CN112190337A - Flexible surgical robot system - Google Patents
Flexible surgical robot system Download PDFInfo
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- CN112190337A CN112190337A CN202011191576.2A CN202011191576A CN112190337A CN 112190337 A CN112190337 A CN 112190337A CN 202011191576 A CN202011191576 A CN 202011191576A CN 112190337 A CN112190337 A CN 112190337A
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- 230000004888 barrier function Effects 0.000 claims description 33
- 230000036544 posture Effects 0.000 claims description 15
- 210000000988 bone and bone Anatomy 0.000 claims description 8
- 238000002192 cholecystectomy Methods 0.000 claims description 4
- 238000007486 appendectomy Methods 0.000 claims description 3
- 206010019909 Hernia Diseases 0.000 claims description 2
- 230000036512 infertility Effects 0.000 claims description 2
- 230000002611 ovarian Effects 0.000 claims description 2
- 208000025661 ovarian cyst Diseases 0.000 claims description 2
- 230000008439 repair process Effects 0.000 claims description 2
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- 230000003287 optical effect Effects 0.000 description 15
- 238000002324 minimally invasive surgery Methods 0.000 description 10
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- 208000005646 Pneumoperitoneum Diseases 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 4
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- 238000002674 endoscopic surgery Methods 0.000 description 3
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- 230000008054 signal transmission Effects 0.000 description 2
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- 210000003815 abdominal wall Anatomy 0.000 description 1
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- 238000005452 bending Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 1
- 210000003101 oviduct Anatomy 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The utility model relates to a surgical robot technical field discloses a flexible surgical robot system, including at least one operation platform truck, the operation platform truck includes adjustable location arm, is located the linear module of location arm distal end, slides the flexible operation arm that sets up drive module and be connected with drive module on linear module. The positioning mechanical arm is used for positioning and keeping the linear module in a preset direction and a preset position, the linear module is used for driving the driving module and the flexible operation arm to linearly feed along the preset direction, and the driving module is used for driving the posture of the flexible operation arm. In the operation process, the positioning arm is kept still outside the body, and the operation is performed through the flexible operation arm inside the body, so that a plurality of operation instruments are effectively prevented from colliding with each other in the operation process.
Description
The scheme is based on a division application of an invention patent application with the patent application number of 2018111749411, which is named as 'a flexible surgical robot for single-hole minimally invasive surgery and a using method thereof' filed on 2018, 10, 9 and 9.
Technical Field
The present disclosure relates to the field of medical devices, and more particularly, to a flexible surgical robot system.
Background
Compared with the porous laparoscopic minimally invasive surgery, the single-port laparoscopic minimally invasive surgery has smaller wound scale and higher postoperative yield, and is increasingly emphasized in the surgical operation. The existing da Vinci (DaVinci) SP Surgical robot system of intuitional Surgical company (American intuition surgery company) assists doctors to complete single-port laparoscopic minimally invasive surgery, and creates a precedent for putting single-port laparoscopic Surgical robots into application. The system consists of a patient side trolley, a doctor main control end and a vision trolley. The patient side trolley is provided with three operation arms and a vision arm by a positioning arm with the capability of positioning a far-end motion center to complete the operation. In the operation, a doctor refers to the real-time information provided by the vision trolley, operates the master control end of the doctor to input motion, and controls each functional unit of the trolley on the patient side to drive the operation tool and the vision tool to work. The far end structure of the existing surgical tool is mainly formed by serially connecting and hinging a plurality of rod pieces, and the surgical tool is driven by the tension of a steel wire rope to realize the bending of a hinged joint.
The existing patient side trolley uses a single positioning arm to carry a plurality of operation arms and vision arms, is limited by load and dynamic response requirements, is large in size, only aims at single-hole minimally invasive operation type research and development, is poor in multi-operation type adaptation flexibility, and can not adjust the quantity of working arms according to operation complexity. In the operation process, a plurality of positioning arms need to move outside the patient body to adjust the posture of a tool in the patient body, and collision is easy to generate to bring risks to the patient and equipment. In addition, the steel wire rope used in the distal end structure of the existing surgical instrument needs to be kept in a continuous tensioning state through a pulley, and the driving mode is difficult to realize further miniaturization of the surgical instrument and further difficult to improve the motion performance of the instrument.
Disclosure of Invention
Based on the above problems, an object of the present disclosure is to provide a flexible surgical robot system, in which a positioning arm remains stationary outside a body during a surgical operation, and the surgical operation is performed through an internal flexible surgical arm, so as to effectively avoid collision of a plurality of surgical instruments with each other during the surgical operation.
In order to achieve the purpose, the disclosure includes the following technical solutions:
a flexible surgical robotic system comprising:
the surgical trolley comprises an adjustable positioning mechanical arm, a linear module positioned at the far end of the positioning mechanical arm, a driving module arranged on the linear module in a sliding mode and a flexible surgical arm connected with the driving module;
the positioning mechanical arm is used for positioning and keeping the linear module in a preset direction and a preset position, the linear module is used for driving the driving module and the flexible operation arm to linearly feed along the preset direction, and the driving module is used for driving the posture of the flexible operation arm.
Drawings
FIG. 1 is a schematic view of the construction of a surgical robot of the present invention;
FIG. 2 is a schematic structural view of the master control trolley of the present invention;
FIG. 3 is a schematic view of the structure of the apparatus trolley of the present invention;
FIG. 4 is a schematic view of the construction of the surgical trolley of the present invention;
FIG. 5 is a schematic view of the construction of a flexible surgical arm of the present invention;
FIG. 6 is a schematic structural view of a distal segment of the present invention;
FIG. 7 is a schematic structural view of a flexible surgical robot according to an embodiment of the cholecystectomy procedure of the present invention.
Detailed Description
In some embodiments, the present invention provides a flexible surgical robot for single-hole minimally invasive surgery and a method of using the same capable of avoiding surgical tool interference during surgery.
In a first aspect, the invention provides a flexible surgical robot for single-hole minimally invasive surgery, which comprises a main control trolley, an equipment trolley, a first surgical trolley, at least one second surgical trolley and a single-hole puncture outfit, wherein the main control trolley is connected with the equipment trolley through a main control cable; the first operation trolley and the second operation trolley respectively comprise a flexible operation arm, a positioning mechanical arm, a linear module and a driving module, the flexible operation arm comprises a flexible continuum structure, the flexible continuum structure comprises a far-end structure body, a near-end structure body and a middle connecting body, the far-end structure body comprises a far-end structure section, and the far-end structure section comprises a far-end spacing disc, a far-end fixing disc and a structural bone; the proximal structure body comprises proximal structure sections with the number equal to that of the distal structure sections, and the proximal structure sections comprise proximal spacing discs, proximal fixing discs and structural bones; the movable end of the positioning mechanical arm is provided with a linear module, the top of the linear module is slidably provided with a driving module, and the linear module is used for driving the driving module to feed along the axial direction of the driving module; the front end of the far-end structural body of the first operation trolley is provided with a laparoscope tool for controlling the movement of the laparoscope tool, and the front end of the driving module of the first operation trolley is connected with the laparoscope through a flexible operation arm and can drive the posture of the flexible operation arm, so that the laparoscope provides different visual angles; the front end of the far-end structural body of the second operation trolley is provided with an operation tool for controlling the movement of the operation tool, and the front end of the driving module of the second operation trolley is connected with the operation tool through a flexible operation arm and can drive the posture of the flexible operation arm, so that the operation tool has different postures; the equipment trolley is used for positioning the operation trolley and receiving a control signal sent by the main control trolley to provide power and a control signal for the linear module and the driving module; the single-hole puncture outfit comprises a puncture needle and a single-hole puncture outfit sheath, and is used for puncturing at a preset position, and when the puncture is completed, the single-hole puncture outfit sheath can close the puncture part and guide laparoscopic tools and surgical tools after the puncture needle is pulled out.
Furthermore, the master control cable is a composite cable or a plurality of cables, and the master control cable is a video transmission cable, an optical fiber, a device common ground wire and a control signal transmission cable.
Furthermore, the operation trolley cable is a composite cable or a plurality of cables, and comprises a power cable, an equipment public ground wire, a CAN communication cable, an emergency stop switch cable and a cable special for an operation tool.
Further, for the laparoscopic tool mounted on the first surgical cart, the surgical tool dedicated cable is a laparoscopic video cable; in the surgical tool mounted on the second surgical cart, the surgical tool dedicated cable is an electric knife generator output cable.
Furthermore, the main control trolley comprises a remote operation handle and a 3D display, the 3D display is used for displaying the stereoscopic image of the operation part with the depth information, and an operator controls the remote operation handle to send a signal to the equipment trolley according to the guidance of the stereoscopic image of the operation part.
Further, the equipment trolley comprises a trolley body, a rocker arm, a 2D display and optical positioning equipment; the equipment trolley is used for placing required equipment in various operation processes, the top of the trolley body is fixedly connected with the bottom of the rocker arm, the rocker arm is fixedly provided with a 2D display, the movable end of the rocker arm is fixedly provided with an optical positioning device, the trolley body is correspondingly connected with a first operation trolley and a second operation trolley through a plurality of operation trolley cables, and the equipment trolley also transmits images observed by the laparoscope tool through video cables and transmits the images to the 2D display and the main control trolley for display.
Furthermore, the 2D display is also provided with an operation reminding function and an input function for assisting an operator to operate the 2D operation part image.
Further, the single-hole penetrator sheath includes at least two branching sheaths.
Furthermore, a tool sterile barrier is arranged on the driving module, a puncture device sterile barrier is fixedly arranged on the linear module, the puncture device sterile barrier is detachably connected with one of the branch sheath sleeves, the laparoscopic tool and the surgical tool are detachably connected with the other two branch sheath sleeves through the corresponding puncture device sterile barriers, and an optical positioning mark is fixedly arranged on the puncture device sterile barrier.
In a second aspect, the present invention also provides a method for using a single-hole minimally invasive flexible surgical robot, comprising the following steps:
step 1): the method comprises the following steps of arranging a flexible surgical robot comprising a main control trolley, an equipment trolley, a first operation trolley, at least one second operation trolley and a single-hole puncture outfit, wherein each of the first operation trolley and the second operation trolley comprises a flexible surgical arm, a positioning mechanical arm, a linear module and a driving module, each flexible surgical arm comprises a flexible continuum structure, each flexible continuum structure comprises a far-end structure body, a near-end structure body and a middle connector, each far-end structure body comprises a far-end structure section, and each far-end structure section comprises a far-end spacing disc, a far-end fixing disc and a structure bone; the proximal structure body comprises proximal structure sections with the number equal to that of the distal structure sections, and the proximal structure sections comprise proximal spacing discs, proximal fixing discs and structural bones; the movable end of the positioning mechanical arm is provided with a linear module, the top of the linear module is slidably provided with a driving module, and the linear module is used for driving the driving module to feed along the axial direction of the driving module; the front end of the far-end structural body of the first operation trolley is provided with a laparoscope tool for controlling the movement of the laparoscope tool, and the front end of the driving module of the first operation trolley is connected with the laparoscope through a flexible operation arm and can drive the posture of the flexible operation arm, so that the laparoscope provides different visual angles; the front end of the far-end structural body of the second operation trolley is provided with an operation tool for controlling the movement of the operation tool, and the front end of the driving module of the second operation trolley is connected with the operation tool through a flexible operation arm and can drive the posture of the flexible operation arm, so that the operation tool has different postures; the single-hole puncture outfit comprises a puncture needle and a single-hole puncture outfit sheath, and is used for puncturing at a preset position, and when the puncture is finished, the single-hole puncture outfit sheath can seal a puncture part and guide a laparoscopic tool and an operation tool after the needle is pulled out;
step 2): placing a first operation trolley, a second operation trolley and a main control trolley at the peripheral positions of an operation bed; the main control trolley is connected with the equipment trolley through a main control cable, the first operation trolley, the second operation trolley and the equipment trolley are connected through operation trolley cables, and the main control trolley and the equipment trolley are both connected with an external power supply through power cables;
step 3): starting the main control trolley and the equipment trolley, and performing self-checking on the flexible surgical robot;
step 4): the operating trolley mounting tool sterile barrier and the puncture outfit sterile barrier are respectively connected with two branch sheath sheaths of the sheath of the single-hole puncture outfit;
step 5): identifying the optical positioning marks of the first operation trolley and the second operation trolley by adopting optical positioning equipment of the equipment trolley to complete the positioning of the first operation trolley and the second operation trolley;
step 6): moving the first operation trolley and the second operation trolley according to the operation type position, and adjusting positioning mechanical arms of the first operation trolley and the second operation trolley to enable the positions and the directions of the linear modules and the driving modules of the first operation trolley and the second operation trolley to meet the operation type requirement;
step 7): connecting and locking a laparoscope tool and an operation tool with a driving module of a corresponding operation trolley through a tool sterile barrier;
step 8): pushing the laparoscopic tool to a preset position under the guidance of vision, and feeding the surgical tool to the direction of the preset position until the surgical tool extends out of the single-hole puncture outfit;
step 9): an operator sends out a control signal of the movement of the flexible surgical arm according to the image teleoperation collected by the laparoscope tool, the main control trolley converts the control signal into a driving signal of a driving module of a first surgical trolley and a driving signal of a driving module of a second surgical trolley and sends the driving signals to the equipment trolley, and the equipment trolley forwards the received driving signals to the corresponding first surgical trolley and the second surgical trolley;
step 10): after the operation is completed, the laparoscopic tool and the surgical tool are completely withdrawn to a position where the single-hole puncture instrument is exposed.
Further, the method also comprises the following steps:
step 11): unlocking the laparoscopic tool and the surgical tool from the driving module, and taking down and storing the laparoscopic tool and the surgical tool;
step 12): the single-hole penetrator sheath is removed from the penetrator sterile barrier and stored.
Further, in the step 5), the optical positioning device adopts a visual camera, the optical positioning identifier adopts a positioning tracker, and the visual camera confirms the position of each surgical trolley by shooting the positioning tracker arranged on the surgical trolley.
Furthermore, the flexible surgical robot comprises a main control trolley, an equipment trolley, a first surgical trolley and two second surgical trolleys, the front end of the first surgical trolley driving module is connected with a laparoscope tool through a flexible surgical arm, and the front ends of the two second surgical trolley driving modules are connected with corresponding surgical tools through the flexible surgical arm.
Furthermore, the flexible surgical robot comprises a main control trolley, an equipment trolley, a first surgical trolley and three second surgical trolleys, the front end of a driving module of the first surgical trolley is connected with a laparoscope tool through a flexible surgical arm, and the front ends of driving modules of the three second surgical trolleys are respectively connected with corresponding surgical tools through the flexible surgical arm.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, the flexible surgical robot for performing single-port minimally invasive surgery of a doctor according to the present invention includes a main control cart 1, an equipment cart 2, at least two surgical carts 3 beside a surgical bed, and a single-port puncture outfit, wherein a first surgical cart 3 carries a laparoscope tool to collect an image of a surgical site, and other second surgical carts 3 carry surgical tools to perform surgery.
Wherein, the main control platform truck 1, equipment platform truck 2 and operation platform truck 3 arrange with quantity can adjust according to the demand of different art formulas, do not do the restriction here, and operation platform truck 3 is placed in operation table one side usually during the use, and patient's sick bed is kept away from as far as possible to main control platform truck 1. The main control trolley 1 is used for providing a platform for operating the operation trolley 3 and observing the image of the operation part by remote control for an operator, and the equipment trolley 2 is used for positioning the operation trolley 3, receiving signals from the main control trolley 1 and providing power and control signals for tools carried by the operation trolley 3.
The main control cable 10 is connected between the main control trolley 1 and the equipment trolley 2 through the main control cable 10, wherein the main control cable 10 can adopt a composite cable or a cable formed by connecting a plurality of cables, the main control cable 10 includes but is not limited to a video transmission cable, an optical fiber, an equipment common ground wire and a control signal transmission cable, in addition, the main control trolley 1 and the equipment trolley 2 are both connected with an external power supply through the power supply cable 6, and the power supply cable 6 can adopt a 220V alternating current cable.
All CAN be connected through operation platform truck cable 5 between every operation platform truck 3 and the equipment platform truck 2, wherein, operation platform truck cable 5 CAN adopt a compound cable or many cables that form with the cable connection, operation cable 5 contains but not limited to 24V power cable, the public ground wire of equipment, CAN communication cable, scram switch cable and the special cable of surgical tool, to carrying on the peritoneoscope instrument on first operation platform truck 3, the special cable of surgical tool is peritoneoscope video cable, to carrying on the surgical tool at second operation platform truck 3, the special cable of surgical tool is electrotome generator output cable.
The single-hole puncture outfit 4 comprises a puncture needle and a single-hole puncture outfit sheath, and is used for puncturing at a preset position, and when the puncturing is completed, the single-hole puncture outfit sheath can close the puncture part and guide laparoscopic tools and surgical tools after the puncture needle is pulled out.
In this embodiment, the single-hole penetrator sheath preferably comprises at least two branching sheaths.
In this embodiment, as shown in fig. 2, preferably, the main control trolley 1 includes a trolley body 11, a teleoperation handle 12 and a 3D display 13 are disposed on the trolley body, the 3D display 13 is used for displaying a stereoscopic image with depth information, and an operator controls the teleoperation handle 12 to send a signal to the device trolley 2 according to guidance of the image displayed by the 3D display 13.
In this embodiment, preferably, as shown in fig. 3, the device trolley 2 includes a trolley body 21, a 2D display 23, a swing arm 22, and an optical positioning device 24, the top of the trolley body 21 is fixedly connected to the bottom of the swing arm 22, the swing arm 22 is fixedly provided with the 2D display 23, and the movable end of the swing arm 22 is fixedly provided with the optical positioning device 24, and preferably, the optical positioning device 24 may include a visual camera, and the visual camera is used for recognizing the surgical trolley 3 so as to determine the position of the surgical trolley 3. The trolley body 21 is correspondingly connected with each operation trolley 3 through a plurality of operation trolley cables 5, and the equipment trolley 2 also transmits the intraoperative images observed by the laparoscope through video cables and transmits the intraoperative images to the 2D display 23 and the 3D display 13 of the main control trolley 1 for displaying. In addition, the device trolley 2 can also be used for placing devices required in various surgical procedures, such as a laparoscope vision module device, and the 2D display 23 of the device trolley 2 is further provided with an operation reminding function and an input function for assisting an operator to operate the 2D surgical site images.
In this embodiment, preferably, as shown in fig. 4 to 6, the operation trolley 3 is used for controlling the movement of the flexible operation arm in the patient, and plays a role of supporting and positioning at the same time, and the first operation trolley 3 and the second operation trolley 3 have substantially the same structure, and both include a flexible operation arm 30, a trolley base 31, a positioning mechanical arm 32, a linear module 33, a driving module 34, a laparoscope or an operation tool 35, an optical positioning identifier 36, a tool sterile barrier 37 and a puncture instrument sterile barrier 38; the flexible surgical arm 30 comprises a flexible continuous body structure, the flexible continuous body structure comprises a distal structural body 301, a proximal structural body 302 and a middle connecting body 303, the distal structural body 301 comprises a distal structural section 304, and the distal structural section 304 comprises a distal spacing disc 305, a distal fixing disc 306 and a structural bone 307; proximal structure 302 includes proximal segments equal in number to the distal segments, including proximal spacer disks, proximal fixation disks, and structural bone. The top of the trolley base 31 is fixedly provided with the bottom of a positioning mechanical arm 32, the movable end of the positioning mechanical arm 32 carries a linear module 33, the top of the linear module 33 is slidably provided with a driving module 34, and the linear module 33 is used for driving the driving module 34 to feed along the axial direction of the driving module 34. The driving module 34 is used for driving the proximal structure 302 to move, and the proximal structure 302 is used for driving the distal structure 301 to move. Because the flexible operation arm 30 adopts a continuum structure, the driving module 34 can drive the posture of the flexible operation arm 30 to complete the movement of various operation tools or laparoscope tools, thereby providing possibility for further miniaturization of operation instruments, further improving the movement performance of the instruments, enabling the system to carry out multi-hole endoscopic surgery, single-hole endoscopic surgery and mixed endoscopic surgery of mutual cooperation of single holes and multiple holes, meeting the complex operation type requirements and reducing the wound scale of the multi-hole operation robot as much as possible. A laparoscope tool is arranged at the front end of the distal structure body 301 of the first operation trolley 3 and used for controlling the motion of the laparoscope tool, and the front end of the driving module 34 of the first operation trolley 3 is connected with the laparoscope tool through the flexible operation arm 30 and can drive the posture of the flexible operation arm 30, so that the laparoscope tool can provide different visual angles; the distal end structure 301 front end of second operation platform truck 3 is provided with surgical tool for the motion of control surgical tool, and the drive module 34 front end of second operation platform truck 3 passes through flexible operation arm 30 and connects surgical tool, and can drive the gesture of flexible operation arm 30, makes surgical tool have different gestures, accomplishes surgical tool's full dimension motion. Therefore, the positioning mechanical arm 32 does not need to move in the operation process to expand the movement capacity of the operation tool, the possibility of external collision of the positioning mechanical arm 32 in the operation process is completely avoided, and the safety is obviously improved. Preferably, the distal end of flexible surgical arm 30 carries surgical tools, of the type including, but not limited to, surgical tool tips such as needle holders, bipolar forceps, and Maryland forceps. In addition, a tool sterile barrier 37 is provided on the drive module 34, and a puncture instrument sterile barrier 38 is fixedly provided at the front end of the linear module 33, both the tool sterile barrier 37 and the puncture instrument sterile barrier 38 being used to isolate the non-sterile part of the operation trolley from the patient. The penetrator sterile barrier 38 is removably coupled to one of the branching sheaths and the laparoscopic tool and the surgical tool are removably coupled to the other branching sheath through the respective penetrator sterile barrier 38. In addition, an optical positioning mark 36 is arranged on the puncture device sterile barrier 38, and the optical positioning mark 36 can adopt a positioning tracker and can realize the posture adjustment of the linear module 33 by matching with the movement of the trolley base 31, so as to position all the operation trolleys 3.
When the invention works, a first operation trolley 3 carrying a laparoscope tool collects a real-time three-dimensional image of an operation and transmits the image to an equipment trolley 2; the device cart 2 processes the received image, displays the 2D surgical site image on the display 23 of the device cart 2, and simultaneously transmits the image to the main control cart 1, and displays a stereoscopic image of depth information on the 3D display 13 of the main control cart 1. The surgeon manipulates teleoperational handle 12 to control the movement of flexible surgical arm 30, as guided by the 3D display image, and sends a signal to device trolley 2. The equipment trolley 2 is converted into driving signals required by all the operation trolley driving modules 34 and the linear modules 33 according to the control signals of the main control trolley 1, and the driving signals are sent to the first operation trolley 3 and the second operation trolley 3. The first operation trolley 3 and the second operation trolley 3 drive the corresponding movement of the flexible operation arm 30 according to the received control quantity.
The following is a further description of the use of the flexible surgical robot for single-hole minimally invasive surgical procedures according to the present invention with reference to specific embodiments.
Example 1: the flexible surgical robot for single-hole minimally invasive surgery operation is adopted to carry out appendectomy.
The appendectomy procedure of this embodiment requires a master control cart 1, an equipment cart 2, a first surgical cart and three second surgical carts 3, which are arranged as shown in fig. 1, and the patient assumes an upward posture. A plurality of surgical tools are inserted into the pneumoperitoneum entry 7 of the patient through the single-hole puncture instrument 4. The single-hole puncture instrument 4 is used for sealing pneumoperitoneum and helping the guide of laparoscopic tools and surgical tools. The operator sits in front of the main control trolley 1, observes the image of the operative part through the 3D display 13, and controls the teleoperation handle 12 to control the movement of the flexible operation arm 30 carried on the operation trolley 3. The assisting surgeon 1 stands beside the operating bed 8 to assist the surgeon's operation.
The preparation stage before operation needs the following steps:
1. anaesthetizing the patient to form pneumoperitoneum; 2. fixing a patient on an operating bed 8, and puncturing at a preset position on the abdominal wall of the patient by using a single-hole puncture outfit 4, wherein 7 is an abdominal inlet; 3. fixing the single-hole puncture outfit 4 on the pneumoperitoneum of the patient; 4. the patient is adjusted to the proper position according to the operation requirement and the arrangement of the operator.
The operation stage of the surgical robot comprises the following specific processes:
1. connect the cable between main control platform truck 1, equipment platform truck 2, first operation platform truck 3 and the second operation platform truck 3 according to flexible operation robot connected mode, specifically do:
as shown in fig. 1, the positions of all the surgical trolleys 3 are arranged near the patient bed 8 according to the position of the abdominal entrance 7. The position of the main control trolley 1 can be placed at a position far away from the operating table 8 according to the length of the cable. The optical positioning device 24 of the device trolley 2 is rotated by the device trolley swing arm 22 to a position where the optical positioning marks 36 of all the operation trolleys 3 can be observed, and the 2D display of the device trolley displays the identification conditions of the positioning marks 36 of all the operation trolleys 3.
2. And starting the main control trolley 1 and the equipment trolley 2, and performing self-checking on the flexible surgical robot.
3. A sterile barrier is installed for all surgical trolleys 3, comprising a tool sterile barrier 37 and a penetrator sterile barrier 38, the penetrator sterile barrier 38 being connected to two branching sheaths of a single-hole penetrator sheath, respectively.
4. The assistant doctor pushes all the operation trolleys 3 to the operation bed, moves the operation trolley 3 according to the position of the single-hole puncture outfit 4, adjusts the positioning mechanical arm 32, adjusts the direction of the linear module 33 and the direction of the single-hole puncture outfit 4 to be approximately consistent, enables the puncture outfit sterile barrier 38 at the front end of the linear module 33 and the single-hole puncture outfit 4 to be in a close state, and then fixes the single-hole puncture outfit 4 and the puncture outfit sterile barrier 38.
5. The assisting surgeon connects and locks laparoscopic and surgical tools to the drive module 34 through the tool sterility barrier 37. First, the surgeon advances the flexible surgical arm 30 of the laparoscopic tool under visual guidance to the viewing site. Then, the assisting surgeon feeds the surgical tool toward the inside of the patient until the surgical tool exposes the position of the single-hole puncture instrument 4.
6. The surgeon, under visual guidance of the laparoscopic tool, advances the flexible surgical arm 30 of the surgical tool to fully extend the single-port puncture instrument 4.
7. When the operation is completed or the surgical tool needs to be withdrawn for replacement, the operator withdraws the laparoscopic tool and the surgical tool to the position where the single-hole puncture outfit 4 is exposed through the main control trolley 1.
8. The assisting surgeon withdraws the laparoscopic and surgical tools completely out of the body, and then unlocks and removes the laparoscopic and surgical tools from the respective drive modules 34 for proper storage.
9. After the operation is completed, the assisting surgeon releases the single-hole puncture instrument 4 from the puncture instrument sterile barrier 38, disconnects the operation trolley 3 from the pneumoperitoneum of the patient, then detaches the single-hole puncture instrument sheath from the puncture instrument sterile barrier 38 and stores the puncture instrument sheath, and finally removes the operation trolley 3 from the operation table 8 for proper storage.
Example 2: the surgical robot for single-hole minimally invasive surgery operation is adopted to carry out cholecystectomy.
The cholecystectomy procedure of this embodiment requires a master control cart 1, an equipment cart 2, a first operation cart 3 and two second operation carts 3. The trolley arrangement is shown in figure 7. The patient takes the posture of face up, the head is low, the feet are high, and the using method of the flexible surgical robot is the same as the using process of the embodiment 1. Similarly, the flexible surgical robot for single-hole minimally invasive surgery operation can also be applied to the operation modes of ovarian cyst removal, fallopian tube resection, salpingotomy, ovarian perforation, hernia repair and the like.
Appropriate changes and modifications to the embodiments described above will become apparent to those skilled in the art from the disclosure and teachings of the foregoing description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (14)
1. A flexible surgical robotic system comprising:
the surgical trolley comprises an adjustable positioning mechanical arm, a linear module positioned at the far end of the positioning mechanical arm, a driving module arranged on the linear module in a sliding mode and a flexible surgical arm connected with the driving module;
the positioning mechanical arm is used for positioning and keeping the linear module in a preset direction and a preset position, the linear module is used for driving the driving module and the flexible operation arm to linearly feed along the preset direction, and the driving module is used for driving the posture of the flexible operation arm.
2. A surgical robotic system as claimed in claim 1, wherein the flexible surgical arm includes a surgical or laparoscopic tool at a distal end thereof.
3. The surgical robotic system as claimed in claim 2, wherein the flexible surgical arm comprises a flexible continuum structure;
the flexible continuous body structure comprises a far-end structure body, a near-end structure body and a middle connecting body, wherein the far-end structure body comprises a far-end structure section, and the far-end structure section comprises a far-end spacing disc, a far-end fixing disc and a structural bone; the proximal structure body comprises proximal structure sections with the number equal to that of the distal structure sections, and the proximal structure sections comprise proximal spacing discs, proximal fixing discs and structural bones;
the drive module is used for driving the near end structure body to move, and the near end structure body is used for driving the far end structure body to move, so that the surgical tool or the laparoscopic tool at the far end of the far end structure body has different postures.
4. A surgical robotic system as claimed in claim 1, wherein at least one of the flexible surgical arms is adapted to enter a patient from an opening or openings.
5. The surgical robotic system of claim 4, further comprising:
a penetrator sheath including a distal portion for insertion into a patient from the opening and a proximal portion removably coupled with the linear module, the penetrator sheath including at least one channel for guiding the distal end of the flexible surgical arm.
6. The surgical robotic system as claimed in claim 5, further comprising: at least one penetrator sterility barrier;
the puncture instrument sterile barrier is fixedly arranged at the distal end of the linear module, and the puncture instrument sterile barrier is detachably connected with the proximal end part of the puncture instrument sheath.
7. A surgical robotic system as claimed in claim 6, wherein a proximal portion of the penetrator sheath includes at least one branching sheath extending progressively outwardly away from each other in a distal to proximal direction, the branching sheath including the passage therethrough along a longitudinal axis.
8. A surgical robotic system as claimed in claim 7, wherein the at least one penetrator sterile barrier is respectively removably coupled with the respective breakout sheath.
9. A surgical robotic system as claimed in claim 6, wherein the predetermined direction comprises a direction in which the linear module and the channel of the proximal portion of the penetrator sheath point approximately in unison;
the predetermined position includes a position in which the proximal portions of the penetrator sterile barrier and the penetrator sheath are adjacent to each other in the predetermined direction, and the proximal portions of the penetrator sterile barrier and the penetrator sheath are detachably connected at the predetermined position.
10. The surgical robotic system of claim 2,
the flexible surgical arm comprises a first flexible surgical arm and at least one second flexible surgical arm, a distal end of the first flexible surgical arm comprising the laparoscopic tool, a distal end of the second flexible surgical arm comprising a surgical tool;
the first flexible surgical arm and the at least one second flexible surgical arm are for accessing the patient from the same opening; or
The first flexible surgical arm and the at least one second flexible surgical arm are for accessing the patient from different openings, respectively; or
The first flexible surgical arm is configured to enter the patient from a first opening and the at least one second flexible surgical arm is configured to enter the patient from a second opening different from the first opening; or
The first flexible surgical arm and a portion of the second flexible surgical arm are configured to enter a patient from a first opening, and another portion of the second flexible surgical arm is configured to enter the patient from a second opening different from the first opening.
11. The surgical robotic system of claim 10, wherein the surgical trolley comprises a first surgical trolley and at least one second surgical trolley;
the first operation trolley comprises a first positioning mechanical arm, a first linear module, a first driving module and a first flexible operation arm;
the second operation trolley comprises a second positioning mechanical arm, a second linear module, a second driving module and a second flexible operation arm.
12. A surgical robotic system as claimed in any one of claims 1 to 11, further comprising: a master control trolley and an equipment trolley;
the equipment trolley is used for positioning at least one operation trolley and receiving a control signal sent by the main control trolley to provide power and a control signal for the linear module and the driving module.
13. A surgical robotic system as claimed in any one of claims 1 to 11, wherein the predetermined directions and predetermined positions include directions and positions which comply with predetermined surgical requirements.
14. A surgical robotic system as claimed in claim 13, wherein the surgical modality includes: appendectomy, cholecystectomy, ovarian cyst removal, salpingectomy, tubal incision for embryo removal, ovarian perforation or hernia repair.
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| CN202011191576.2A CN112190337B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot system of peritoneoscope |
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| CN201811174941.1A CN109431604B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot for single-hole minimally invasive surgery and use method thereof |
| CN202011191576.2A CN112190337B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot system of peritoneoscope |
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| CN201811174941.1A Division CN109431604B (en) | 2018-10-09 | 2018-10-09 | Flexible surgical robot for single-hole minimally invasive surgery and use method thereof |
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| CN113456229A (en) * | 2020-03-31 | 2021-10-01 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
| CN113081281A (en) * | 2021-04-16 | 2021-07-09 | 北京图灵微创医疗科技有限公司 | Robot system for abdominal cavity operation |
| CN115607285B (en) * | 2022-12-20 | 2023-02-24 | 长春理工大学 | Single-port laparoscope positioning device and method |
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| CN109431604A (en) | 2019-03-08 |
| CN112190337B (en) | 2023-12-05 |
| CN109431604B (en) | 2021-03-26 |
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