CN113425342A - Endoscopic surgical instrument control system - Google Patents
Endoscopic surgical instrument control system Download PDFInfo
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- CN113425342A CN113425342A CN202110718837.XA CN202110718837A CN113425342A CN 113425342 A CN113425342 A CN 113425342A CN 202110718837 A CN202110718837 A CN 202110718837A CN 113425342 A CN113425342 A CN 113425342A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
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Abstract
The present invention provides an endoscopic surgical instrument control system including: an operation terminal, the operation terminal comprising: the control handle is used for converting manual operation of an operator into an electric signal and transmitting the electric signal to the driving unit; the driving unit is used for converting the electric signal into a driving signal to control the surgical instrument to rotate, pitch or open and close; the main machine is connected with the control end through the first connecting wire so as to supply power to the control end and communicate with the control end, so that the surgical instrument works in different working modes. The control system can be used for laparoscopic surgery, a user can control the surgical instrument to rotate, pitch or open and close according to actual requirements by operating the control handle, so that the posture of the surgical instrument is adjusted, a better operation angle is achieved, the control end can be communicated with the host, the operation of the surgical instrument can be controlled by the host in different working modes, and the purpose of finishing multiple operation forms by adopting one operation device is achieved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an endoscopic surgical instrument control system.
Background
With the continuous development of clinical medicine, the form of the operation is gradually diversified, various novel surgical instruments appear, and different surgical instruments have unique advantages in clinic.
However, the surgical instrument tip of a general surgical device has no degree of freedom, which affects the operation angle of the surgery, and finally results in poor surgical effect. In addition, the general surgical instruments often have only a single function, but in the actual working process, the surgical instruments used in the surgery may have a variety of functions, for example, a doctor may cut the tissue with a pure electric knife in one surgery, at the same time, because the large blood vessel of the patient is broken, the closed clamp is used for coagulating the large blood vessel, or in a prostate operation, the bipolar electrosection/bipolar coagulation and the knife pen are used for cutting the tissue, and a doctor needs to switch different operation equipment in the operation process, so that the operation executability is poor, the operation difficulty is increased, and if a plurality of operating devices are used simultaneously, the operation is complicated, the volume is large when the plurality of operating devices are put together, the devices are stacked too much, the space of an operating room is occupied, and the cost of the plurality of operating devices is high.
Disclosure of Invention
The present invention is directed to solving the above problems, and a first object of the present invention is to provide an endoscopic surgical instrument control system, which can be used in laparoscopic surgery, wherein a user can control a surgical instrument to perform rotation, pitching, or opening/closing motions by operating a control handle according to actual needs to adjust the posture of the surgical instrument so as to achieve a better operation angle, and a control end can communicate with a host, and the host can control the surgical instrument to operate in different working modes, so as to achieve the purpose of using one surgical device to complete multiple surgical modes, thereby greatly reducing cost and saving space of an operating room.
The technical scheme adopted by the invention is as follows:
an embodiment of the present invention provides an endoscopic surgical instrument control system including: an operation terminal, the operation terminal comprising: the control handle is used for converting manual operation of an operator into an electric signal and then transmitting the electric signal to the driving unit; the driving unit is used for converting the electric signal into a driving signal so as to control the surgical instrument to rotate, pitch or open and close; the main machine is connected with the control end through a first connecting wire so as to supply power to the control end and is communicated with the control end, so that the surgical instrument works in different working modes.
The endoscopic surgical instrument control system proposed above in the present invention may further have the following additional technical features:
according to one embodiment of the present invention, the surgical instrument comprises a high frequency output surgical instrument, the operation modes include an electrotomy mode and an electrocoagulation mode, and the control system further comprises: a foot switch, the foot switch comprising: the electric cutting pedal, the electric coagulation pedal and the switching pedal are respectively provided with a pedal switch, different pedal signals correspond to different pedal switches, the pedal switches are connected with the host through second connecting wires, and the pedal switches are used for sending the pedal signals to the host through the second connecting wires, so that the host can switch the working mode of the surgical instrument according to the pedal signals.
According to one embodiment of the invention, the host comprises: a display to receive a user instruction; the host is also used for controlling the surgical instrument to work in different working modes according to the user command and the pedal signal.
According to one embodiment of the invention, the control handle comprises: the handheld operation part is provided with a key input part and a wave wheel input part, wherein the key input part comprises a rotation right key, a rotation left key, a pitching left key and a pitching right key, and the wave wheel input part is used for controlling opening and closing actions.
According to an embodiment of the present invention, the control handle further includes a posture adjustment structure, the posture adjustment structure includes a damping bearing, the damping bearing is rotatably connected to the handheld operation portion, and the control handle rotates around a central axis of the damping bearing to adjust the hand-held posture.
According to an embodiment of the present invention, the posture adjustment structure further includes a first adaptor, a second adaptor, and a driving unit connector; the first adapter piece and the second adapter piece are fixed on the damping bearing through fastening screws, and the first adapter piece is fixed on the handheld operation portion through screws.
According to one embodiment of the invention, the surgical instrument comprises: needle holding forceps, separating forceps and scissors.
According to one embodiment of the invention, the surgical instrument is detachably connected to the drive unit.
According to one embodiment of the invention, the host comprises: a control drive circuit, the control drive circuit comprising: the high-frequency switching power supply is characterized by comprising a high-frequency switching power supply, a power supply and a power supply controller, wherein the input end of the high-frequency switching power supply is connected with alternating current commercial power through a fuse, and the high-frequency switching power supply is used for converting the alternating current commercial power into a direct current signal; the input end of the power amplification board is connected with the output end of the high-frequency switching power supply, the power amplification board is used for converting the direct current signal into a high-frequency signal, and different working modes of the surgical instrument correspond to different high-frequency signals; the input end of the selection loop is connected with the power amplification board, the output end of the selection loop is connected with the first connecting line through a relay board, the selection loop comprises a plurality of power supply loops, and each power supply loop corresponds to one working mode of the surgical instrument; the main control board is respectively connected with the control end of the power amplification board, the control end of the high-frequency switching power supply and the control end of the selection loop, and is used for acquiring the working mode of a surgical instrument according to a user instruction, sending a corresponding voltage sending signal to the high-frequency switching power supply according to the working mode and sending a corresponding wave sending signal to the power amplification board so that the high-frequency switching power supply outputs a corresponding direct current signal and the power amplification board outputs a corresponding high-frequency signal, and controlling the corresponding power supply loop in the selection loop to be switched on according to the working mode so that the surgical instrument works in the corresponding working mode.
According to an embodiment of the present invention, the control drive circuit further includes: the input end of the direct current stabilized power supply is connected with the alternating current commercial power, the output end of the direct current stabilized power supply is connected with the main control board, and the direct current stabilized power supply is used for converting the alternating current commercial power into preset direct current to supply power to the main control board.
The invention has the beneficial effects that:
the invention can be used for laparoscopic surgery, a user can control the surgical instrument to rotate, pitch or open and close by operating the control handle according to actual requirements so as to adjust the posture of the surgical instrument and achieve a better operation angle, the control end can be communicated with the host, and the surgical instrument can be controlled to work in different working modes by the host.
Drawings
FIG. 1 is a block schematic diagram of an endoscopic surgical instrument control system according to one embodiment of the present invention;
FIG. 2 is a schematic structural view of a manipulation end of an endoscopic surgical instrument control system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic illustration of the interdigitation of the surgical instruments of the endoscopic surgical instrument control system according to one embodiment of the present invention;
FIG. 4 is a schematic structural view of an endoscopic surgical instrument control system according to one embodiment of the present invention;
FIG. 5 is a schematic view of a foot pedal of the endoscopic surgical instrument control system according to one embodiment of the present invention;
FIG. 6 is a schematic structural view of a control handle according to one embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an attitude adjustment structure according to one embodiment of the invention;
fig. 8 is a schematic structural view of an attitude adjustment structure according to another embodiment of the present invention;
FIG. 9 is a schematic structural view of a pulsator input part according to an embodiment of the present invention;
FIG. 10 is a schematic structural view of a pulsator input part according to another embodiment of the present invention;
FIG. 11 is a block schematic diagram of a control drive circuit according to one embodiment of the present invention;
FIG. 12 is a block schematic diagram of a control drive circuit according to another embodiment of the present invention;
FIG. 13 is a circuit topology diagram of a control drive circuit according to one embodiment of the invention;
FIG. 14 is a circuit topology schematic of a single pole relay board according to one embodiment of the invention;
fig. 15 is a circuit topology schematic of a two-pole relay board according to one embodiment of the invention.
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.
FIG. 1 is a block schematic diagram of an endoscopic surgical instrument control system, as shown in FIG. 1, according to one embodiment of the present invention, the endoscopic surgical instrument including: control end 100 and host computer 200, wherein, control end 100 includes: the control device comprises a control handle 10 and a driving unit 20, wherein the control handle 10 is used for converting manual operation of an operator into an electric signal and then transmitting the electric signal to the driving unit 20; the driving unit 20 is configured to convert the electrical signal into a driving signal to control the surgical instrument 30 to perform rotation, pitching, or opening and closing movements; the main unit 200 is connected to the manipulation terminal 100 through a first connection line to supply power to the manipulation terminal 100, and communicates with the manipulation terminal 100, so that the surgical instrument 30 operates in different operation modes.
Specifically, as shown in fig. 2, an operator may realize rotation, pitching, or opening and closing of the surgical instrument through the control handle 10, so as to adjust the entire operation angle of the surgical instrument 30, and the host 200 is connected to the control end 100 through a first connection line, where the first connection line includes an electrical connection line and a communication line, so as to realize power supply and communication of the host 200 to the surgical instrument 100, and the host 200 may receive a user instruction, obtain a working mode of the surgical instrument 30 according to the user instruction, and send a corresponding driving signal to the surgical instrument through the first connection line, so as to drive the surgical instrument 30 to work in the corresponding working mode. From this, this control system can be used to laparoscopic surgery, the user can control surgical instruments through operating control handle according to actual demand and carry out the rotation, every single move or the motion that opens and shuts to adjust surgical instruments's gesture, reach better operating angle, and control the end and can communicate with the host computer, need not to switch different surgical equipment, can control surgical instruments work at different mode through the host computer, reach the purpose that adopts a surgical equipment to accomplish multiple operation form, greatly reduced the cost and saved the operating room space.
In one embodiment of the present invention, surgical instruments include, but are not limited to: needle holding forceps, separating forceps and scissors, the user can select according to actual demand. The structure of the driving unit 20 may be any structure capable of driving the surgical instrument to perform the operation, and is not particularly limited.
In an embodiment of the present invention, the surgical device is removably coupled 30 to the drive unit 20.
Specifically, as shown in fig. 3, surgical instrument and 30 drive unit 20 can be connected through can dismantling to inserting the connection module realization, with surgical instrument 30 with drive unit 20 on to inserting the instruction arrow alignment, align the back locking can to can make the operator realize surgical instrument and 30 drive unit 20 fast to inserting to be connected according to actual demand, so that at the different surgical instrument of operation in-process quick replacement, improve operation effect.
According to one embodiment of the present invention, the surgical instrument 30 comprises a high-frequency output surgical instrument, the operation modes include an electrotomy mode and an electrocoagulation mode, and as shown in fig. 4, the control system further comprises: the foot switch 40, as shown in fig. 5, includes: the electric cutting pedal 401, the electrocoagulation pedal 402 and the switching pedal 403, different foot switches correspond to different foot signals, the foot switch 40 is connected with the host 200 through a second connecting line, and the foot switch 40 is used for sending the foot signals to the host 200 through the second connecting line, so that the host 200 switches the working mode of the surgical instrument 30 according to the foot signals.
Specifically, the surgical instrument 30 may be a surgical instrument having a high-frequency output function, and may perform surgical operations such as cutting and coagulation on biological tissues, and the operation modes of the surgical instrument 30 may include an electrotomy mode and an electrocoagulation mode, and specifically may include a monopolar mode and a bipolar mode, and the monopolar mode may be further classified into a monopolar pure cutting mode, a monopolar mixed cutting mode 1, a monopolar mixed cutting mode 2 and a monopolar mixed cutting mode 3, and may be further classified into a monopolar soft coagulation mode, a monopolar coagulation mode and a monopolar strong coagulation mode, and the bipolar mode may be further classified into a bipolar mode, a bipolar electrotomy mode, a bipolar electrocoagulation mode and a soft tissue closure mode. The user can select a desired mode in actual use, and control the high-frequency output through the foot switch, the electrotomy pedal 401 excites an electrotomy signal, the electrocoagulation pedal 402 excites an electrocoagulation signal, the switching pedal 403 excites a mode conversion signal, for example, the high-frequency output is converted into a common output, and the host 200 can switch and output a corresponding control signal to the surgical instrument 30 according to the foot signal, so that the surgical instrument 30 works in a corresponding working mode to realize different surgical actions.
According to one embodiment of the present invention, the host 200 may include: a display for receiving a user instruction; the host 200 is also used for controlling the operation of the surgical instrument 30 in different operation modes according to the user command and the pedal signal.
Specifically, the user can send a user command through the interface of the display to select a desired output power and a desired operation mode, and the host 200 sends a control signal to the surgical instrument 30 according to the user command and in combination with the pedal signal, so as to operate the surgical instrument 30 in the corresponding operation mode.
According to one embodiment of the present invention, as shown in fig. 6, the control handle 10 may include: the hand-held operation part is provided with a key input part (3-1, 3-2, 3-3 and 3-4) and a wave wheel input part 3-5, wherein the key input part comprises a self-rotating right key 3-1, a self-rotating left key 3-2, a pitching left key 3-3 and a pitching right key 3-4, and the wave wheel input part 3-5 is used for controlling the opening and closing actions.
According to an embodiment of the present invention, as shown in fig. 6, the control handle 10 further includes a posture adjustment structure 3-6, as shown in fig. 7-8, the posture adjustment structure 3-6 includes a damping bearing 3-6-2, the damping bearing 3-6-2 is rotatably connected to the hand-held operation portion, and the control handle rotates around a central axis of the damping bearing to adjust the hand-held posture.
As shown in fig. 8, the posture adjustment structure further comprises a first adaptor part 3-6-1, a second adaptor part 3-6-3 and a driving unit connecting part 3-6-4; the first adapter piece 3-6-1 and the second adapter piece 3-6-3 are fixed on the damping bearing 3-6-2 through fastening screws, and the first adapter piece 3-6-1 is fixed on a handheld operation part, such as a lower shell of the handheld operation part, through screws.
Specifically, the four key inputs (3-1, 3-2, 3-3 and 3-4) are four tact switches, and the corresponding action is executed by pressing the keys. The control handle 10 of the whole endoscopic surgical instrument can rotate around the central axis of the damping shaft 3-6-2 to adjust the hand-held posture.
Fig. 9-10 are schematic structural views of the pulsator input part, and as shown in fig. 9-10, the pulsator input part 3-5 includes a magnet 3-5-1, a pulsator 3-5-2, a fixed shaft 3-5-3, a flat pad 3-5-4, a wave-shaped gasket 3-5-5, and a nut 3-5-6. The nuts 3-5-6 press the wave-shaped gaskets 3-5-5 on the flat gaskets 3-5-4, so that a certain damping effect is provided for the rotation of the impeller, and the touch feeling of hands is increased. The magnet 3-5-1 is adhered to the impeller 3-5-2, when the impeller 3-5-2 rotates, the magnet 3-5-1 is driven to rotate together, at the moment, the induction chip welded on the PCB can detect the magnetic change, and simultaneously, the magnetic change is converted into an electric input signal to be transmitted to the main control board, so that the man-machine input conversion of the opening and closing freedom degree is realized.
The operation mode of the endoscopic surgical instrument comprises the following steps:
holding the grab handle with the palm, and controlling 3-1, 3-2, 3-3 and 3-4 with the thumb; pressing 3-3 to move the surgical instrument in one direction, automatically stopping when reaching the limit position, if continuing to press 3-3, having no action trigger, pressing 3-4 to move the surgical instrument in the other direction, and automatically stopping when reaching the limit position, and if continuing to press 3-4, having no action trigger; pressing 3-1 the surgical instrument to rotate in one direction without position limitation, and pressing 3-2 the surgical instrument to rotate in the other direction without position limitation; 3-5 of surgical instruments are stirred downwards to be closed, 3-5 of surgical instruments are stirred upwards to be opened, and the positions of the wave wheels and the opening and closing angles are in one-to-one correspondence in the process; in the operation process, the operation instrument can only move with one degree of freedom at any time of pitching, autorotation and opening and closing.
According to an embodiment of the present invention, as shown in fig. 11, the host 200 may include a control driving circuit, and the control driving circuit may include: a high-frequency switch power supply 1, a power amplifier board 2, a selection loop 3 and a main control board 4, wherein,
the input end of the high-frequency switching power supply 1 is connected with an alternating current commercial power AC through a fuse F1, and the high-frequency switching power supply 1 is used for converting the alternating current commercial power AC into a direct current signal; the input end of the power amplification board 2 is connected with the output end of the high-frequency switching power supply 1, the power amplification board 2 is used for converting a direct-current signal into a high-frequency signal, wherein different working modes of the surgical instrument correspond to different high-frequency signals; the input end of the selection loop 3 is connected with the power amplification board 2, the output end of the selection loop 3 is connected with the surgical instrument 30 through the relay board 5, the selection loop 3 comprises a plurality of power supply loops, and each power supply loop corresponds to one working mode of the surgical instrument; the main control board 4 is respectively connected with the control end of the power amplifier board 2, the control end of the high-frequency switching power supply 1 and the control end of the selection loop 3, the main control board 1 is used for obtaining the working mode of the surgical instrument according to a user instruction, sending a corresponding voltage sending signal to the high-frequency switching power supply 1 according to the working mode and sending a corresponding wave sending signal to the power amplifier board 2, so that the high-frequency switching power supply 1 outputs a corresponding direct current signal and the power amplifier board outputs a corresponding high-frequency signal, and controlling the conduction of a corresponding power supply loop in the selection loop according to the working mode, so that the surgical instrument works in the corresponding working mode.
Specifically, the voltage-emitting signals and the wave-emitting signals corresponding to different working modes of the surgical instrument 30 are pre-stored in the main control board in advance, different voltage-emitting signals correspond to different direct current signals, and different wave-emitting signals correspond to different high-frequency signals, that is, the working modes-the voltage-emitting signals, the wave-emitting signals-the direct current signals and the high-frequency signals correspond one to one.
The AC mains AC passes through the fuse F1, and then passes through a filter (not specifically shown in the figure) to isolate interference components in the AC mains AC, and then is connected to the input terminal of the high-frequency switching power supply 1. Wherein the high-frequency switching power supply 1 can output a direct current signal in the range of 0-250V according to a voltage-emitting signal (PWM signal) provided by the main control board 4. The power amplifier board 2 can convert the dc signal output by the high frequency switching power supply 1 into a high frequency signal with a corresponding waveform according to the wave-sending signal provided by the main control board 4.
The display can show surgical instruments's mode, and the user can select surgical instruments ' 30 mode through operation display in order to send user's instruction, and the display can send user's instruction to main control board 4 through the communication line, and simultaneously, the user arouses pedal signal through foot switch, and main control board 4 sends corresponding pressure signal, the signal of sending a wave to high frequency switch power, power amplifier respectively according to user's instruction and pedal signal. Thus, a high frequency signal having a certain waveform and voltage required for the surgical instrument 30 is generated from the power amplifier board 2. The high-frequency signal generated on the power amplifier board 2 is output to the surgical instrument 30 through the isolation protection of the relay board 5 after the corresponding power supply loop is selected by the selection loop 3.
Therefore, the control driving circuit can drive the surgical instruments to work in different working modes, so that the aim of finishing multiple surgical forms by using one surgical device can be fulfilled, the surgical cost is greatly reduced, the space of an operating room is saved, and the universality and the management convenience of the surgical device are improved.
According to an embodiment of the present invention, as shown in fig. 12, the control driving circuit may further include: and the input end of the direct current stabilized power supply 7 is connected with the alternating current commercial power AC, the output end of the direct current stabilized power supply 1 is connected with the main control board 4, and the direct current stabilized power supply 1 is used for converting the alternating current commercial power AC into preset direct current to supply power for the main control board 4.
Specifically, the dc regulated power supply 7 may output the input 220V AC mains AC regulated power to 5V or 12V to power the main control board 4 or the related relay.
According to an embodiment of the present invention, as shown in fig. 12, the control driving circuit may further include: the negative plate 8 is connected with the main control board 4 and the polar plate, and the negative plate 8 is used for detecting whether the polar plate is separated from a human body and sending a corresponding detection signal to the main control board 4; the main control board 4 is also used for controlling the operation instrument 30 to stop working and controlling the corresponding prompting device to send out prompting information when the negative plate 8 detects that the plate is separated from the human body.
Specifically, during the operation, need paste the polar plate on one's body patient, negative plate 8 can detect whether the polar plate that pastes on one's body breaks away from to with corresponding detected signal transmission to main control board 4, if it breaks away from the human body to detect the polar plate, main control board 4 control corresponding suggestion device and send the polar plate and break away from human suggestion information, and control surgical instruments 30 stop work, can stop work through control high frequency switch power supply 1 and power amplifier board 2 stop work control surgical instruments 30 stop work for example, so that medical personnel in time take corresponding measure according to the suggestion information, security and reliability during the operation improve. The prompting device can be an indicator lamp, a buzzer, a loudspeaker, a voice device, a display screen and the like, and the prompting effect can be achieved.
In one embodiment of the present invention, as shown in fig. 12, the selection loop 3 may include: transformer T, first relay K1, second relay K2, third relay K3, fourth relay K4, fifth relay K5, sixth relay K6, wherein,
the transformer T comprises a primary winding and a secondary winding, the primary winding comprises a first tap T1, the secondary winding comprises a second tap T2, a third tap T3 and a fourth tap T4, the first end of the primary winding is connected with a preset direct-current power supply ADD _ H, the second end of the primary winding is connected with the power amplification board 2 through a normally open contact of a first relay K1, a first tap T1 is connected with a normally closed contact of the first relay, a fourth tap T4 is connected with the relay board 5, and the second end of the secondary winding is connected with the relay board 5;
the movable contact of the second relay K2 is connected with the first end T2_4 of the secondary winding, and the fixed contact of the second relay K2 is connected with the relay board 5 through the first resonant circuit 31; a movable contact of the third relay K3 is connected with a second tap T2, and a fixed contact of the third relay K3 is connected with the relay board 5 through the first resonance circuit 31; a movable contact of the fourth relay K4 is connected with the first end of the secondary winding, and a fixed contact of the fourth relay K4 is connected with the relay board 5 through the second resonant circuit 32; a movable contact of the fifth relay K5 is connected with a second tap T2, and a fixed contact of the fifth relay K5 is connected with the relay board 5 through the second resonance circuit 32; a movable contact of the sixth relay K6 is connected to the third tap T3, and a stationary contact of the sixth relay K6 is connected to the relay board 5 through the second resonance circuit 32.
The relay board 5 may include: single pole relay board (fig. 13) and double pole relay board (fig. 14)
Specifically, the input end of the selection loop 3 is connected with the power amplification board 3 through high-voltage input end pads J2 and J13, the J14 and J15(SPARY/FORCED +, SPARY/FORCED-) electric knife unipolar electrocoagulation-spray coagulation-FORCED coagulation are connected with the relay board, the ESUOUT electric knife electric cutting mode output is connected with the relay board, J19, j20(BIPCUT +, BIPCUT-) electrotome bipolar electrotomy mode loop is connected with the relay board, J16(RFA) electrotome unipolar flexible coagulation loop is connected with the relay pad, J17, J18(BIPCOAG +, BIPCOAG-) electrotome bipolar coagulation mode loop is connected with the relay board, J26(PLATE) pole PLATE is connected with the relay board, J37(SP/PK +) SP/PK mode loop is connected with the relay board, J35(PK-) closed clamp mode loop is connected with the relay board, and J43(SP-) bipolar electrotomy/coagulation mode loop is connected with the relay board.
As shown in fig. 14, the single-pole relay board includes: j1(RFA) relay board knife single pole soft condensation pad, J2, J3, J9(ESUOUT) relay board single pole knife electric cutting pad, J7, J4(BIPCUT +, BIPCUT-) relay board knife double pole electric cutting loop pad, J5, J6, J10(PLATE) relay board pad.
As shown in fig. 15, the double-pole relay board includes: j8, J10(BIPCUT +/BIPCUT-) bipolar electrotomy loop pads, J2, J16, PK +/PK-loop pads, J4, J6, J5, J7(BIPCOAG +/BIPCOAG-) bipolar electrocoagulation loop pads, J12, J13, J14, J15SP +/SP-loop pads.
K1 is a double-pole relay, K2-K6 is a single-pole relay, K4 and K5 are SP mode circuit single-pole relays, and K6(K4) is a PK mode circuit single-pole relay. K12 is the gentle protective relay that congeals of electrotome monopole, and K14 electrotome monopole electrocision relay protection, K17, K13 electrotome monopole congeals soft protective relay that congeals by force, K15 polar plate protective relay. K8 is an electrotome bipolar electrotomy protection relay, a K9 PK mode protection relay, K10 is a bipolar electrocoagulation protection relay, and K11 is an SP mode protection relay.
Inductors L1, L2, L3, and L5, and capacitors C63, C64, C74, C77, C70, C67, C68, C78, C79, C75, C68, C73, C76, C69, C65, C81, C88, C89, C90, C91, C71, C72, C66, and C82 constitute resonant circuits in each mode. The diodes D15, D16, D14, D17, D18, D19, D1, D2, D3, D4, D5D, 6 are freewheeling diodes for protecting the relay.
In the process of actual use, if want to use ordinary electrotome mode, can select the electrotome mode through the touch-control display screen, subdivide into the unipolar mode and the bipolar mode of electrotome under the electrotome mode, divide into monopole pure cutting, monopole thoughtlessly cuts 1, monopole thoughtlessly cuts 2, monopole thoughtlessly cuts 3 under the monopole mode again, monopole gentle congeals, monopole spouts congeals, monopole strong congeals. The bipolar mode is classified into a macro bipolar mode and a standard bipolar mode. The SP/PK mode is subdivided into bipolar electrosection, bipolar electrocoagulation and soft tissue closure. The user can select a desired mode in actual use. When the user switches to the desired mode, the selection loop 3 switches the circuit to the hardware loop of the corresponding mode,
if the user selects the electric knife-off mode, the switches K1, K2 and K3 are controlled to be closed, the transformer T boosts the high-frequency signal output by the power amplification board 2 into a high-voltage high-frequency signal, the high-voltage high-frequency signal is output to the surgical instrument through the inductor L2, the capacitors C67 and C70 and the protective relay K14, the output current flows through the load to the pole plate, and a loop is formed through the pole plate protective relay K15, the capacitors C69 and C68 and the inductor L3, namely T2_4 and T2 of a secondary winding of the transformer.
If the user selects the soft coagulation in the electric knife coagulation mode, the K1, the K2 and the K3 are controlled to be closed, the transformer T boosts the high-frequency signal output by the power amplification plate 2 into a high-voltage high-frequency signal, the high-voltage high-frequency signal passes through the inductor L2, the capacitor C67, the capacitors C74 and C77 in parallel and is output to the surgical instrument through the protective relay K12, the output current passes through the load to the pole plate, and a loop is formed by the pole plate protective relay K15, the capacitors C69 and C68 and the inductor L3, namely the T2_4 and the T2 of the secondary winding of the transformer.
If the user selects the spray coagulation and the forced coagulation in the electrotome coagulation mode, the K1 is controlled to be closed, the transformer T boosts the high-frequency signal output by the power amplification board 2 into a high-voltage high-frequency signal, and the high-voltage high-frequency signal flows through the C63 and then is output to the surgical instrument through the protective relay K17. The high-voltage current is input into the C64 through the protective relay K13 to form a loop.
If a user selects a macro bipolar mode in the electrotome bipolar mode, closing of K1, K2 and K3 is controlled, a transformer T boosts a high-frequency signal output by the power amplification board 2 into a high-voltage high-frequency signal, the high-voltage high-frequency signal flows through a series inductor L2, a series capacitor C67, a parallel capacitor C74 and a C77, the high-voltage high-frequency signal is output through one end of a electrotome relay K8, the output high-voltage high-frequency current is input through the other end of the electrotome relay K8 through a load, and the high-voltage high-frequency current flows through a parallel capacitor C73 and a parallel capacitor C68 and a series inductor L3 to form a loop, namely T2_4 and T2 of a secondary winding of the transformer.
If a user selects a standard bipolar mode in the electric knife bipolar mode, closing of K1, K2 and K3 is controlled, a transformer T boosts a high-frequency signal output by the power amplification plate 2 into a high-voltage high-frequency signal, one end of the high-voltage high-frequency signal flows through a series inductor L2, a series capacitor C67, parallel capacitors C74 and C77 and a series capacitor C78, the high-voltage high-frequency signal is output through one end of a double-knife relay K10, the output high-voltage high-frequency current flows through a load, is input through the other end of a double-knife relay K10, flows through the series capacitor C80, the parallel capacitors C73 and 76, the series capacitor C68 and the series inductor L3 to form a loop, namely T2_4 and T2 of a secondary winding of the transformer.
If a user selects PK (closed clamp mode), K1, K4 and K6 are controlled to be closed, a transformer T boosts a high-frequency signal output by the power amplification board 2 into a high-voltage high-frequency signal, the high-voltage high-frequency signal flows through an inductor L1, a series capacitor C65 and a series capacitor C81, and the high-voltage high-frequency signal is output through one end of a double-pole relay K9. After the output high-frequency high-voltage current flows through the load, the high-frequency high-voltage current is input through the other end of the double-pole relay K9, the input high-frequency high-voltage current flows through the series capacitors C82 and C66, and the series inductor L5 forms a loop, namely T2_4 and T3 of the secondary winding of the transformer.
If the user selects SP (bipolar electro-cutting/electro-coagulation mode), K1, K4 and K5 are controlled to close the transformer T to boost the high-frequency signal output by the power amplification board 2 into a high-voltage high-frequency signal, and the high-voltage high-frequency signal flows through the inductor L1, the series capacitors C65 and C81 and is output through one end of the double-pole relay K11. The output high-frequency high-voltage current flows through the load and then is input through the other end of the double-pole relay K11, the input high-frequency high-voltage current flows through the series capacitors C82 and C66, and the series inductor L5 forms a loop, namely T2_4 and T3 of the secondary winding of the transformer.
In the invention, the resonant circuit selects a power point of the external impedance in a mode of connecting the inductance and the capacitance in series, and meanwhile, when the external impedance is reduced, the power output from the outside is also reduced sharply, thereby playing a role in short-circuit protection. And the output ports of all the modes are provided with protective relays, and high-frequency high-voltage current can be output through the accessories only when the corresponding two relays are opened.
Therefore, all modes of the common electrotome and the PK/SP electrotome are selectively protected by a plurality of secondary sides of the transformer and the relay and are integrated on one circuit board, so that the aim of realizing various electrosurgical functions by using one surgical equipment can be fulfilled, the cost is greatly reduced, and the space of an operating room is saved. Relevant experiments prove that different driving purposes can be achieved by adopting the driving circuit disclosed by the application, and the EMC (Electro Magnetic Compatibility) requirements are met.
In summary, the endoscopic surgical instrument control system according to the embodiment of the present invention can be used in laparoscopic surgery, and a user can control the surgical instrument to perform rotation, pitching, or opening/closing motions by operating the control handle according to actual needs to adjust the posture of the surgical instrument, so as to achieve a better operation angle.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be connected with instruments or can be electrically connected; the two components can be directly connected with each other or indirectly connected with each other through an intermediate medium, and can be communicated with each other in the compartment or the interaction relation of the two components. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An endoscopic surgical instrument control system, comprising:
an operation terminal, the operation terminal comprising: the control handle is used for converting manual operation of an operator into an electric signal and then transmitting the electric signal to the driving unit; the driving unit is used for converting the electric signal into a driving signal so as to control the surgical instrument to rotate, pitch or open and close;
the main machine is connected with the control end through a first connecting wire so as to supply power to the control end and is communicated with the control end, so that the surgical instrument works in different working modes.
2. An endoscopic surgical instrument control system as defined in claim 1, wherein said surgical instrument comprises a high frequency output surgical instrument, said operating modes including an electrotomy mode, an electrocoagulation mode, said control system further comprising: a foot switch, the foot switch comprising: the electric cutting pedal, the electric coagulation pedal and the switching pedal are respectively provided with a pedal switch, different pedal signals correspond to different pedal switches, the pedal switches are connected with the host through second connecting wires, and the pedal switches are used for sending the pedal signals to the host through the second connecting wires, so that the host can switch the working mode of the surgical instrument according to the pedal signals.
3. An endoscopic surgical instrument control system as defined in claim 2, wherein said host computer comprises: a display to receive a user instruction;
the host is also used for controlling the surgical instrument to work in different working modes according to the user command and the pedal signal.
4. The endoscopic surgical instrument control system of claim 1, wherein the control handle comprises:
a hand-held operation part, on which a key input part and a pulsator input part are arranged, wherein,
the button input part comprises a rotation right button, a rotation left button, a pitching left button and a pitching right button, and the impeller input part is used for controlling opening and closing actions.
5. The endoscopic surgical instrument control system of claim 4, wherein the control handle further comprises a posture adjustment structure comprising a damping bearing rotatably coupled to the hand-held operation portion, the control handle rotating about a damping bearing central axis to adjust a hand-held posture.
6. The endoscopic surgical instrument control system of claim 5, wherein the pose adjustment structure further comprises an adaptor one, an adaptor two and a drive unit connection; the first adapter piece and the second adapter piece are fixed on the damping bearing through fastening screws, and the first adapter piece is fixed on the handheld operation portion through screws.
7. The endoscopic surgical instrument control system of claim 1, wherein the surgical instrument comprises: needle holding forceps, separating forceps and scissors.
8. An endoscopic surgical instrument control system as in claim 1, wherein the surgical instrument is removably coupled to the drive unit.
9. An endoscopic surgical instrument control system as defined in claim 1, wherein the host includes: a control drive circuit, the control drive circuit comprising:
the high-frequency switching power supply is characterized by comprising a high-frequency switching power supply, a power supply and a power supply controller, wherein the input end of the high-frequency switching power supply is connected with alternating current commercial power through a fuse, and the high-frequency switching power supply is used for converting the alternating current commercial power into a direct current signal;
the input end of the power amplification board is connected with the output end of the high-frequency switching power supply, the power amplification board is used for converting the direct current signal into a high-frequency signal, and different working modes of the surgical instrument correspond to different high-frequency signals;
the input end of the selection loop is connected with the power amplification board, the output end of the selection loop is connected with the first connecting line through a relay board, the selection loop comprises a plurality of power supply loops, and each power supply loop corresponds to one working mode of the surgical instrument;
the main control board is respectively connected with the control end of the power amplification board, the control end of the high-frequency switching power supply and the control end of the selection loop, and is used for acquiring the working mode of a surgical instrument according to a user instruction, sending a corresponding voltage sending signal to the high-frequency switching power supply according to the working mode and sending a corresponding wave sending signal to the power amplification board so that the high-frequency switching power supply outputs a corresponding direct current signal and the power amplification board outputs a corresponding high-frequency signal, and controlling the corresponding power supply loop in the selection loop to be switched on according to the working mode so that the surgical instrument works in the corresponding working mode.
10. The endoscopic surgical instrument control system of claim 9, wherein the control drive circuit further comprises: the input end of the direct current stabilized power supply is connected with the alternating current commercial power, the output end of the direct current stabilized power supply is connected with the main control board, and the direct current stabilized power supply is used for converting the alternating current commercial power into preset direct current to supply power to the main control board.
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