CN112168354A - Waterproof and lightweight surgical robot actuator and surgical robot system - Google Patents

Waterproof and lightweight surgical robot actuator and surgical robot system Download PDF

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Publication number
CN112168354A
CN112168354A CN202011099487.5A CN202011099487A CN112168354A CN 112168354 A CN112168354 A CN 112168354A CN 202011099487 A CN202011099487 A CN 202011099487A CN 112168354 A CN112168354 A CN 112168354A
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China
Prior art keywords
surgical
waterproof
cushion block
surgical robot
lightweight
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Granted
Application number
CN202011099487.5A
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Chinese (zh)
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CN112168354B (en
Inventor
李汉忠
张学斌
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Beijing Kemai Qiyuan Technology Co ltd
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Beijing Kemai Qiyuan Technology Co ltd
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Priority to CN202011099487.5A priority Critical patent/CN112168354B/en
Publication of CN112168354A publication Critical patent/CN112168354A/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361Image-producing devices, e.g. surgical cameras
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101Computer-aided simulation of surgical operations
    • A61B2034/105Modelling of the patient, e.g. for ligaments or bones
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107Visualisation of planned trajectories or target regions
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108Computer aided selection or customisation of medical implants or cutting guides
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2051Electromagnetic tracking systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2065Tracking using image or pattern recognition
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/08Accessories or related features not otherwise provided for
    • A61B2090/0807Indication means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2217/00General characteristics of surgical instruments
    • A61B2217/002Auxiliary appliance
    • A61B2217/007Auxiliary appliance with irrigation system

Abstract

A waterproof, lightweight surgical robot actuator comprising a clamping portion (01) and a control portion (02), wherein the clamping portion (01) is configured to fixedly mount a surgical manipulator (20X) and ensure that the surgical manipulator (20X) does not shake during a surgical procedure; the control unit (02) is configured to communicate with an external surgical control device via a cable, and drive the surgical manipulator (20X) to complete a surgical operation after obtaining a surgical operation command.

Description

Waterproof and lightweight surgical robot actuator and surgical robot system
Technical Field
The invention belongs to the technical field of medical instruments. In particular to a waterproof and light surgical robot executor and a surgical robot system.
Background
Since the nineties of the last century, robot-assisted minimally invasive surgery has gained a rapid and advanced development. A variety of surgical robotic systems have been used with clinical success, which has attracted considerable attention from the medical and scientific communities worldwide. The surgical robot system integrates a plurality of emerging subjects, realizes minimally invasive, intelligent and digital surgical operations, and in recent years, the surgical robot is widely applied all over the world, and the types of the operations include urology, obstetrics and gynecology, cardiac surgery, thoracic surgery, hepatobiliary surgery, gastrointestinal surgery, otorhinolaryngology and other subjects.
Surgical robots generally consist essentially of three parts: 1. a doctor control system; 2. a three-dimensional imaging video image platform; 3. a robotic arm. A doctor obtains relevant information of a surgical position of a patient through a three-dimensional imaging video image platform, then an operation instruction is output through a control system, and finally, a mechanical arm carries out surgical action. However, in general, robotic arms provide only large surgical motions (somewhat resembling a human arm), while detailed and detailed surgical motions are also performed by surgical actuators attached to the ends of the robotic arms (the surgical actuators function like a human palm and fingers).
Chinese utility model patent CN211512043U discloses a transurethral resectoscope surgical robot actuator, and chinese patent application publication No. CN110074867A proposes a percutaneous nephroscope surgical robot system. However, none of the above surgical robot actuators discloses a waterproof structure, and the surgical procedure requires, for example, a large amount of saline to wash the wound, and the splashed washing fluid may corrode parts of the surgical robot actuator. In addition, the surgical robot actuator is also heavy, and the great weight affects the flexibility of the surgical action.
Disclosure of Invention
In view of the above disadvantages of the conventional surgical robot actuator, the present application proposes a waterproof and lightweight surgical robot actuator.
The embodiment of the invention provides a waterproof and light-weight surgical robot actuator, which comprises a clamping part (01) and a control part (02), wherein the clamping part (01) is configured to fixedly mount a surgical manipulator (20X), and the surgical manipulator (20X) is ensured not to shake in the surgical process; the control unit (02) is configured to communicate with an external surgical control device via a cable, and drive the surgical manipulator (20X) to complete a surgical operation after obtaining a surgical operation command.
According to one embodiment of the invention, for example, the clamping part (01) comprises a bottom plate (6), the bottom plate (6) separates the clamping part (01) from the control part (02), and the bottom plate (6) is provided with an elongated opening;
the control part (02) comprises a connecting rod (14) and a waterproof membrane (15), and the connecting rod (14) penetrates through the elongated opening on the bottom plate (6) and is connected with the surgical manipulator (20X) fixedly installed in the clamping part (01);
the shape of the waterproof membrane (15) is similar to an inverted funnel, the lower part of the waterproof membrane is tightly attached to the surface of the bottom plate (6), and the upper part of the waterproof membrane is tightly attached to the outer surface of the connecting rod (14);
preferably, the waterproof membrane (15) is made of an elastic material, such as a rubber membrane;
preferably, the longitudinal direction of the elongated opening is parallel to the longitudinal direction of the surgical manipulator (20X).
According to one embodiment of the invention, for example, the clamping part (01) comprises a front cushion block (1), a front close cover (2), a rear cushion block (3) and a rear close cover (4), the front cushion block (1) and the rear cushion block (3) are fixedly arranged on a base plate (6), one sides of the front cushion block (1) and the rear cushion block (3) far away from the base plate (6) are provided with grooves matched with the shape of the surgical manipulator (20X), and the surgical manipulator (20X) can be clamped in the grooves;
preferably, the front cushion block (1) and the rear cushion block (3) are made of high polymer materials, and the size of the grooves in the front cushion block (1) and the rear cushion block (3) is slightly larger than that of the corresponding part of the surgical manipulator (20X); further preferably, the ratio of the size of the grooves on the front cushion block (1) and the rear cushion block (3) to the size of the corresponding part of the surgical manipulator (20X) is 1.01-1.05: 1, alternatively 1.01-1.02: 1;
preferably, one side of the front closing cover (2) and one side of the rear closing cover (4) are respectively installed on the front cushion block (1) and the rear cushion block (3) through rotating shafts, and the other side of the front closing cover and the rear closing cover can be respectively locked with the front cushion block (1) and the rear cushion block (3) through locking mechanisms.
According to an embodiment of the present invention, for example, the waterproof and lightweight surgical robot actuator further includes a camera pad (7), the camera pad (7) is a plate having a certain thickness and is fixedly installed on the base plate (6), and the camera pad (7) pads up a camera installed above the camera pad (7) so that the camera is accurately docked with the surgical manipulator 20X;
preferably, the waterproof and lightweight surgical robot actuator further comprises a light strip (10), and the light strip (10) displays the working state of the surgical robot actuator through brightness, light-emitting color and the like.
According to one embodiment of the invention, for example, the control part (02) comprises a connecting rod (14), a waterproof membrane (15), a front bearing seat (16), a lead screw (17), a linear bearing (18), a slide block (19), a lead screw nut (20), a limiting ring (21), a photoelectric sensor (22), a rear bearing seat (23), a coupler (24), a motor supporting seat (25), a servo motor (26), an optical axis (27) and a shell (5);
preferably, the front bearing seat (16) and the rear bearing seat (23) are tightly connected with the housing (5), and the inner space of the control part (02) is divided into three parts.
According to one embodiment of the invention, for example, a screw hole (29) is arranged at a proper position of the bottom plate (6) for installing the bottom plate (6), and a waterproof pad is arranged above the screw hole (29);
preferably, the waterproof pad is a rubber pad;
preferably, the base plate is fixed to the interface (03), the front bearing block (16) and/or the rear bearing block (23) by screws through the screw holes (29).
According to one embodiment of the invention, for example, the shell (5) comprises a shell groove (30) and front and rear bearing seat mounting grooves (31), and rubber rings are mounted in the shell groove (30) and the front and rear bearing seat mounting grooves (31), so that the spaces in the waterproof and light-weight surgical robot actuator are isolated from each other, and even if water vapor or liquid water occurs in one cabin, the other cabins are not affected.
According to one embodiment of the invention, for example, the interface (03) is provided with a joint (32) with the waterproof and light-weight surgical robot actuator, and a waterproof rubber ring is arranged at the joint (32) to prevent flushing liquid or water vapor inside the waterproof and light-weight surgical robot actuator from entering the mechanical arm through the interface (03).
According to one embodiment of the present invention, for example, the non-stressed components of the water-proof, lightweight surgical robot actuator are made of plastic;
preferably, the plastic comprises nylon;
preferably, the non-stressed component comprises at least one of a shell (5), a front cushion block (1), a front cover (2), a rear cushion block (3), a rear cover (4), a camera cushion block (7), a cable cover (8), a lamp strip (10) and a linear bearing (18).
According to one embodiment of the present invention, for example, the bearing, the linear bearing, and the lead screw nut of the waterproof and lightweight surgical robot actuator are made of a non-metallic material;
preferably, the non-metal material is a polymer material.
Embodiments of the present invention also provide a surgical robot system, which includes a surgical robot apparatus, a surgical monitoring apparatus, and a surgical control apparatus;
the surgical robot device comprises a mechanical arm, an operator and a surgical robot executor, wherein the surgical robot executor is connected with and fixed on the mechanical arm;
the surgical robot actuator comprises an actuator body, a driving system and a fixing system;
the actuator body is configured to provide mounting locations and spaces for the drive system, the fixation system, and the operator;
the driving system is configured to drive the manipulator to reciprocate so as to push the manipulator tail end to perform a surgical operation;
the securing system is configured to secure the operator to the actuator body;
the operation monitoring device is connected with the operation control device and is configured to acquire an operation implementation position in real time, send information of the operation implementation position to the operation control device and display the information of the operation implementation position to an operator in an image form;
the operation control device is configured to obtain the lesion position scanning data from an external scanning device, establish a three-dimensional model according to the lesion position scanning data, generate an operation control instruction according to the three-dimensional model, send the operation control instruction to the operation robot device, and execute an operation by the operation robot device;
the surgical robot device includes the waterproof and lightweight surgical robot actuator.
Drawings
Fig. 1 is a schematic view of a robot arm of a surgical robot performing system according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a surgical robotic device including a robotic arm, a surgical robotic effector, and a linkage.
Fig. 3 is a schematic view of a surgical manipulator.
Fig. 4 is a side cross-sectional view of a surgical robotic effector provided in accordance with an embodiment of the present invention.
Fig. 5 is a schematic perspective view of a surgical robot actuator according to an embodiment of the present invention.
Fig. 6 is a top view of a surgical robot actuator according to an embodiment of the present invention, wherein the structures of the front cover 2 and the rear cover 4 are shown in detail.
Fig. 7 is a schematic diagram of an internal configuration of a surgical robot actuator control unit 02 according to an embodiment of the present invention.
Fig. 8 is a side view of a surgical robotic effector in accordance with an embodiment of the present invention.
Fig. 9 is a top view of another angle of a surgical robotic effector provided in accordance with an embodiment of the present invention.
Fig. 10 is a structural view of a lower frame of a surgical robot actuator according to an embodiment of the present invention.
Fig. 11 is an enlarged view of a surgical robot effector interface position structure according to an embodiment of the present invention.
Fig. 12 is a schematic view of a surgical robotic system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the drawings and the following examples.
In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near", etc., are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and should not be construed as limiting the specific scope of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only to distinguish technical features, have no essential meaning, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features.
Referring to fig. 1, fig. 1 illustrates the basic structure of a robotic arm as is common in the art. As can be seen in fig. 1, the robotic arm appears to be a human arm lacking a palm and fingers. A particular surgical action needs to be performed by a surgical robotic effector attached to the end of a robotic arm.
Fig. 2 illustrates the structure of a surgical robotic device including a robotic arm, a surgical robotic effector, and a linkage. As can be seen from fig. 2, the end of the mechanical arm 0011 is connected to a surgical robot actuator 0012, the surgical robot actuator 0012 generally includes a circuit, and a mechanical power mechanism and a transmission mechanism connected to the circuit, the circuit structure of the surgical robot actuator 0012 is connected to the circuit of the mechanical arm 0011, and through the circuit connection, the surgical robot actuator 0012 obtains an action command and electric energy for driving the mechanical arm 0012 to perform a surgical action. As shown in fig. 2, the surgical robot actuator 0012 and the mechanical arm 0011 need to be connected into a whole through a connecting member 0013.
Surgical robotic effector 0012 does not perform the procedure directly. In fact, surgical robot actuator 0012 functions as a bridge, which is connected to the surgical robot, receives external commands (e.g., from a surgical control device), and controls and holds a surgical manipulator mounted thereon to perform a surgical operation. By way of example, fig. 3 illustrates the structure of a surgical manipulator. As shown in fig. 3, the manipulator 20X includes a scope body 200 and a scope body 201, the tail end of the scope body 200 is connected to the scope body 201, lumens communicated with each other are arranged in the scope body 200 and the scope body 201, and the scope body 201 is provided with an observation port 2011, an operation channel 2012, a water inlet valve 2013 and a light source inlet 2014. When the surgical manipulator is used for performing surgery, a doctor holds the endoscope body to operate beside the body of a patient, and the body fluid of the patient is easily polluted; secondly, the operation effect is greatly influenced by individual doctors, the accuracy and safety of the operation are difficult to ensure, the standardization and the normalization of the operation cannot be realized, and complications such as bleeding caused by puncturing and damaging adjacent organs or large blood vessels can occur if the experience of the doctors is insufficient.
Referring to fig. 4, an embodiment of the present invention provides a waterproof and lightweight surgical robot actuator, which can connect a mechanical arm of a surgical robot and a surgical manipulator 20X to perform various surgical operations, and thus perform various difficult surgical operations. Because the surgical robot is adopted to assist in carrying out the operation, the problem existing when the doctor holds the surgical manipulator by hand to complete the operation can be well solved. Fig. 4 illustrates a side cross-sectional view of a surgical robotic effector having surgical manipulator 20X installed therein, in accordance with an embodiment of the present invention. As shown in fig. 4, the surgical robot actuator includes a clamping portion 01 and a control portion 02, wherein the clamping portion 01 mainly functions to fixedly mount a surgical manipulator 20X, and ensure that the surgical manipulator 20X does not shake during a surgical procedure; the main function of the control unit 02 is to communicate with an external surgical control device via a cable, obtain a surgical operation command, and drive the surgical manipulator 20X to complete the surgical operation. Surgical manipulator 20X and interface 03 are not part of the surgical robot effector, but are also shown in the figures for clarity of the description of the manner in which the surgical robot operates. The interface 03 has a main function of connecting the robot arm to the surgical robot actuator.
Fig. 5 is a schematic perspective view of a surgical robot actuator according to an embodiment of the present invention. The clamping part 01 mainly comprises a front cushion block 1, a front cover 2, a rear cushion block 3, a rear cover 4, a camera cushion block 7, a cable cover 8, an interconnection piece 9, a lamp strip 10 and a bottom plate 6. The front cushion block 1, the rear cushion block 3 and the camera cushion block 7 are fixedly arranged on the bottom plate 6, and the camera cushion block 7 is a plate with a certain thickness and is used for cushioning a camera arranged above the camera cushion block 7 so as to be convenient for butt joint of the camera and the surgical manipulator 20X; the front cushion block 1 and the rear cushion block 3 are provided with grooves matched with the shape of the surgical operation device 20X on the sides far away from the bottom plate 6, as shown in fig. 5, before the operation, the surgical operation device 20X is clamped into the grooves of the front cushion block 1 and the rear cushion block 3, and the surgical operation device 20X can be basically fixed. For example, the front cushion block 1 and the rear cushion block 3 may be made of plastic, and the size of the groove on the front cushion block 1 and the rear cushion block 3 may be slightly larger than the size of the corresponding portion of the surgical manipulator 20X, so that when the surgical manipulator 20X is engaged with the groove on the front cushion block 1 and the rear cushion block 3, the groove can smoothly clamp the surgical manipulator 20X. It is important to keep the surgical manipulator 20X absolutely fixed during the surgery, and it is not enough to keep the surgical manipulator 20X absolutely fixed only by the engagement of the grooves in the front cushion block 1 and the rear cushion block 3. After the surgical manipulator 20X is snapped into the grooves of the front cushion block 1 and the rear cushion block 3, the front cover 2 and the rear cover 4 provide further fixing and locking. Fig. 6 shows the structure of the front cover 2 and the rear cover 4 in detail, and as can be seen from fig. 6, one side of the front cover 2 and the rear cover 4 is respectively installed on the front cushion block 1 and the rear cushion block 3 through a rotating shaft, and the other side can be respectively locked with the front cushion block 1 and the rear cushion block 3 through a locking mechanism. Before the operation operator 20X is installed, the front cover 2 and the rear cover 4 are set to be in an open state, the operation operator 20X is clamped into the grooves of the front cushion block 1 and the rear cushion block 3, then the front cover 2 and the rear cover 4 are closed, and the locking mechanism is locked, so that the operation operator 20X can be stably fixed and is ensured not to loosen in the whole operation process. The lamp strip 10 may display the operating state of the surgical robot actuator through brightness, a light emitting color, and the like. The base plate 6 is a flat plate, separates the holding portion 01 from the control portion 02, and provides mounting positions for various parts.
Also shown in fig. 5 are the connecting rod 14, the waterproofing membrane 15 and the housing 5, the connecting rod 14, the waterproofing membrane 15 and the housing 5 belonging to the control section 02. The link 14 mainly functions to output power of the control portion 02 to the surgical manipulator 20X, and the waterproof film 15 prevents liquid (e.g., irrigation liquid during surgery) in the grip portion 01 from leaking into the control portion 02. The casing 5 separates the inside of the control portion 02 from the outside.
The specific structure of the interface 03 is also shown in fig. 5. The interface 03 mainly comprises an interconnection cover 11, a threaded sleeve 12 and a threaded disc 13, and the function of the interface 03 is to connect the surgical robot actuator with the robotic arm, and since the interface 03 is not part of the surgical robot actuator, it will not be described in detail herein.
Fig. 7 shows the internal structure of the surgical robot actuator control section 02. As shown in fig. 7, the control portion 02 mainly includes a connecting rod 14, a waterproof film 15, a front bearing seat 16, a lead screw 17, a linear bearing 18, a slider 19, a lead screw nut 20, a limiting ring 21, a photoelectric sensor 22, a rear bearing seat 23, a coupling 24, a motor support seat 25, a servo motor 26, an optical axis 27, and a housing 5. In the operation process, the servo motor 26 drives the screw 17 to rotate, the screw nut 20 drives the sliding block 19 to do reciprocating linear motion, and the connecting rod 14 arranged on the sliding block 19 is connected with the operation manipulator 20X, so that the servo motor 26 drives the operation manipulator 20X to do front and back telescopic motion.
As previously mentioned, one of the improvements of the present invention over the prior art is the addition of an overall waterproof structure. These waterproof structures will be described in detail below. Fig. 8 is a side view of a surgical robotic effector in accordance with an embodiment of the present invention. Fig. 8 shows the waterproof membrane 15 described above, and the drain hole 28 provided in the housing 5. The link 14 transmits power to the surgical manipulator 20X, for which the link 14 needs to move back and forth in the direction along the surgical manipulator 20X, and an elongated opening (which is covered by a waterproof film, not visible in the drawings) that allows the link 14 to move back and forth is provided on the base plate 6. During the operation, the wound of the patient may bleed, and a large amount of the washing solution (generally, physiological saline) is required for the washing, so that the washing solution inevitably leaks into the holding portion 01 during the operation. If the rinse solution enters the underlying control portion 02 from the elongated opening, it may corrode components in the control portion 02, resulting in damage to the apparatus. In order to prevent the washing liquid from leaking into the control portion 02, a waterproof film 15 is provided to cover the elongated opening. As shown in fig. 8, the waterproof membrane 15 is like an inverted funnel, with the lower portion closely attached to the surface of the bottom plate 6 and the upper portion closely attached to the outer surface of the connecting rod 14. The waterproof film 15 is made of an elastic material, such as a rubber film, and when the link 14 moves, the elastic film 15 deforms along with the movement of the link 14, and always keeps close adhesion to the link 14 and the bottom plate 6, thereby preventing the washing liquid from entering the control portion 02 from the holding portion 01 through the elongated opening. In an extreme case, for example, when the elastic membrane 15 is broken and the rinse liquid enters the control portion 02, the plurality of drain holes 28 are provided just below the housing 5 facing the elastic membrane 15, and the rinse liquid also leaks from the drain holes 28. Since the parts requiring the most waterproofing are separated by the rear bearing block 23, the servo motor 26 is located in another compartment (see fig. 7), so that the core parts of the control portion 02 are not affected.
As shown in fig. 9, in order to fix the base plate 6, a screw hole 29 is usually provided at an appropriate position on the base plate 6, and the base plate 6 is fixed to the interface 03 or the front bearing housing 16 and the rear bearing housing 23 by screws. These threaded holes 29 cannot be completely closed by screws, and if there is flushing liquid on the base plate 6, this flushing liquid or water vapor can pass through the gaps of the threaded holes 29 into the underlying control part 02 with caution. To solve this problem, a waterproof pad is provided above the screw hole 29. For example, the waterproof pad may be a rubber pad.
Fig. 10 illustrates a view of the lower frame of the surgical robotic effector, the lower frame including the housing 5, the housing 5 including the housing channel 30 and the front and rear bearing mount mounting slots 31. Rubber rings are arranged in the shell groove 30 and the front and rear bearing seat mounting grooves 31, so that all spaces in the surgical robot actuator are isolated from each other, and even if water vapor or liquid water appears in a certain cabin, other cabins cannot be influenced.
Fig. 11 shows an enlarged view of the interface position structure of the surgical robot effector, including the joint 32 of the interface 03 and the surgical robot effector. A waterproof rubber ring is provided at the joint 32 to prevent the flushing fluid or water vapor inside the surgical robot actuator from entering the robot arm through the interface 03.
In order to reduce the weight of the surgical robot actuator and make the surgical robot actuator more portable and portable, the non-stressed part of the surgical robot actuator is made of plastic (such as nylon). The non-stressed components comprise a shell 5, a front cushion block 1, a front cover closing 2, a rear cushion block 3, a rear cover closing 4, a camera cushion block 7, a cable cover 8, a lamp strip 10, a linear bearing 18 and the like.
In the development process, the inventor of the present invention also noticed that the existing surgical robot actuator has a large noise in the operation process, and the noise source mainly comes from the moving components made of metal materials, such as the optical axis, the lead screw, the bearing, etc. In order to reduce noise, the inventors of the present invention have manufactured bearings, linear bearings, and screw nuts among the above-described components by using a non-metallic material (e.g., a polymer material). After the improvement, the noise generated by the surgical robot executor in the surgical process is reduced by more than 50%.
Fig. 12 is a schematic structural diagram of a surgical robot system according to an embodiment of the present invention. As shown in fig. 12, the surgical robot system includes: a surgical robotic device 001, a surgical monitoring device 002, and a surgical control device 003.
The surgical robot 001 is connected to a surgical control device 003, and performs a puncture operation (for example, percutaneous renal puncture) according to a puncture path, a channel expansion, and a lithotripsy operation in accordance with a surgical control command transmitted from the surgical control device 003.
The operation monitoring device 002 is connected to the operation control device 003, scans the current operation implementation position in real time during an operation, sends the acquired scan data of the current operation implementation position to the operation control device 003, and displays the scan data in the form of an image to an operator (e.g., a doctor).
The operation control device 003 acquires operation site (for example, kidney) scanning data from an external scanning device, and establishes a three-dimensional model of a lesion site (for example, kidney and stone) according to the operation site scanning data; according to the matching result of the three-dimensional model and the preset model, a puncture path is determined, navigation information is determined according to the puncture path and the scanning data, a surgical control instruction is generated according to the navigation information and sent to the surgical robot device 001, and the surgical operation is executed by the surgical robot device 001.
Before the operation is performed, the lesion (for example, kidney) of the patient is scanned by the external scanning device, and then the scanning data obtained by the scanning of the external scanning device is acquired by the operation control device 003, so as to establish a three-dimensional model of the lesion (for example, kidney and stone) of the patient. For example, the surgical control apparatus 003 may be a computer device and is installed with software for creating a three-dimensional model based on scan data, and the external scanning apparatus may be at least one of a magnetic resonance examination apparatus, an electronic computed tomography apparatus, and an ultrasound scanning apparatus. After the three-dimensional model is established, the three-dimensional model can be displayed to a doctor through a display connected with the operation control device 003 so that the doctor can determine an operation scheme according to the three-dimensional model, operation planning and simulation pre-puncture verification are performed through computer software, a puncture path for performing an operation on a patient is input through input equipment (such as a mouse and a keyboard) configured in the operation control device 003, and software can be formulated through the operation scheme installed in the operation control device 003 so that the puncture path is determined according to the three-dimensional model and a pre-stored operation model. Thereafter, the physician is required to confirm the software-derived protocol, or modify the software-derived protocol. The surgical control device 003 determines navigation information for performing puncture or lithotripsy based on the set puncture path and the scan data transmitted from the surgical monitoring device 002, and transmits a surgical control command to the surgical robot device 001, and the surgical device provided in the surgical robot device 001 performs surgery. For example, the surgical robot apparatus 001 includes a waterproof and lightweight surgical robot actuator according to an embodiment of the present invention.

Claims (10)

1. A waterproof and lightweight surgical robot actuator, characterized in that the waterproof and lightweight surgical robot actuator comprises a clamping part (01) and a control part (02), wherein the clamping part (01) is configured to fixedly mount a surgical manipulator (20X) and ensure that the surgical manipulator (20X) does not shake during a surgical procedure; the control unit (02) is configured to communicate with an external surgical control device via a cable, and drive the surgical manipulator (20X) to complete a surgical operation after obtaining a surgical operation command.
2. The waterproof, lightweight surgical robot actuator according to claim 1, characterized in that the clamping portion (01) includes a bottom plate (6), the bottom plate (6) separating the clamping portion (01) from the control portion (02), the bottom plate (6) having an elongated opening;
the control part (02) comprises a connecting rod (14) and a waterproof membrane (15), and the connecting rod (14) penetrates through the elongated opening on the bottom plate (6) and is connected with the surgical manipulator (20X) fixedly installed in the clamping part (01);
the shape of the waterproof membrane (15) is similar to an inverted funnel, the lower part of the waterproof membrane is tightly attached to the surface of the bottom plate (6), and the upper part of the waterproof membrane is tightly attached to the outer surface of the connecting rod (14);
preferably, the waterproof membrane (15) is made of an elastic material, such as a rubber membrane;
preferably, the longitudinal direction of the elongated opening is parallel to the longitudinal direction of the surgical manipulator (20X).
3. The waterproof and lightweight surgical robot actuator according to claim 1 or 2, wherein the clamping portion (01) comprises a front cushion block (1), a front close cover (2), a rear cushion block (3) and a rear close cover (4), the front cushion block (1) and the rear cushion block (3) are fixedly mounted on a base plate (6), the front cushion block (1) and the rear cushion block (3) are provided with grooves which are matched with the shape of the surgical manipulator (20X) on the sides far away from the base plate (6), and the surgical manipulator (20X) can be clamped in the grooves;
preferably, the front cushion block (1) and the rear cushion block (3) are made of high polymer materials, and the size of the grooves in the front cushion block (1) and the rear cushion block (3) is slightly larger than that of the corresponding part of the surgical manipulator (20X); further preferably, the ratio of the size of the grooves on the front cushion block (1) and the rear cushion block (3) to the size of the corresponding part of the surgical manipulator (20X) is 1.01-1.05: 1, alternatively 1.01-1.02: 1;
preferably, one side of the front closing cover (2) and one side of the rear closing cover (4) are respectively installed on the front cushion block (1) and the rear cushion block (3) through rotating shafts, and the other side of the front closing cover and the rear closing cover can be respectively locked with the front cushion block (1) and the rear cushion block (3) through locking mechanisms.
4. The waterproof and lightweight surgical robot actuator according to claim 3, further comprising a camera pad (7), wherein the camera pad (7) is a plate having a certain thickness and is fixedly installed on the base plate (6), and the camera pad (7) pads up a camera installed above the camera pad (7) so that the camera is accurately docked with the surgical manipulator 20X;
preferably, the waterproof and lightweight surgical robot actuator further comprises a light strip (10), and the light strip (10) displays the working state of the surgical robot actuator through brightness, light-emitting color and the like.
5. The waterproof and lightweight surgical robot actuator according to any one of claims 1 to 4, wherein the control unit (02) comprises a connecting rod (14), a waterproof membrane (15), a front bearing seat (16), a lead screw (17), a linear bearing (18), a slider (19), a lead screw nut (20), a limit ring (21), a photoelectric sensor (22), a rear bearing seat (23), a coupling (24), a motor support seat (25), a servo motor (26), an optical axis (27), and a housing (5);
preferably, the front bearing seat (16) and the rear bearing seat (23) are tightly connected with the housing (5), and the inner space of the control part (02) is divided into three parts.
6. The water-proof, light-weight surgical robot actuator according to any one of claims 1 to 5, wherein a screw hole (29) is provided at an appropriate position of the base plate (6) for mounting the base plate (6), and a water-proof pad is provided above the screw hole (29);
preferably, the waterproof pad is a rubber pad;
preferably, the base plate is fixed to the interface (03), the front bearing block (16) and/or the rear bearing block (23) by screws through the screw holes (29).
7. The waterproof, lightweight surgical robot actuator according to any one of claims 1 to 6, wherein the housing (5) comprises a housing groove (30) and front and rear bearing seat mounting grooves (31), and rubber rings are mounted in the housing groove (30) and the front and rear bearing seat mounting grooves (31), so that spaces inside the waterproof, lightweight surgical robot actuator are isolated from each other, and even if water vapor or liquid water occurs in one compartment, the other compartment is not affected.
8. The waterproof, lightweight surgical robot actuator according to any of claims 1 to 7, wherein the interface (03) has a joint (32) with the waterproof, lightweight surgical robot actuator, and a waterproof rubber ring is provided at the joint (32) to prevent flushing fluid or moisture inside the waterproof, lightweight surgical robot actuator from entering the robot arm through the interface (03).
9. The waterproof, lightweight surgical robotic actuator of any of claims 1-8, wherein the unstressed component of the waterproof, lightweight surgical robotic actuator is made of plastic;
preferably, the plastic comprises nylon;
preferably, the non-stressed part comprises at least one of a shell (5), a front cushion block (1), a front cover (2), a rear cushion block (3), a rear cover (4), a camera cushion block (7), a cable cover (8), a lamp strip (10) and a linear bearing (18);
preferably, the bearing, the linear bearing and the lead screw nut of the waterproof and lightweight surgical robot actuator are made of non-metallic materials;
preferably, the non-metal material is a polymer material.
10. A surgical robotic system, comprising a surgical robotic device, a surgical monitoring device, and a surgical control device;
the surgical robot device comprises a mechanical arm, an operator and a surgical robot executor, wherein the surgical robot executor is connected with and fixed on the mechanical arm;
the surgical robot actuator comprises an actuator body, a driving system and a fixing system;
the actuator body is configured to provide mounting locations and spaces for the drive system, the fixation system, and the operator;
the driving system is configured to drive the manipulator to reciprocate so as to push the manipulator tail end to perform a surgical operation;
the securing system is configured to secure the operator to the actuator body;
the operation monitoring device is connected with the operation control device and is configured to acquire an operation implementation position in real time, send information of the operation implementation position to the operation control device and display the information of the operation implementation position to an operator in an image form;
the operation control device is configured to obtain the lesion position scanning data from an external scanning device, establish a three-dimensional model according to the lesion position scanning data, generate an operation control instruction according to the three-dimensional model, send the operation control instruction to the operation robot device, and execute an operation by the operation robot device;
the surgical robotic device comprising the water-resistant, light-weight surgical robotic effector of any of claims 1-9.
CN202011099487.5A 2020-10-14 2020-10-14 Waterproof and lightweight surgical robot actuator and surgical robot system Active CN112168354B (en)

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