CN112190337B - Flexible surgical robot system of peritoneoscope - Google Patents
Flexible surgical robot system of peritoneoscope Download PDFInfo
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- CN112190337B CN112190337B CN202011191576.2A CN202011191576A CN112190337B CN 112190337 B CN112190337 B CN 112190337B CN 202011191576 A CN202011191576 A CN 202011191576A CN 112190337 B CN112190337 B CN 112190337B
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- 230000004888 barrier function Effects 0.000 claims description 34
- 230000036544 posture Effects 0.000 claims description 11
- 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
- 230000036512 infertility Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 206010019909 Hernia Diseases 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 208000025661 ovarian cyst Diseases 0.000 claims description 2
- 210000001672 ovary Anatomy 0.000 claims description 2
- 230000008439 repair process Effects 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 15
- 230000008569 process Effects 0.000 abstract description 8
- 238000000338 in vitro Methods 0.000 abstract 1
- 238000001727 in vivo Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 20
- 230000003287 optical effect Effects 0.000 description 15
- 230000000007 visual effect Effects 0.000 description 13
- 238000002324 minimally invasive surgery Methods 0.000 description 8
- 208000005646 Pneumoperitoneum Diseases 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012905 input function Methods 0.000 description 2
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000013020 embryo development Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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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 of peritoneoscope, including at least one operation trolley, the operation trolley includes adjustable location arm, is located the linear module of location arm distal end, slides the drive module that sets up on the linear module and the flexible surgical arm of being connected with the drive 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 gesture of the flexible operation arm. In the operation process, the positioning arm is kept motionless in vitro, and the operation is performed through the flexible operation arm in vivo, so that a plurality of operation instruments are effectively prevented from colliding with each other in the operation process.
Description
The scheme is a divisional application of the 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 and is filed on the basis of the date of 2018, the date of 10 and the date of 9.
Technical Field
The present disclosure relates to the field of medical devices, and in particular, to a laparoscopic flexible surgical robotic system.
Background
Compared with the multi-hole laparoscopic minimally invasive surgery, the single-hole laparoscopic minimally invasive surgery has smaller wound scale and higher post-operation output, and is increasingly valued in the surgical operation. The da Vinci SP surgical robot system of the existing Intuitive Surgical company (intuitional surgery company in the united states) assists doctors in completing single-port laparoscopic minimally invasive surgery, and opens the way for single-port laparoscopic surgical robots to be put into practical use. The system consists of a patient side trolley, a doctor main control end and a vision trolley. The patient side trolley is formed by carrying three operation arms and one vision arm by one positioning arm with the remote movement center positioning capability. The operation is performed by a doctor referring to real-time information provided by the visual trolley, and the main control end of the doctor is operated to input motion to control each functional unit of the patient side trolley to drive the operation tool and the visual tool to work. The remote end structure of the existing surgical tool is mainly formed by serial connection and hinging of multiple rods, and the surgical tool is driven by the tension of a steel wire rope, so that the surgical tool can be bent at a hinging 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, has large volume, is only developed for single-hole minimally invasive surgery, has poor multi-surgery adaptability and cannot adjust the number of the operation arms according to the complexity of the surgery. In the operation process, the positioning arms need to move outside the patient to adjust the posture of the tool in the patient, so that collision is easy to occur, and risks are brought to the patient and equipment. In addition, the wire rope used in the distal structure of the existing surgical instrument is kept in a continuous tensioning state by the pulley, and the driving mode is difficult to achieve further miniaturization of the surgical instrument and further improve the movement performance of the surgical 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 is kept stationary outside the body during a surgical operation, and the surgical operation is performed through a flexible surgical arm inside the body, so that a plurality of surgical instruments are effectively prevented from colliding with each other during the surgical operation.
To achieve the above object, the present disclosure includes the following technical solutions:
a flexible surgical robotic system comprising:
the surgical trolley comprises an adjustable positioning mechanical arm, a linear module arranged at the far end of the positioning mechanical arm, a driving module arranged on the linear module in a sliding manner and a flexible surgical arm connected with the driving module;
the positioning mechanical arm is used for positioning and maintaining 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 gesture of the flexible operation arm.
Drawings
FIG. 1 is a schematic view of a surgical robot according to the present invention;
FIG. 2 is a schematic diagram of the structure of the master trolley of the present invention;
FIG. 3 is a schematic view of the structure of the equipment 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 structure of the flexible surgical arm of the present invention;
FIG. 6 is a schematic view of the structure of the distal construct of the present invention;
fig. 7 is a schematic view of a flexible surgical robot in accordance with an embodiment of the cholecystectomy procedure of the invention.
Detailed Description
In some embodiments, the present invention provides a flexible surgical robot for single-hole minimally invasive surgery capable of avoiding surgical tool intervention during surgery and a method of using the same.
In a first aspect, the invention provides a flexible surgical robot for single-hole minimally invasive surgery, the system comprises a main control trolley, a device 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 device trolley through a main control cable, the first surgical trolley, the second surgical trolley and the device trolley are connected through a surgical trolley cable, and the main control trolley and the device trolley are connected with an external power supply through power cables; the first operation trolley and the second operation trolley comprise flexible operation arms, positioning mechanical arms, linear modules and driving modules, wherein the flexible operation arms comprise flexible continuous structures, the flexible continuous structures comprise distal end structures, proximal end structures and middle connecting bodies, the distal end structures comprise distal end structural sections, and the distal end structural sections comprise distal end spacing plates, distal end fixing plates and structural bones; the proximal structure body comprises proximal nodes with the same number as the distal nodes, and the proximal nodes comprise proximal end separation discs, proximal end 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 structure body of the first operation trolley is provided with a laparoscope tool for controlling the motion 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 structure 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 control signals sent by the main control trolley to provide power electricity and control signals for the linear module and the driving module; the single-hole puncture outfit comprises a puncture needle and a single-hole puncture outfit sheath, wherein the puncture needle and the single-hole puncture outfit sheath are used for puncturing at a preset position, and when the puncture is completed, the single-hole puncture outfit sheath can seal a puncture part and guide a laparoscopic tool and an operation tool after the puncture needle is pulled out.
Further, the main control cable is a composite cable or a plurality of cables, and the main control cable is a video transmission cable, an optical fiber, a common ground wire of equipment and a control signal transmission cable.
Further, the operation table 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 an operation tool special cable.
Further, for a laparoscopic tool mounted on the first surgical trolley, the surgical tool-specific cable is a laparoscopic video cable; for the surgical tool mounted on the second surgical trolley, the surgical tool-specific cable is an electric knife generator output cable.
Further, the main control trolley comprises a teleoperation handle and a 3D display, the 3D display is used for displaying the stereoscopic image of the operation part with depth information, and an operator controls the teleoperation handle to send signals 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 various required equipment in the operation process, the trolley body top fixed connection rocking arm bottom, the fixed 2D display that sets up on the rocking arm, the fixed optical positioning equipment that sets up of expansion end of rocking arm, the trolley body is through a plurality of operation trolley cable corresponding connection first operation trolley and second operation trolley, the equipment trolley still transmits the intraoperative image that laparoscopic tool observed through the video cable and transmits 2D display and master control trolley to show.
Further, the 2D display is also provided with an operation reminding function and an input function for assisting an operator in operating the 2D operation part image.
Further, the single-hole penetrator sheath includes at least two branch sheaths.
Further, be provided with instrument sterile barrier on the drive module, fixed puncture ware sterile barrier that sets up on the linear module, puncture ware sterile barrier detachably is connected with one of them branch sheath detachably, and laparoscopic tool and operation instrument are all connected with two other branch sheath detachably through corresponding puncture ware sterile barrier, fixedly on the puncture ware sterile barrier be provided with optical positioning sign.
In a second aspect, the present invention also provides a method for using a single-hole minimally invasive surgical flexible surgical robot, comprising the steps of:
step 1): the flexible surgical robot comprises a main control trolley, a first surgical trolley, at least one second surgical trolley and a single-hole puncture outfit, wherein the first surgical trolley and the second surgical trolley comprise flexible surgical arms, a positioning mechanical arm, a linear module and a driving module, each flexible surgical arm comprises a flexible continuous body structure, each flexible continuous body structure comprises a distal end structure body, a proximal end structure body and a middle connecting body, each distal end structure body comprises a distal end structure section, and each distal end structure section comprises a distal end spacing disc, a distal end fixing disc and a structural bone; the proximal structure body comprises proximal nodes with the same number as the distal nodes, and the proximal nodes comprise proximal end separation discs, proximal end 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 structure body of the first operation trolley is provided with a laparoscope tool for controlling the motion 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 structure 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 performing puncture at a preset position, and when the puncture is completed, 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 the first operation trolley, the second operation trolley and the main control trolley at the positions around the operation table; 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 connected with an external power supply through power cables;
step 3): starting up a main control trolley and an equipment trolley, and performing self-inspection on the flexible operation robot;
step 4): the surgical trolley is provided with a tool sterile barrier and a puncture outfit sterile barrier, and the puncture outfit sterile barrier is respectively connected with two branch sheaths of the sheath of the single-hole puncture outfit;
step 5): the optical positioning equipment of the equipment trolley is adopted to identify the optical positioning marks of the first operation trolley and the second operation trolley, so that the positioning of the first operation trolley and the second operation trolley is completed;
step 6): according to the surgical position, the first surgical trolley and the second surgical trolley are moved, and the positioning mechanical arms of the first surgical trolley and the second surgical trolley are adjusted so that the positions and the directions of the linear modules and the driving modules of the first surgical trolley and the second surgical trolley meet the surgical requirements;
step 7): connecting and locking a laparoscopic 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 visual guidance, 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 remotely operates and sends out a control signal of the movement of the flexible operation arm according to an image acquired by the laparoscopic tool, the main control trolley converts the control signal into driving signals of a driving module of the first operation trolley and the second operation trolley and sends the driving signals to the equipment trolley, and the equipment trolley forwards the received driving signals to the corresponding first operation trolley and the second operation trolley;
step 10): after the operation is completed, the laparoscopic tool and the surgical tool are completely withdrawn to the position where the single-hole puncture outfit 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 sheath of the single-hole puncture outfit is detached from the sterile barrier of the puncture outfit and then stored.
Further, the optical positioning device in the step 5) adopts a visual camera, the optical positioning mark adopts a positioning tracker, and the visual camera confirms the position of each operation trolley by taking the positioning tracker arranged on the operation trolley.
Further, the flexible surgical robot comprises a master control trolley, an equipment trolley, a first surgical trolley and two second surgical trolleys, wherein the front end of the first surgical trolley driving module is connected with the laparoscopic tool through a flexible surgical arm, and the front ends of the two second surgical trolley driving modules are connected with the corresponding surgical tools through the flexible surgical arm.
Further, the flexible surgical robot comprises a main control trolley, an equipment trolley, a first surgical trolley and three second surgical trolleys, wherein the front end of a driving module of the first surgical trolley is connected with laparoscopic tools through flexible surgical arms, and the front ends of driving modules of the three second surgical trolleys are respectively connected with corresponding surgical tools through flexible surgical arms.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the flexible surgical robot for performing single-hole minimally invasive surgical operations of doctors provided by the invention comprises a main control trolley 1, an equipment trolley 2, at least two surgical trolleys 3 beside an operation table and a single-hole puncture outfit, wherein a first surgical trolley 3 is carried with a laparoscopic tool to collect images of an operation part, and other second surgical trolleys 3 are carried with surgical tools to perform operations.
The arrangement and the number of the main control trolley 1, the equipment trolley 2 and the operation trolley 3 can be adjusted according to the requirements of different operations, the operation trolley 3 is usually placed on one side of an operation bed when the operation trolley is used, and the main control trolley 1 is far away from a patient bed as far as possible. The main control trolley 1 is used for providing a platform for operating the operation trolley 3 and observing images of an operation part by a doctor in a remote control manner, the equipment trolley 2 is used for positioning the operation trolley 3 and receiving signals from the main control trolley 1, and power and control signals are provided for tools carried by the operation trolley 3.
The main control trolley 1 and the equipment trolley 2 are connected through a main control cable 10, wherein the main control cable 10 can be a composite cable or a cable formed by connecting a plurality of cables, the main control cable 10 comprises 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 connected with an external power supply through a power cable 6, and the power cable 6 can be a 220V alternating current cable.
Each operation trolley 3 and the equipment trolley 2 CAN be connected by an operation trolley cable 5, wherein the operation trolley cable 5 CAN be a cable formed by connecting one composite cable or a plurality of cables, and the operation cable 5 comprises, but is not limited to, a 24V power cable, an equipment public ground wire, a CAN communication cable, an emergency stop switch cable and an operation tool special cable, and for a laparoscopic tool carried on the first operation trolley 3, the operation tool special cable is a laparoscopic video cable, and for an operation tool carried on the second operation trolley 3, the operation tool special cable is an electric knife 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 puncture is completed, the single-hole puncture outfit sheath can seal a 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 includes at least two branch sheaths.
In this embodiment, preferably, as shown in fig. 2, the main control trolley 1 includes a trolley body 11, on which a teleoperation handle 12 and a 3D display 13,3D display 13 are arranged for displaying a stereoscopic image with depth information, and an operator controls the teleoperation handle 12 to send a signal to the equipment trolley 2 according to the 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 rocker arm 22 and an optical positioning device 24, the top of the trolley body 21 is fixedly connected with the bottom of the rocker arm 22, the 2D display 23 is fixedly arranged on the rocker arm 22, the movable end of the rocker arm 22 is fixedly provided with the optical positioning device 24, preferably, the optical positioning device 24 may include a visual camera, and the visual camera is used for identifying the operation trolley 3, so as to determine the position of the operation 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 intra-operative images observed by the laparoscope through the video cables and transmits the intra-operative 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 be used for placing devices required in various surgical procedures, such as a laparoscopic visual module device, etc., 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 part images.
In this embodiment, as shown in fig. 4 to 6, preferably, the surgical trolley 3 is used for controlling the movement of the flexible surgical arm in the patient, and has the functions of supporting and positioning, and the first surgical trolley 3 and the second surgical trolley 3 have substantially the same structure, and each include a flexible surgical arm 30, a trolley base 31, a positioning mechanical arm 32, a linear module 33, a driving module 34, a laparoscope or surgical tool 35, an optical positioning mark 36, a tool sterile barrier 37 and a puncture outfit sterile barrier 38; wherein the flexible surgical arm 30 comprises a flexible continuum structure comprising a distal structure 301, a proximal structure 302, and a middle connector 303, the distal structure 301 comprising a distal construct 304, the distal construct 304 comprising a distal spacer disc 305, a distal fixation disc 306, and a structural bone 307; the proximal structure 302 includes a number of proximal nodes equal to the number of distal nodes, including a proximal spacer disc, a proximal fixation disc, and structural bone. The top of the trolley base 31 is fixedly provided with the bottom of the 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 structural body 302 to move, and the proximal structural body 302 is used for driving the distal structural body 301 to move. Because the flexible operation arm 30 adopts a continuous structure, the driving module 34 can drive the gesture of the flexible operation arm 30 to finish the movement of various operation tools or laparoscopic tools, thereby providing possibility for further miniaturization of the operation instrument and further improving the movement performance of the instrument. The front end of the far-end structure 301 of the first operation trolley 3 is provided with a laparoscopic tool for controlling the movement of the laparoscopic tool, and the front end of the driving module 34 of the first operation trolley 3 is connected with the laparoscopic tool through the flexible operation arm 30 and can drive the posture of the flexible operation arm 30 so that the laparoscopic tool provides different visual angles; the front end of the far-end structure 301 of the second operation trolley 3 is provided with an operation tool for controlling the movement of the operation tool, and the front end of the driving module 34 of the second operation trolley 3 is connected with the operation tool through the flexible operation arm 30 and can drive the gesture of the flexible operation arm 30, so that the operation tool has different gestures, and the full-dimensional movement of the operation tool is completed. Therefore, the motion of the positioning mechanical arm 32 in the operation process is not needed to expand the motion capability 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 front end of flexible surgical arm 30 carries surgical tools, such as, but not limited to, a surgical tool head such as a needle holder, bipolar forceps, and maryland forceps. In addition, a tool sterile barrier 37 is provided on the driving module 34, and a puncture outfit sterile barrier 38 is fixedly provided at the front end of the linear module 33, and the tool sterile barrier 37 and the puncture outfit sterile barrier 38 are used for isolating the non-sterilized part of the operation table vehicle from the patient. The spike sterility barrier 38 is detachably connected to one of the branch sheaths, and both laparoscopic tools and surgical tools are detachably connected to the other branch sheath through the respective spike sterility barrier 38. In addition, an optical positioning identifier 36 is arranged on the sterile barrier 38 of the puncture outfit, the optical positioning identifier 36 can be a positioning tracker, and the pose adjustment of the linear module 33 can be realized by matching with the movement of the trolley base 31, so as to be used for positioning all the operation trolleys 3.
When the invention works, the first operation trolley 3 carrying the laparoscopic tool collects real-time stereo images of the operation and transmits the stereo images to the equipment trolley 2; the equipment trolley 2 processes the received image, and then displays the 2D operation part image on the display 23 of the equipment trolley 2, and simultaneously transmits the 2D operation part image to the main control trolley 1, and a stereoscopic image with depth information is displayed on the 3D display 13 of the main control trolley 1. The surgeon manipulates teleoperational handle 12 to control the movement of flexible surgical arm 30 and sends signals to equipment trolley 2 according to the guidance of the 3D display image. The equipment trolley 2 is converted into driving signals required by all operation trolley driving modules 34 and 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 surgical trolley 3 and the second surgical trolley 3 drive the respective movements performed by the flexible surgical arm 30 according to the received control amounts.
The following further describes the use of the flexible surgical robot for single-hole minimally invasive surgical procedures of the present invention by way of specific examples.
Example 1: the flexible surgical robot operated by the single-hole minimally invasive surgery is used for performing appendectomy.
The appendectomy procedure of this embodiment requires a master cart 1, a device cart 2 and a first and three second surgical carts 3, the carts being arranged as shown in fig. 1, with the patient in a bottom position. A plurality of surgical tools are inserted into the abdomen inlet 7 of the pneumoperitoneum of the patient through the single hole puncture outfit 4. The function of the single hole penetrator 4 is to seal the pneumoperitoneum and assist in guiding laparoscopic and surgical tools. The surgeon sits in front of the main control trolley 1, observes the operation part image through the 3D display 13, and controls the teleoperation handle 12 to control the movement of the flexible operation arm 30 mounted on the operation trolley 3. The auxiliary surgeon 1 stands beside the operating table 8 to assist the operation of the surgeon.
The preparation stage before operation comprises the following steps:
1. anesthesia is carried out on the patient to form pneumoperitoneum; 2. fixing the patient on an operation table 8, and puncturing the patient at a preset position on the abdominal wall of the patient by using a single-hole puncture outfit 4, wherein 7 is an abdomen 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 surgical needs and the arrangement of the surgeon.
The operation robot uses the stage, and the concrete process is:
1. according to flexible surgical robot connected mode with master control platform truck 1, equipment platform truck 2, the cable between first operation platform truck 3 and the second operation platform truck 3 connect, specifically:
as shown in fig. 1, the positions of all the operation carts 3 are arranged in the vicinity of the hospital bed 8 according to the position of the entrance opening 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 cable length. The optical positioning device 24 of the equipment trolley 2 is to be rotated to a position where the optical positioning marks 36 of all the operation trolleys 3 can be observed by the equipment trolley rocker arm 22, and the 2D display of the equipment trolley displays the identification status of the positioning marks 36 of all the operation trolleys 3.
2. The main control trolley 1 and the equipment trolley 2 are started up, and the flexible operation robot performs self-checking.
3. The sterile barriers including the tool sterile barrier 37 and the puncture outfit sterile barrier 38 are installed for all the operation trolleys 3, and the puncture outfit sterile barrier 38 is connected with the two branch sheaths of the single-hole puncture outfit sheath, respectively.
4. The auxiliary doctor pushes all the operation trolleys 3 to the side of the operation bed, moves the operation trolleys 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, and the puncture outfit sterile barrier 38 and the single-hole puncture outfit 4 at the front end of the linear module 33 are in a close state, and then fixes the single-hole puncture outfit 4 and the puncture outfit sterile barrier 38.
5. The assisting physician connects and locks the laparoscopic tool and the surgical tool to the drive module 34 through the tool sterile barrier 37. First, the surgeon pushes the flexible surgical arm 30 of the laparoscopic tool under visual guidance to the viewing site. The assisting physician then advances the surgical tool into the patient's body until the surgical tool is exposed to the single-hole penetrator 4.
6. The surgeon pushes the flexible surgical arm 30 of the surgical tool under the visual guidance of the laparoscopic tool to fully extend the single-hole penetrator 4.
7. When the operation is completed or the operation tool needs to be withdrawn for heel replacement, the surgeon withdraws the laparoscopic tool and the operation tool to the position exposing the single-hole puncture outfit 4 through the main control trolley 1.
8. The assisting physician withdraws the laparoscopic and surgical tools completely outside the body, and then unlocks and removes the laparoscopic and surgical tools from the corresponding driving module 34 for proper storage.
9. After the operation is finished, the auxiliary doctor releases the single-hole puncture outfit 4 from the puncture outfit sterile barrier 38, the connection between the operation trolley 3 and the pneumoperitoneum of the patient is disconnected, then the single-hole puncture outfit sheath is detached from the puncture outfit sterile barrier 38 and stored, and finally the operation trolley 3 is removed from the operation bed 8 and is properly stored.
Example 2: the surgical robot for single-hole minimally invasive surgical operation is adopted to conduct cholecystectomy.
The cholecystectomy operation of this embodiment requires a main console truck 1, an equipment truck 2, a first operation truck 3 and two second operation trucks 3. The trolley arrangement is shown in figure 7. The patient takes the posture of the bottom, the head is low, the feet are high, and the using method of the flexible surgical robot is the same as that of the embodiment 1. Similarly, the flexible surgical robot for single-hole minimally invasive surgical procedures of the present invention may also be used for ovarian cyst removal, tubectomy, tubal embryogenesis, ovaries perforation, hernia repair, and the like.
Modifications and variations of the above embodiments will be apparent to those skilled in the art in light of the above teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (14)
1. A laparoscopic flexible surgical robotic system comprising:
the surgical trolley comprises an adjustable positioning mechanical arm, a linear module arranged at the far end of the positioning mechanical arm, a driving module arranged on the linear module in a sliding manner 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 gesture of the flexible operation arm;
during the operation, the positioning mechanical arm is kept motionless outside the body so as to keep the linear module in a preset direction and a preset position, and the flexible operation arm is driven to change the position and the posture by the linear module and the driving module so as to perform the operation.
2. The laparoscopic flexible surgical robotic system of claim 1, wherein the flexible surgical arm comprises a surgical tool or a laparoscopic tool at a distal end thereof.
3. The laparoscopic flexible surgical robotic system of claim 2, wherein the flexible surgical arm comprises a flexible continuum structure;
the flexible continuum structure comprises a distal structure body, a proximal structure body and a middle connector, wherein the distal structure body comprises a distal structure section, and the distal structure section comprises a distal spacing disc, a distal fixing disc and a structural bone; the proximal structure body comprises proximal nodes the number of which is equal to that of distal nodes, and the proximal nodes comprise proximal end separation discs, proximal end fixing discs and structural bones;
the driving module is used for driving the proximal structure body to move, and the proximal structure body is used for driving the distal structure body to move, so that surgical tools or laparoscopic tools at the distal end of the distal structure body have different postures.
4. The laparoscopic flexible surgical robotic system of claim 1, wherein at least one of said flexible surgical arms is configured to access a patient from an opening.
5. The laparoscopic flexible surgical robotic system of claim 4, further comprising:
a penetrator sheath including a proximal portion and a distal portion, the distal portion of the penetrator sheath for insertion into a patient from the opening, the proximal portion being detachably connected to the linear module, the penetrator sheath including at least one channel for guiding a distal end of the flexible surgical arm.
6. The laparoscopic flexible surgical robotic system of claim 5, further comprising: at least one penetrator sterility barrier;
the puncture outfit sterile barrier is fixedly arranged at the distal end of the linear module, and the puncture outfit sterile barrier is detachably connected with the proximal end part of the puncture outfit sheath.
7. The laparoscopic flexible surgical robotic system of 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. The laparoscopic flexible surgical robotic system of claim 7, wherein said at least one piercer sterile barrier is detachably connected to a respective said branching sheath.
9. The laparoscopic flexible surgical robotic system according to claim 6, wherein said predetermined direction comprises a direction of said linear module and a direction of said channel of said proximal portion of said penetrator sheath being approximately coincident;
the predetermined position includes a position in which the puncture outfit sterile barrier and the proximal end portion of the puncture outfit sheath are close to each other in the predetermined direction, at which the puncture outfit sterile barrier and the proximal end portion of the puncture outfit sheath are detachably connected.
10. The laparoscopic flexible surgical robotic system of claim 2, wherein,
the flexible surgical arms include a first flexible surgical arm having a distal end including the laparoscopic tool and at least one second flexible surgical arm having a distal end including the surgical tool;
the first flexible surgical arm and the at least one second flexible surgical arm are configured to access the patient from the same opening.
11. The laparoscopic flexible 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 surgical trolley comprises a second positioning mechanical arm, a second linear module, a second driving module and a second flexible surgical arm.
12. The laparoscopic flexible surgical robotic system of any one of claims 1-11, 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 electricity and a control signal for the linear module and the driving module.
13. The laparoscopic flexible surgical robotic system of any one of claims 1-11, wherein said predetermined direction and predetermined position comprise a direction and position that meets predetermined surgical requirements.
14. The laparoscopic flexible surgical robotic system of claim 13, wherein the surgical formula comprises: appendectomy, cholecystectomy, ovarian cyst removal, tubectomy, tubal embryotomy, ovaries 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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| 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 |
| CN112190337A (en) | 2021-01-08 |
| CN109431604B (en) | 2021-03-26 |
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