwhile, the shaking and the impact generated during screw rod transmission are reduced through the arrangement of the distance between the motor axis and the displacement axis, so that the driving motor is used as a counterweight, the gravity center of the driving device is more reasonable, and the unnecessary acting force and impact during operation are reduced.

Based on similar principles and designs, the pivot drive 300 is used to drive the rotary operating arm 400 for rotation about the first pivot axis c 1. Specifically, the pivot drive 300 includes a pivot drive motor 301, the pivot drive motor 301 including a pivot rotor (not shown) that rotates about a second pivot axis c2. Wherein the first pivot axis c1 about which the operating arm 400 rotates is parallel to and is intended to be different from the second pivot axis c2 about which the pivot rotor rotates.

As a specific solution, the first pivot axis c1 is parallel to the first motor axis a1; the first pivot axis c1 is perpendicular to the second motor axis a2, and the first pivot axis c1 may also be perpendicular to the third motor axis.

As a specific solution, the pivot driving device 300 further includes a pivot transmission device 302, and the pivot transmission device 302 is disposed between the pivot driving motor 301 and the operation arm 400 to form a transmission. The pivot driving motor 301 and the operation arm 400 are constructed as one body capable of moving synchronously. The size of the pivot driving motor 301 in the first direction D1 is larger than the distance between the first pivot axis c1 and the second pivot axis c2. The pivot driving motor 301 and the first driving motor 101 are located at both sides of the first screw 102a, respectively. By this arrangement, the pivot driving device 300 can also serve the purpose of weighting the operation arm 400 to ensure stable operation.

The operating arm 400 includes an arm body 401 and a clamping assembly 402. The arm body 401 includes a mounting portion 401a, a driven portion 401b, and a connecting portion 401c. Wherein the clamping assembly 402 is disposed at the mounting portion 401a of the arm body 401, and the driven portion 401b is connected to the pivot driving device 300; the connection portion 401c is provided between the mounting portion 401a and the driven portion 401 b; the extending direction of at least a part of the connecting portion 401c obliquely intersects with the first axis about which the operation arm 400 rotates. The clamping assembly 402 is formed with a clamping wall 402a, and the clamping wall 402a is formed symmetrically with respect to at least one center line x, wherein the center line x of the clamping wall 402a coincides with the first pivot axis c1 about which the operating arm 400 rotates.

Specifically, the clamping assembly 402 includes a clamping arm 402b, a hook 402c, an adjusting wheel 402d, and a positioning seat 402e; the rotatable connecting arm body 401 of the clamping arm 402b, the clamping arm 402b forms a clamping wall surface 402a, the clamping arm 402b can be locked by the clamping hook 402c, the clamping arm 402b is connected with an adjusting wheel 402d, and the adjusting wheel 402d comprises a cam structure, and the cam structure can enable the clamping hook 402c to be clamped on the cam through rotation of the adjusting wheel 402 d.

In addition, in order to position the soft mirror device, the mounting portion 401a is further provided with a positioning seat 402e, and the contour of the positioning seat 402e can be matched with the contour of the operating handle of the soft mirror device to perform a positioning function.

The soft mirror device has at least one central axis along which the inflexible part of the mirror body of the soft mirror device extends, the clamping assembly 402 enabling the central axis of the soft mirror device to coincide with the first pivot axis c 1.

The three-section design of the mounting part 401a, the driven part 401b and the connecting part 401c and the inclined arrangement of the driven part 401b enable the soft mirror device to pivot around the central axis of the soft mirror device and enable most of the structure of the soft mirror device to be exposed out of the operation arm 400, so that the soft mirror device is convenient to clamp and set pipelines.

As a concrete scheme, the driven portion 401b extends along a first axis around which the operation arm 400 rotates in parallel; the mounting portion 401a extends in another straight line direction parallel to the first pivot axis c1 about which the operation arm 400 rotates but different from the first pivot axis c 1.

To achieve the manipulator functions of the manipulator arm, the manipulator arm 400 further includes: toggle member 403, toggle motor 404, upper wire claw 405, upper wire motor 406, upper wire lead screw 407, upper wire nut 408.

As a specific solution, the operation arm 400 further includes an arm housing 409, the arm housing 409 surrounds the arm body 401 from both sides so as to protect the arm body 401, the arm body 401 and the arm housing 409 may be made of different materials, the arm body 401 is made of a metal material, the arm housing 409 is made of a plastic material, and the arm housing 409 is similar in shape to the arm body 401 and is provided with a hole exposing the toggle member 403, the clamping assembly 402, and the like.

As a specific solution, the arm body 401 is provided with a mounting groove 401d accommodating the toggle motor 404 and the wire feeding motor 406.

Wherein, the poking piece 403 is rotatably connected to the mounting portion 401a of the arm body 401 to poke the poking button of the soft mirror device, and the poking motor 404 is connected to the poking piece 403 to drive the poking piece 403 to rotate so as to poke the poking button of the soft mirror device. The toggle motor 404 includes a toggle rotor that rotates about a third pivot axis c 3; the first pivot axis c1 about which the operating arm 400 rotates is perpendicular to the third pivot axis c3 about which the toggle rotor rotates. The first pivot axis c1 about which the operating arm 400 rotates is perpendicular to the third pivot axis c3 about which the toggle rotor rotates.

The toggle member 403 is configured to be able to mate with and thereby drive the toggle button of the soft lens device, and in particular, the toggle member 403 is configured in a two-jaw structure, i.e., a space for the toggle button to be inserted is formed between the two jaws.

The upper wire claw 405 and the arm body 401 form sliding connection to stir the optical fiber tow of the soft mirror device; the upper wire motor 406 is connected to the upper wire claw 405 to drive the upper wire claw 405 to slide; specifically, the upper wire motor 406 includes an upper wire rotor that rotates about a fourth pivot axis c 4; the first pivot axis c1 about which the operating arm 400 rotates is perpendicular to the fourth pivot axis c4 about which the upper wire rotor rotates. The upper screw motor 406 drives the upper screw shaft 407 to rotate so as to drive the upper screw nut 408 to linearly move, and for more stable guiding, a guiding device may be provided to guide the upper screw nut 408 so as not to rotate.

As a specific solution, the first driving motor 101, the first transmission device 103 and the first displacement device 102 are assembled as a whole, which can slide back and forth with respect to the lifting seat 501, and this whole is defined as a first sliding assembly 502.

The first sliding assembly 502 further includes a sliding box 503, the first screw 102a is mounted inside the sliding box 503 and can rotate relative to the sliding box 503, and at the same time, the first nut 102b is sleeved on the first screw 102 a. The sliding box 503 itself is not completely closed and is provided with an open rail mouth for the external structure to connect with the first nut 102b.

As a further solution, a guide holder 504 is disposed above the lifting seat 501, and the guide holder 504 is fixedly connected to the lifting seat 501 and also fixedly connected to the first nut 102b, so that when the first screw 102a is driven to rotate, the first screw 102a can drive the sliding box 503 to move back and forth (i.e. the first sliding device) due to the fixed first nut 102b.

As a preferential solution, the first sliding means also comprise a guide plate 505, connected at both ends to the sliding box 503, for the insertion of the guide portion into the guide groove of the guide holder 504, in order to cooperate with the guide holder 504.

As a specific solution, a rotating seat 506 is provided on the slide box 503, and the pivot driving motor 301 and the pivot transmission 302 are mounted to the rotating seat 506. The operating arm 400 is rotatably connected to the rotating base 506. The rotating base 506 is fixedly connected with the slide box 503, so that the same movement of the operating arm 400 can be realized when the lifting base 501 is lifted or the slide box 503 is moved forward and backward.

It should be noted that, the motor has a rotating rotor, which is a scheme well known to those skilled in the art, and will not be described herein.

As a specific aspect, the auxiliary device 10 further includes: a housing 507 and a bracket 508. The housing 507 is used to protect and cover the drive and control systems. The bracket 508 is used to support the housing 507 and components of the drive and control systems.

Specifically, the housing 507 includes a plurality of housing components that, by assembly, constitute the entire housing 507 and provide the housing 507 with one main housing portion 507a, a handle housing portion 507b, and a movable housing portion 507c. Wherein the main housing portion 507a forms a larger enclosed space for accommodating a part of the drive system and the control system, and the handle housing portion 507b is disposed at the opposite rear of the main housing portion 507a for the user to push and pull the auxiliary device 10. The movable housing portion 507c is disposed above the main housing portion 507a for protecting a portion of the drive system or control system that is located outside the main housing portion 507a and moves relative to the main housing portion 507 a. The movable housing portion 507c and the main housing portion 507a may be provided as separate parts and relatively movable, and the handle housing portion 507b and the main housing portion 507a may be provided as a unit having a fixed relative position, which is equivalent to applying a force to the main housing portion 507a when the user applies a force to the handle housing portion 507 b.

The bracket 508 includes: a bottom plate 508a and a frame 508b disposed above the bottom plate 508 a. The frame 508b is relatively fixedly arranged above the bottom plate 508a, the frame 508b encloses a three-dimensional accommodating space by arranging a cross beam and a stand column, and the housing assembly of the main housing portion 507a is mounted to the frame 508b so as to realize the protection of the accommodating space. The base plate 508a is used to support and secure some of the components of the drive and control systems in addition to the support frame 508b.

As a specific solution, the base plate 508a is also fitted with casters 509 to enable the whole device to be moved along the ground, the casters 509 themselves having a locking function, locking the casters 509 from movement of the whole device when surgery is performed. As a further development, other devices, such as hydraulic support feet, can be used to support the whole machine during surgery.

As a specific solution, a plurality of PLC controllers 511 are further provided above the bottom plate 508a to control the auxiliary device 10.

As an extension, the auxiliary device 10 further comprises a support 510, the support 510 being adapted to support the softer lens body portion of the soft lens. Specifically, the support 510 includes: the telescopic rod 510a, the end part 510b, the supporting part 510c and the adjusting device 510d, wherein one end of the telescopic rod 510a is mounted to the frame 508b or other structure fixedly connected with the frame 508b, and the other end of the telescopic rod 510a is arranged to be telescopic relative to the other end. The telescopic rod 510a has a telescopic end provided with an end member 510b, the end member 510b and the support member 510c are rotatably coupled by a hinge, and an axis c5 of rotation of the end member 510b and the support member 510c is substantially perpendicular to a telescopic direction D4 of the telescopic rod 510 a. The support 510c itself is formed with a clamping hole of clamping, the size of which can be adjusted.

Referring to fig. 16, the mechanical arm system of the present application includes an auxiliary device 10 and a manipulation device 20, the manipulation device 20 is used for being operated by a user to control the motion of the auxiliary device 10, the manipulation device 20 includes a joystick 21 and a display interface 22, the user can operate the auxiliary device 10 by controlling the joystick 21 to realize the operation of the soft mirror device 30, and the display interface 22 is used for feeding back images or other data information to the user.

In order to ensure safety, the mechanical arm system needs to detect the operation states of the auxiliary device 10 and the soft mirror device 30 when the user performs an operation, and particularly, the application of force to the patient by the auxiliary device 10 and the soft mirror device 30 needs to be controlled within a safe range so as to cause damage to the organ of the patient.

Therefore, the control system of the robot arm system needs to detect both the auxiliary device 10 and the soft mirror device 30. Specifically, the operation state of the driving device in the auxiliary device 10 and the external force received by the soft mirror device 30 are detected.

As one of the solutions, the control method of the auxiliary device of the present application includes:

collecting the current of a driving motor as a detection current;

Calculating characteristic parameters of the detected current relative to time;

and when the characteristic parameter of the detected current exceeds the first parameter threshold value, reducing the rotating speed of the driving motor.

The characteristic parameter of the current with respect to time referred to herein includes the slope of the current or the first derivative of the current.

When the actual control is carried out, the corresponding sampling frequency is set, so that the time interval of the current value acquisition of two times is set as a set value, and the difference value obtained by directly carrying out difference operation on the current values of two adjacent times can be used as the characteristic parameter.

Decreasing the drive motor speed may be considered to decrease the rotational speed to 0, i.e., stopping the drive motor. The driving motor rotation speed reducing scheme may be to reduce current supply to the driving motor, more specifically, the driving motor is a brushless motor, and the rotation speed of the brushless motor may be controlled by controlling the duty ratio of the mos transistor through a driving current composed of the mos transistor.

By adopting the control scheme of the characteristic parameters, the auxiliary device 10 can be prevented from continuing to operate and apply force when the soft mirror device 30 encounters obstruction, so that human body injury is caused. Because, when the driving device 10 encounters resistance, the load of the driving motor tends to become large, resulting in an increase in the current of the driving motor. The characteristic parameter association time is adopted because many injuries are caused by excessively high displacement speed of the soft mirror device 30 and excessively high pressure on the local part in a short time, although the absolute value of the acting force is one of parameters which we need to control, if the increasing speed of the acting force is not controlled, the injury to the human body is possible even under smaller acting force, and because the doctor indirectly operates the soft mirror device 30 through the control device 20, if the control of the feeding speed is not performed, the effective protection is not performed before the injury occurs, and even when the soft mirror device is manually operated in the past, the doctor needs to carefully shift to avoid the excessively fast action.

As a further aspect, the control method of the present application further includes:

when the characteristic parameter of the detected current exceeds a second parameter threshold value, counting once, wherein the counted value is defined as overrun times;

judging whether the value of the overrun times is larger than or equal to the overrun times threshold value in a preset unit time period;

when the value of the overrun times in the preset unit time period is larger than or equal to the first time threshold value, the rotating speed of the driving motor is reduced;

wherein the first parameter threshold is greater than the second parameter threshold.

By adopting the judgment of the overrun times, the judgment can be carried out in advance before the current of the driving motor changes too fast, so that the safety is further protected.

As a preferred embodiment, the control method of the present application further includes: and resetting the value of the overrun times to zero after the last preset unit time period is finished.

When the number of times of overrun occurring in a preset unit time period is larger than or equal to a first time threshold value, counting once, wherein the counted number is defined as a first type of speed reduction times; and when the first-class speed reduction times are greater than or equal to the second-time threshold value, cutting off the power supply of the driving motor.

And when the first-type speed reduction times are larger than or equal to the second-time threshold, setting the largest characteristic parameter as a new first parameter threshold.

This has the advantage that when the soft mirror device 30 frequently encounters an obstruction and cannot be overcome by a change, the overrun is marked as a protection event, and when the protection event is repeated, the indication is that a risk is expected to occur, and the control process is also protected. When a specific control scheme is designed, the sampling frequency for collecting the overrun times can be set, so that the sampling time interval is larger than the current sampling interval, and the collected count can be used as the overrun times.

As a further aspect, the control method further includes: calculating the absolute value of the detected current; when the absolute value of the detected current exceeds a first absolute threshold, reducing the rotating speed of the driving motor; when the absolute value of the detected current is larger than or equal to a second absolute threshold, counting once, wherein the counted value is defined as the number of times of exceeding; judging whether the numerical value of the over-value times is larger than or equal to the threshold value of the over-value times in a preset unit time period; when the value of the overrun times is larger than or equal to the overrun times threshold value in a preset unit time period, the rotating speed of the driving motor is reduced; wherein the first absolute threshold is greater than the second absolute threshold. And resetting the numerical value of the over-value times to zero after the last preset unit time period is finished. And when the number of times of occurrence of the over-value in a preset unit time period is larger than or equal to a third time threshold, counting once, wherein the counted number is defined as the second type of speed reduction times. And when the second-class speed reduction times are greater than or equal to the fourth time threshold value, cutting off the power supply of the driving motor. And when the second-class speed reduction times are larger than or equal to the fourth-time threshold value, taking the largest characteristic parameter as a new first parameter threshold value.

Similar to the previous solutions, the absolute value of the current is used to ensure that the force is not actually exceeded.

Alternatively, the judgment and control of the absolute value of the current and the characteristic parameter of the current may be performed in parallel, or only one of them may be selected as the algorithm for the control.

As an extension, the control device 20 can be provided with two modes of operation, one being a first mode when entering the ureter, in which case an absolute control scheme is used, and one being a second mode when entering the renal pelvis and performing laser lithotripsy, in which case a characteristic parameter control scheme is used.

As a preferable scheme, every time the driving motor is decelerated by the control system, the system prompts the user to encounter resistance through images and the like.

As an auxiliary control method, a pressure sensor patch may be added to a transmission part of the driving device, such as a coupling, or a pressure sensor patch may be added to the clamping soft mirror device 30, so as to feed back the force, and the feedback judgment and control scheme may refer to the above scheme, except that the object of judgment is converted from the current of the driving device to the current of the pressure sensor patch.

As another aspect of the present application, as shown in fig. 17 and 18, the auxiliary device 10 further includes: the first controller and the first communication module; and the manipulation device 20 further includes a manipulator, a second controller, and a second communication module.

The first controller is used for sending a driving signal to the driving motor; the first communication module is used for enabling the first controller to be in communication connection with the outside through a wireless network; the first communication module and the second communication form wireless communication connection, so that the control device can send control instructions to the auxiliary device so as to generate corresponding driving signals according to the control signals.

In this way, the auxiliary device 10 can be connected to the control device 20 in a wireless communication manner for transmitting data.

As shown in fig. 19, the system of the present application further includes a server and a mobile terminal, where the server is configured to store or process the data uploaded by the auxiliary device or/and the control device; the server is in communication connection with at least the auxiliary device and the control device. The server and the auxiliary device form wireless communication connection. The server and the control device form wireless communication connection. The mobile terminal can perform data interaction with the auxiliary device or/and the control device.

The mobile terminal comprises: the image acquisition equipment is at least used for acquiring face information of an operator; the third communication module at least can form wireless communication connection with the first communication module and the second communication module so as to transmit the face information acquired by the image acquisition equipment. Therefore, operators can be compared in a face recognition mode at the server, if the comparison is successful, the authority of the operation is granted, and if the comparison is failed, the authority is not opened, and the man-machine can be matched in the server, so that the operation management of real-name authentication is realized.

The auxiliary device also comprises a first positioning device for receiving and transmitting positioning signals. The control device also comprises a second positioning device for receiving and transmitting positioning signals. The system of the application also comprises a positioning base station which can perform signal interaction with the first positioning device and the second positioning device to acquire the relative position relationship between the first positioning device and the second positioning device. And information interaction is performed among the first positioning device, the second positioning device and the positioning base station through UWB signals.

By adopting the scheme, the equipment position can be positioned, such as whether the positioning equipment is in an operating room, thereby realizing unified management and authentication of personnel, places and equipment for operation and reducing medical errors.

In order to better realize equipment unlocking management, the image acquisition equipment of the mobile terminal is a camera, and the communication module is a Bluetooth module.

As a specific scheme, the mobile terminal includes: the camera is used for collecting image information; the first Bluetooth module is used for realizing Bluetooth communication; the first processor is used for controlling the image acquisition equipment and the first Bluetooth module and can perform data processing; the auxiliary device comprises: an operation arm for operating the soft mirror device; the driving device is used for driving the operation arm to act; the second Bluetooth module is used for realizing Bluetooth communication; the second processor is used for controlling the driving device and the second Bluetooth module and can perform data processing; the mobile terminal acquires an electronic secret key from the server according to the two-dimensional code image of the auxiliary device acquired by the camera, and transmits the electronic secret key to the second processor of the auxiliary device through Bluetooth communication of the first Bluetooth module and the second Bluetooth module

The second processing of the auxiliary device compares the received electronic key with the electronic key prestored in the auxiliary device, and if the comparison is successful, the second processor activates the driving device.

The second processing of the auxiliary device compares the received electronic key with the electronic key pre-stored in the auxiliary device, and if the comparison fails, the second processor disables the driving device.

The first processor of the mobile terminal controls the first Bluetooth module to be paired with the second Bluetooth module according to the two-dimensional code image of the auxiliary device acquired by the camera.

The first processor of the mobile terminal acquires the two-dimensional code image of the auxiliary device, extracts the equipment identification data of the auxiliary device in the image, transmits the equipment identification data to the server, and the server verifies the equipment identification data of the auxiliary device.

And the server checks the equipment identification data of the auxiliary device, and when the verification passes, the server transmits an instruction representing the pass of the verification to the mobile terminal so as to enable the mobile terminal to start the face recognition mode.

And the server checks the equipment identification data of the auxiliary device, and when the verification passes, the server transmits an instruction representing the verification to the mobile terminal so as to enable the mobile terminal to prompt error information.

After the mobile terminal starts the face recognition mode, the mobile terminal controls the camera to acquire the face image and uploads the face image to the server, and the server checks the face image uploaded by the mobile terminal.

The server verifies the face image, and when verification passes, the server transmits the electronic key to the mobile terminal.

And the server checks the face image, and when the verification fails, the server transmits an instruction representing the verification failure to the mobile terminal so as to enable the mobile terminal to prompt error information.

In this way, the device use authentication security can be improved.

As another aspect of the present application, the soft mirror device 30 is not reused, thereby presenting a safety hazard and cross-contamination. The soft mirror device 30 comprises a radio frequency tag and the auxiliary device 10 further comprises a first read-write device for reading the soft mirror tag of the soft mirror device. The first communication module of the auxiliary device 10 may be used to make the first controller in communication with the outside through a wireless network to transmit the information read by the first reader/writer. The second communication module of the control device 20 is used for enabling the second controller to be in communication connection with the outside through a wireless communication network. The first communication module and the second communication form wireless communication connection so that the control device can acquire the data of the RFID tag. The first communication module sends the equipment identification data in the radio frequency tag of the soft mirror device read by the first read-write device to the server. The server includes a database for storing the device identification data received from the radio frequency tag of the soft mirror device such that the server uniquely binds the device identification data of the soft mirror device to the device identification data of the auxiliary device and the time of use data. The server and the second communication module form communication connection to interact data. After receiving the equipment identification data of the soft mirror device, the server judges whether the equipment identification data of the soft mirror device is bound, and if so, sends instruction data to the second communication module to disable the control of the control device on the auxiliary device. After receiving the equipment identification data of the soft mirror device, the server judges whether the equipment identification data of the soft mirror device is bound or not, and if not, the server sends instruction data to the second communication module to activate the control device to control the auxiliary device. After the control device is activated, the second communication module transmits operation data to the server in real time so that the server can uniquely bind the operation data, the equipment identification data of the soft mirror device, and the equipment identification data and time data of the control device.

The control device further includes: and the identity recognition device is used for recognizing the human body characteristics of the operator. The control device transmits the identity data acquired by the identity recognition device to the server through the second communication module so that the server can uniquely bind the identity data with the equipment recognition data of the soft mirror device. Of course, the scheme of mobile terminal authentication described above may also be used instead of the identity recognition device. The identification device can be a camera, a fingerprint device, an iris device or the like.

With the above arrangement, the soft mirror device 30 can be used and then not reused.

As an extension, after the operation is completed, the server sends a key to the first reader, where the key is randomly generated, and writes the key into the RFID tag of the soft mirror device after the use, so that the device identification data is encrypted by the key, and when the key is not available, the first reader cannot read the valid device identification data.

The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A soft mirror surgical assist system, characterized by: comprising the following steps:

the soft mirror device is used for realizing a soft mirror function;

auxiliary means for operating said soft mirror means;

the soft mirror device comprises a radio frequency tag;

the auxiliary device includes:

a driving motor for generating a force acting on the soft mirror device;

a first controller for transmitting a driving signal to the driving motor;

the first communication module is used for enabling the first controller to be in communication connection with the outside through a wireless network so as to transmit information read by the first reading and writing device;

the control device comprises:

a second controller;

the first communication module and the second communication module form wireless communication connection so that the control device can acquire the data of the radio frequency tag;

The soft mirror surgical assist system further comprises:

the first communication module sends the equipment identification data in the radio frequency tag of the soft mirror device read by the first read-write device to the server;

the server comprises a database for storing the equipment identification data received into the radio frequency tag of the soft mirror device so that the server can uniquely bind the equipment identification data of the soft mirror device with the equipment identification data of the auxiliary device and the using time data;

the server and the second communication module form communication connection to interact data;

after receiving the equipment identification data of the soft mirror device, the server judges whether the equipment identification data of the soft mirror device is bound, and if so, sends instruction data to the second communication module to disable the control of the control device on the auxiliary device;

after receiving the equipment identification data of the soft mirror device, the server judges whether the equipment identification data of the soft mirror device is bound or not, and if not, the server sends instruction data to the second communication module to activate the control device to control the auxiliary device;

After the control device is activated, the second communication module transmits operation data to the server in real time so that the server can uniquely bind the operation data, the equipment identification data of the soft mirror device, and the equipment identification data and time data of the control device;

the control device further includes:

the identity recognition device is used for recognizing the human body characteristics of an operator;

the control device transmits the identity data acquired by the identity recognition device to the server through the second communication module so that the server can uniquely bind the identity data with the equipment recognition data of the soft mirror device;

the soft mirror auxiliary device includes:

an operating arm for loading or/and operating a soft mirror device;

the driving device is used for driving the operation arm to move along a preset direction;

wherein the driving device at least comprises a driving motor;

the detection and control of the running state of the driving device are specifically as follows:

collecting the current of the driving motor as a detection current;

calculating characteristic parameters of the detected current relative to time;

when the characteristic parameter of the detected current exceeds a first parameter threshold value, reducing the rotating speed of the driving motor;

judging whether the value of the overrun times is larger than or equal to an overrun times threshold value in a preset unit time period;

when the value of the overrun times in the preset unit time period is larger than or equal to the first time threshold value, the rotating speed of the driving motor is reduced; wherein the first parameter threshold is greater than the second parameter threshold;

resetting the value of the overrun times to zero after the last preset unit time period is finished;

when the number of times of overrun occurring in a preset unit time period is larger than or equal to a first time threshold value, counting once, wherein the counted number is defined as a first type of speed reduction times;

when the first-type speed reduction times are greater than or equal to a second-time threshold value, cutting off the power supply of the driving motor;

when the first type of the speed reduction times is larger than or equal to a second time threshold, taking the largest characteristic parameter as a new first parameter threshold;

calculating an absolute value of the detected current;

when the absolute value of the detected current exceeds a first absolute threshold, reducing the rotating speed of the driving motor;

When the absolute value of the detected current is larger than or equal to a second absolute threshold value, counting once, wherein the counted number is defined as the number of times of exceeding;

judging whether the numerical value of the over-value times is larger than or equal to an over-value times threshold value in a preset unit time period;

when the numerical value of the over-value times is larger than or equal to the threshold value of the over-value times in a preset unit time period, the rotating speed of the driving motor is reduced; wherein the first absolute threshold is greater than the second absolute threshold;

resetting the numerical value of the over-value times to be zero after the last preset unit time period is finished;

when the number of times of occurrence of the over-value in a preset unit time period is larger than or equal to a third time threshold, counting once, wherein the counted number is defined as the second type of speed reduction times;

and when the second-class speed reduction times are greater than or equal to a fourth time threshold value, cutting off the power supply of the driving motor.