CN112603545B - Surgical device - Google Patents
Surgical device Download PDFInfo
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- CN112603545B CN112603545B CN202011644535.4A CN202011644535A CN112603545B CN 112603545 B CN112603545 B CN 112603545B CN 202011644535 A CN202011644535 A CN 202011644535A CN 112603545 B CN112603545 B CN 112603545B
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
The invention provides a surgical device. The surgical device comprises a main frame, a first front lifting part, a second front lifting part, a first rear lifting part, a second rear lifting part, a rolling sensor, a spacing sensor and a control part. The first front lifting part and the second front lifting part are arranged at the front part of the main frame and can respectively adjust the height of the front part of the main frame; the first rear lifting part and the second rear lifting part are arranged at the rear part of the main frame and can respectively adjust the height of the rear part of the main frame; the rolling sensor can measure the inclination of the main frame in the first direction; the distance sensor can measure the inclination of the main frame in the second direction; the control unit controls the first front lifting unit, the second front lifting unit, the first rear lifting unit, and the second rear lifting unit based on the inclination in the first direction and the inclination in the second direction measured by the roll sensor and the pitch sensor.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a surgical device.
Background
Recently, in order to improve accuracy, precision, and fineness of a surgery, a surgical robot system for performing a surgery using a surgical robot is actively being developed. For example, in the da vinci surgical robot, a robotic arm inserted directly into a patient's body may operate like a hand of a surgical operator to perform a procedure.
However, such a da vinci surgical robot has a problem in that since it is composed of a large base frame having a tower shape and many robot arms extending therefrom to be branched, it is impossible to mount and dismount the robot arms, and thus a fixed number of robot arms must be used in all operations, and a base is heavy and bulky in order to prevent shaking of the plurality of robot arms. The conventional da vinci surgical robot has problems in that it is difficult to secure a space because the robot arm is fixed, and it is not possible to separate the robot arm from the surgical device in an emergency, and it is inconvenient for the patient to transfer to a safe area.
In addition, in order to perform a precise operation, particularly, to control a precise operation of the robot arm, it is important to adjust the level of the surgical device, and the non-level of the surgical device may cause a treatment site to be not precisely treated. Therefore, there is an urgent need for a technique for easily securing a space and for automatically setting the level of a surgical device when an emergency situation occurs.
Disclosure of Invention
The invention mainly aims to provide a surgical device, which can automatically adjust the level through two front lifting parts, two rear lifting parts and a control part for performing feedback control on the lifting parts so as to conveniently perform accurate control on a treatment part; moreover, the surgical device can realize modular arrangement, so that the robot arm can be disassembled to be separated from the surgical device, and the patient can be conveniently transferred to a safe area.
To achieve the above object, the present invention provides a surgical device including:
a main frame;
a first front lifting part and a second front lifting part which are provided at the front portion of the main frame, are respectively capable of adjusting the height of the front portion of the main frame, and are arranged to be spaced apart from each other in a state of being overlapped in the width direction of the main frame;
a first rear lift portion and a second rear lift portion which are provided at a rear portion of the main frame, are respectively adjustable in height of the rear portion of the main frame, and are arranged to be spaced apart from each other in a state of being overlapped in a width direction of the main frame;
a roll sensor capable of measuring an inclination of the main frame in a first direction;
a pitch sensor capable of measuring an inclination of the main frame in a second direction crossing the first direction; and
a control unit that controls the first front elevation unit, the second front elevation unit, the first rear elevation unit, and the second rear elevation unit based on the inclination in the first direction and the inclination in the second direction measured by the roll sensor and the pitch sensor.
Optionally, the first front lifting part and the first rear lifting part overlap each other in a length direction of the main frame, and
the second front lifting part and the second rear lifting part overlap each other in a width direction of the main frame.
Alternatively, the control unit may control the first front lifting unit and the second front lifting unit such that the inclination in the first direction becomes horizontal in a state where the first rear lifting unit and the second rear lifting unit are fixed; and
the control unit controls the second front lifting unit and the second rear lifting unit such that the inclination in the second direction becomes horizontal in a state where the first front lifting unit and the first rear lifting unit are fixed in a state where the inclination in the first direction becomes horizontal.
Alternatively, after the inclination in the second direction becomes horizontal, the control unit may control the first front elevating unit and the second front elevating unit again in a state where the first rear elevating unit and the second rear elevating unit are fixed such that the inclination in the first direction becomes horizontal.
Optionally, the rolling sensor comprises a first rolling sensor disposed between the first front lift and the first rear lift, and a second rolling sensor disposed between the second front lift and the second rear lift; and
the spacing sensor includes a first spacing sensor disposed between the first front lift and the second front lift, and a second spacing sensor disposed between the first rear lift and the second rear lift.
Optionally, the surgical device further comprises:
a guide connected to the main frame;
a slider slidable along the guide; and
a robotic arm detachably connected to the slider.
Optionally, the robotic arm comprises:
a robot body disposed on the slider;
a robot guide disposed at a lower side of the robot body; and
a fixed portion slidable along the robot guide and insertable into the slider.
Optionally, the robot arm further includes an elastic portion having one end fixed to the robot guide and the other end fixed to the fixing portion to apply pressure to the fixing portion in a direction toward the slider.
Alternatively, the fixing portion has a tapered shape whose width gradually narrows as it moves in a direction toward the slider.
The present invention provides a surgical device comprising:
a main frame;
a guide connected to the main frame;
a slider slidable along the guide; and
a robot arm including a robot body arranged on the slider, a robot guide provided at a lower side of the robot body, and a fixing portion slidable along the robot guide and insertable into the slider.
Optionally, the robot arm further includes an elastic portion having one end fixed to the robot guide and the other end fixed to the fixing portion to apply pressure to the fixing portion in a direction toward the slider.
Alternatively, the fixing portion has a tapered shape whose width gradually narrows as it moves in a direction toward the slider.
Optionally, the surgical device further comprises:
a first front lifting part and a second front lifting part which are provided at the front portion of the main frame, are respectively capable of adjusting the height of the front portion of the main frame, and are arranged to be spaced apart from each other in a state of being overlapped in the width direction of the main frame;
a first rear lift portion and a second rear lift portion which are provided at a rear portion of the main frame, are respectively adjustable in height of the rear portion of the main frame, and are arranged to be spaced apart from each other in a state of being overlapped in a width direction of the main frame;
a roll sensor capable of measuring an inclination of the main frame in a first direction;
a pitch sensor capable of measuring an inclination of the main frame in a second direction crossing the first direction; and
a control unit that controls the first front elevation unit, the second front elevation unit, the first rear elevation unit, and the second rear elevation unit based on the inclination in the first direction and the inclination in the second direction measured by the roll sensor and the pitch sensor.
The invention has the following effects:
according to the surgical device of an embodiment, the level can be automatically adjusted through the two front lifting parts, the two rear lifting parts and the control part for performing feedback control on the lifting parts, so that the treatment part can be accurately controlled.
The surgical device according to an embodiment may enable a modular setup, enabling disassembly of the robotic arm to detach the robotic arm from the surgical device to facilitate patient transfer to a safe area.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a front view of a surgical device according to one embodiment;
FIG. 2 is a side view of a surgical device according to one embodiment;
FIG. 3 is a top view of a portion of the structure of a surgical device according to one embodiment;
FIG. 4 is a block diagram of a control portion in a surgical device according to an embodiment;
fig. 5 is a sequence diagram of steps of performing horizontal adjustment by a control section of a surgical apparatus according to an embodiment.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative position relationship between the components, the motion situation, and the like under a certain posture (as shown in the drawing), and if the certain posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1-4, a surgical device according to one embodiment may be leveled relative to a ground surface G by automatic feedback control. Further, the surgical device may include a detachable and slidably movable robotic arm 14. The surgical device may include a support portion 10, a main frame 11, a guide 12, a slider 13, a robotic arm 14, a wheel 15, two front lifters 51, 52, two rear lifters 61, 62, two roll sensors 71, 72, two pitch sensors 81, 82, and a control portion 9.
The support portion 10 can support a patient. The support 10 may have a flat plate shape. The support portion 10 may be provided with an elastic portion so that the patient can comfortably lie down. The surgical device may be provided with a plurality of robot arms 14, and the robot arms 14 may be moved or separated in a case where a user goes onto the support portion 10 or in a case where a user goes out of the support portion 10.
The main frame 11 can support the support portion 10. Wheels 15 may be provided under the main frame 11, and the main frame 11 may be movable by the wheels 15.
The guide 12 may be provided at a side portion of the main frame 11 to slidably support the slider 13.
The slider 13 is slidable along the guide 12. For example, the slider 13 may be provided with a roller (not shown) at a portion contacting the guide 12. The surgical device may include an actuator (not shown) for sliding the slider 13.
The robot arm 14 can be detachably connected to the slider 13. The robot arm 14 may include a robot body 141 disposed on the slider 13, a robot guide 142 provided at a lower side of the robot body 141, a fixing portion 143 slidable along the robot guide 142 and insertable into the slider 13, and an elastic portion 144 applying pressure to the fixing portion 143 toward the slider 13. The elastic part 144 may have one end fixed to the robot guide 142 and the other end fixed to the fixing part 143 to apply pressure to the fixing part 143 toward the slider 13. The fixing portion 143 may have a tapered shape whose width gradually narrows as it moves in a direction toward the slider 13. In the case where the fixing portion 143 is separated from the slider 13, the robot arm 14 may be converted into a state separable from the slider 13.
The two front lifters 51, 52 allow for height adjustment of the front portion of the surgical device. The two front lifters may include a first front lifter 51 and a second front lifter 52. The first front elevation 51 and the second front elevation 52 may be provided in front of the surgical device (+ x direction). The first front lifter 51 and the second front lifter 52 may be spaced apart from each other in a state of being overlapped in the width direction (y-axis direction) of the main frame 11. Referring to fig. 1, the second front elevation part 52 may include a front elevation body 521 fixed to the main frame 11, a front elevation rod 522 provided to be movable up and down with respect to the front elevation body 521, and a front elevation base 523 provided at an end of the front elevation rod 522 and contacting the ground. It will be appreciated that the description of the second front lift also applies to the first front lift and the rear lift.
The two rear lifts 61, 62 allow the height of the rear part of the surgical device to be adjusted. The two rear lifters may include a first rear lifter 61 and a second rear lifter 62. The first rear elevating portion 61 and the second rear elevating portion 62 may be disposed at the rear (x direction) of the surgical device. The first rear lift portion 61 and the second rear lift portion 62 may be spaced apart from each other in a state of being overlapped in the width direction (y-axis direction) of the main frame 11.
The four lifting portions can lift the surgical device in a case where the surgical device is located at a desired position. In a state where the surgical device is elevated by the four elevating portions, the wheels 15 may be spaced apart from the ground.
Referring to fig. 2, the two front elevating sections 51 and 52 and the two rear elevating sections 61 and 62 may be overlapped with each other with reference to the longitudinal direction (x-axis direction) of the surgical device. Specifically, the first front lifter 51 may overlap the first rear lifter 61, and the second front lifter 52 may overlap the second rear lifter 62. In other words, the first front raising/lowering portion 51 may overlap the second front raising/lowering portion 52 in the width direction (y-axis direction) of the main frame 11, and may overlap the first rear raising/lowering portion 61 in the length direction (x-axis direction) of the main frame 11.
The two rolling sensors 71, 72 can measure the inclination of the main frame 11 in the first direction. The two roll sensors 71 and 72 can measure the inclination of the main frame 11 about the x-axis. The two rolling sensors 71, 72 may include a first rolling sensor 71 disposed between the first front elevating part 51 and the first rear elevating part 61, and a second rolling sensor 72 disposed between the second rear elevating part 52 and the second rear elevating part 62. Here, being disposed between not only means being located right on an imaginary line connecting the two sensors, but also means being located near the imaginary line connecting the two sensors as shown midway. It should be noted that the configuration other than the support portion 10, the main frame 11, the four elevating portions 51, 52, 61, 62, the two rolling sensors 71, 72, and the two pitch sensors 81, 82 is omitted in fig. 3.
The two pitch sensors 81, 82 can measure the inclination of the main frame 11 in a second direction intersecting the first direction. The two pitch sensors 81 and 82 can measure the inclination of the main frame 11 about the y-axis. The two pitch sensors 81, 82 may include a first pitch sensor 81 disposed between the first front lifter 51 and the second front lifter 52, and a second pitch sensor 82 disposed between the first rear lifter 61 and the second rear lifter 62.
The control section 9 may control the two front elevating sections 51, 52 and the two rear elevating sections 61, 62 based on the inclinations in the first direction and the inclinations in the second direction measured in the two rolling sensors 71, 72 and the two pitch sensors 81, 82.
The control section 9 can adjust the level of the surgical device. The control unit 9 may control the first front elevating unit 51 and the second front elevating unit 52 so that the inclination in the first direction becomes horizontal in a state where the first rear elevating unit 61 and the second rear elevating unit 62 are fixed. In other words, the rear elevating portion may perform the function of the reference elevating portion, and the front elevating portion may perform the function of the adjustment elevating portion. In a state where the inclination in the first direction is horizontal, the control unit 9 may control the second front lifting unit 52 and the second rear lifting unit 62 so that the inclination in the second direction becomes horizontal in a state where the first front lifting unit 51 and the first rear lifting unit 61 are fixed. In this step, the first front ascent and descent unit 51 and the first rear ascent and descent unit 61 may perform the function of the reference ascent and descent unit, and the second front ascent and descent unit 52 and the second rear ascent and descent unit 62 may perform the function of the adjustment ascent and descent unit.
After the inclination in the first direction is adjusted to be horizontal, the inclination in the first direction may be again deviated from horizontal when the inclination in the second direction is adjusted to be horizontal. Therefore, after the inclination in the second direction becomes horizontal, the control unit 9 can control the two front elevating units 51 and 52 to make the inclination control position in the first direction horizontal again in a state where the two rear elevating units 61 and 62 are fixed.
According to this structure, the user can easily adjust the level of the surgical device by only a simple operation of opening and closing the control portion.
Fig. 5 is a sequence diagram showing steps of the control section of the surgical apparatus performing horizontal adjustment according to an embodiment. Hereinafter, reference numerals used in fig. 1 to 4 will be used for convenience of description.
Referring to fig. 5, the step of adjusting the level of the surgical device may include a step of disposing four lifting units on the ground (S110), a step of determining whether the inclination in the first direction is horizontal (S120), a step of controlling the first front lifting unit in a state where the first rear lifting unit is fixed (S130), a step of controlling the second front lifting unit in a state where the second rear lifting unit is controlled (S140), a step of determining whether the inclination in the second direction is horizontal (S150), a step of controlling the second front lifting unit in a state where the first front lifting unit is fixed (S160), a step of controlling the second rear lifting unit in a state where the first rear lifting unit is fixed (S170), and a step of determining whether the inclination in the first direction is horizontal (S180).
In the step (S110), four lifters may be disposed on the ground. The control part may arrange four elevating parts on the ground G in a case where the main frame 11 reaches the target position.
In step (S120), the control portion 9 may determine whether the inclination in the first direction is horizontal based on the two scroll sensors 71, 72. In the case where it is determined in the step (S120) that the inclination in the first direction is horizontal, it may proceed to the step (S150), and in the case where the inclination in the first direction is not horizontal, it may proceed to the step (S130).
In the step (S130), the control unit 9 may control the first front elevating unit 51 in a state where the first rear elevating unit 61 is fixed. In the step (S140), the control unit 9 may control the second front elevating unit 52 in a state where the second rear elevating unit 62 is fixed.
In step (S150), the control portion 9 may determine whether the inclination in the second direction is horizontal based on the two pitch sensors 81, 82. In the case where it is determined in the step (S150) that the inclination in the second direction is horizontal, it may proceed to the step (S180), and in the case where the inclination in the second direction is not horizontal, it may proceed to the step (S160).
In step (S160), the control unit 9 may control the second front raising/lowering unit in a state where the first front raising/lowering unit is fixed. In step (S170), the control unit 9 may control the second rear elevating unit in a state where the first rear elevating unit is fixed.
In step (S180), the control section 9 may determine whether the inclination in the first direction is horizontal. In the case where it is determined in the step (S180) that the inclination in the first direction is water, the leveling process may be ended, and in the case where the inclination in the first direction is not level, the process may return to the step (S130).
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (5)
1. A surgical device, characterized in that the surgical device comprises:
a main frame;
a first front lifting portion and a second front lifting portion that are provided at the front portion of the main frame, are respectively capable of adjusting the height of the front portion of the main frame, and are arranged to be spaced apart from each other in a state of being overlapped in the width direction of the main frame;
a first rear lift portion and a second rear lift portion which are provided at a rear portion of the main frame, are respectively adjustable in height of the rear portion of the main frame, and are arranged to be spaced apart from each other in a state of being overlapped in a width direction of the main frame;
a roll sensor capable of measuring an inclination of the main frame in a first direction;
a pitch sensor capable of measuring an inclination of the main frame in a second direction crossing the first direction; and
a control section that controls the first front elevation section, the second front elevation section, the first rear elevation section, and the second rear elevation section based on an inclination in the first direction and an inclination in the second direction measured in the roll sensor and the pitch sensor;
the roll sensor includes a first roll sensor disposed between the first front lift and the first rear lift, and a second roll sensor disposed between the second front lift and the second rear lift;
the spacing sensor comprises a first spacing sensor disposed between the first front lift and the second front lift, and a second spacing sensor disposed between the first rear lift and the second rear lift;
the surgical device further includes a guide connected to the main frame, a slider, and a robotic arm; the slider is slidable along the guide; the robot arm is detachably connected to the slider;
the robot arm includes a robot body, a robot guide, and a fixing portion, the robot body being arranged on the slider; the robot guide is disposed at a lower side of the robot body; the fixed part is slidable along the robot guide and insertable into the slider;
the robot arm further includes an elastic portion having one end fixed to the robot guide and the other end fixed to the fixing portion to apply pressure to the fixing portion in a direction toward the slider.
2. The surgical device of claim 1, wherein the first front lift and the first rear lift overlap each other in a length direction of the main frame, and
the second front lifting part and the second rear lifting part overlap each other in a width direction of the main frame.
3. The surgical device according to claim 2, wherein the control unit controls the first front elevating unit and the second front elevating unit so that an inclination in the first direction becomes horizontal in a state where the first rear elevating unit and the second rear elevating unit are fixed; and
the control unit controls the second front lifting unit and the second rear lifting unit such that the inclination in the second direction becomes horizontal in a state where the first front lifting unit and the first rear lifting unit are fixed in a state where the inclination in the first direction becomes horizontal.
4. The surgical device according to claim 3, wherein the control unit controls the first front elevating unit and the second front elevating unit so that the inclination in the first direction becomes horizontal again in a state where the first rear elevating unit and the second rear elevating unit are fixed after the inclination in the second direction becomes horizontal.
5. The surgical device of claim 1, wherein the fixation portion has a tapered shape that gradually narrows in width as one moves in a direction toward the slider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011644535.4A CN112603545B (en) | 2020-12-31 | 2020-12-31 | Surgical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011644535.4A CN112603545B (en) | 2020-12-31 | 2020-12-31 | Surgical device |
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| Publication Number | Publication Date |
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| CN112603545A CN112603545A (en) | 2021-04-06 |
| CN112603545B true CN112603545B (en) | 2022-05-17 |
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| CN202011644535.4A Active CN112603545B (en) | 2020-12-31 | 2020-12-31 | Surgical device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205500161U (en) * | 2016-04-19 | 2016-08-24 | 黄志强 | Liftable formula ore delivery machine |
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN108381527A (en) * | 2018-05-21 | 2018-08-10 | 谷格智能机械(长兴)有限公司 | A kind of stabilized platform for welding robot |
| CN109124771A (en) * | 2018-10-23 | 2019-01-04 | 淄博科智星机器人有限公司 | surgical robot system |
| KR102077400B1 (en) * | 2018-09-03 | 2020-02-13 | 공주대학교 산학협력단 | Self Prefabricated Ultra compact robot with multiple module structures |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109567946B (en) * | 2018-12-06 | 2021-03-16 | 青岛科智星机器人有限公司 | Robotic surgical tool |
-
2020
- 2020-12-31 CN CN202011644535.4A patent/CN112603545B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205500161U (en) * | 2016-04-19 | 2016-08-24 | 黄志强 | Liftable formula ore delivery machine |
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN108381527A (en) * | 2018-05-21 | 2018-08-10 | 谷格智能机械(长兴)有限公司 | A kind of stabilized platform for welding robot |
| KR102077400B1 (en) * | 2018-09-03 | 2020-02-13 | 공주대학교 산학협력단 | Self Prefabricated Ultra compact robot with multiple module structures |
| CN109124771A (en) * | 2018-10-23 | 2019-01-04 | 淄博科智星机器人有限公司 | surgical robot system |
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| CN112603545A (en) | 2021-04-06 |
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