CN113440258A - Ear-nose robot and using method thereof - Google Patents
Ear-nose robot and using method thereof Download PDFInfo
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- CN113440258A CN113440258A CN202110787848.3A CN202110787848A CN113440258A CN 113440258 A CN113440258 A CN 113440258A CN 202110787848 A CN202110787848 A CN 202110787848A CN 113440258 A CN113440258 A CN 113440258A
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- nasal cavity
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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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
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention discloses an ear-nose robot and a using method thereof. The using method of the ear-nose robot comprises the following steps: the fixing device is fixed on the body of the user, and the connecting device moves the ear-nose robot body to the nose or the ear of the user; the image acquisition device acquires images in the nasal cavity or the ear cavity; the operation arm performs medical operation and operation according to the images in the nasal cavity or the ear cavity. By the ear-nose robot and the use method thereof, a doctor can perform examination and operation on a nasal cavity or an ear cavity by means of the ear-nose robot, and can also help a user to clean the nasal cavity or the ear cavity and perform self-examination by himself, so that the comfort is improved, the examination and operation accuracy is improved, the operation time and the wound recovery time can be shortened, and the ear-nose robot and the use method thereof have important significance for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an ear-nose robot and a using method thereof.
Background
Along with the improvement of living standard of people, the demand of people on medical services is higher and higher, and health is more and more valued by people. The nose and ears are not convenient to clean and check due to their own structure, and may cause diseases over time. In addition, in the conventional nasal or ear surgery, since the internal space of the nasal cavity or the ear cavity is narrow, the field of vision and the operation of a doctor are limited when performing the surgery, and even a doctor with a high experience may have errors.
Therefore, an ear-nose robot and a using method thereof are urgently needed, the cleaning, the examination and the operation of the nasal cavity or the ear cavity are carried out by means of the ear-nose robot, the automation degree and the operability of the cleaning, the examination and the operation of the nasal cavity or the ear cavity can be greatly improved, the comfort of a patient is improved, the examination and the operation accuracy are improved, and the operation time and the wound recovery time can be shortened.
Disclosure of Invention
The main purposes of the invention are: the ear-nose robot and the use method thereof are provided, so that a doctor can perform examination and operation on a nasal cavity or an ear cavity by means of the ear-nose robot, the automation degree and operability of the examination and operation on the nasal cavity or the ear cavity can be greatly improved, meanwhile, the user can be helped to clean the nasal cavity or the ear cavity and perform self-checking, the comfort and the accuracy of the examination and the operation are improved, the operation time and the wound recovery time can be shortened, and the ear-nose robot and the use method thereof have important significance for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
In order to achieve the above object, the present invention provides an ear-nose robot, which comprises a robot body, a fixing device and a connecting device,
the robot body comprises an operation arm and an image acquisition device, wherein the operation arm is used for performing medical operation and operation in an ear cavity or a nasal cavity; the image acquisition device is used for acquiring images in an ear cavity or a nasal cavity;
the fixing device is used for fixing on the body of a user;
the connecting device is used for connecting the robot body and the fixing device.
The ear-nose robot comprises a connecting rod and a rotating shaft, wherein the connecting rod is telescopic, one end of the connecting rod is connected with the fixing device, the other end of the connecting rod is connected with the robot body, and the rotating shaft is located in the middle of the connecting rod and used for adjusting the angle of the connecting rod.
An otorhinorobot as claimed above, the fixing means further comprising a track on which the attachment means is moveable.
The ear-nose robot comprises a robot body, wherein the robot body comprises a mechanical arm, and the image acquisition device is arranged on the mechanical arm and can acquire images at a proper position.
The ear-nose robot comprises a knife, scissors, a needle, a pair of forceps, a pair of tweezers, a pair of spoons, an electric welding head, an electric cautery head, an electric baking head, a light probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device, a cleaning device, a medicine feeding device, a negative pressure suction device, a brush head and an ultrasonic cleaning head.
The ear-nose robot further comprises a protection device, and the protection device is used for protecting the nasal cavity or other non-operative parts in the ear cavity of a user from being damaged by the operation arm when the operation arm performs medical operations and operations.
The ear-nose robot further comprises a processor, wherein the processor can automatically control the ear-nose robot to perform medical operations and operations according to the actual situation of the nose or the ear of a user according to the images acquired by the image acquisition device.
The ear-nose robot further comprises a communication module for returning the acquired image and/or receiving an operation instruction, and the ear-nose robot operates according to the received operation instruction.
The ear-nose robot transmits the acquired images to an external server, constructs a 3D model of the nose or the ear of the patient, displays the real situation of the nose or the ear of the patient, and is used for cleaning and self-checking the nose or the ear of the user, or medical staff performs symptom analysis, gives a diagnosis result, designs/recommends/determines a surgery or an operation scheme, positions an operation site and assists in performing the surgery/operation.
The invention also provides a use method of the ear-nose robot, which comprises the following steps:
s1: the fixing device is fixed on the body of the user, and the connecting device moves the ear-nose robot body to the nose or the ear of the user;
s2: the image acquisition device acquires images in the nasal cavity or the ear cavity;
s3: the operation arm performs medical operation and operation according to the images in the nasal cavity or the ear cavity.
The invention discloses an ear-nose robot and a using method thereof. The using method of the ear-nose robot comprises the following steps: the fixing device is fixed on the body of the user, and the connecting device moves the ear-nose robot body to the nose or the ear of the user; the image acquisition device acquires images in the nasal cavity or the ear cavity; the operation arm performs medical operation and operation according to the images in the nasal cavity or the ear cavity. By the ear-nose robot and the use method thereof, a doctor can inspect and operate the nasal cavity or the ear cavity by means of the ear-nose robot, the automation degree and operability of the inspection and operation of the nasal cavity or the ear cavity can be greatly improved, a user can be helped to clean the nasal cavity or the ear cavity and perform self-inspection by himself, the comfort is improved, the inspection and operation accuracy is improved, the operation time and the wound surface recovery time can be shortened, and the ear-nose robot and the use method thereof have important significance for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
Drawings
Fig. 1 is a schematic view of an ear-nose robot of the present invention.
Fig. 2 is a method flowchart of a method of using the ear-nose robot of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and examples.
A first embodiment of the present invention is described with reference to fig. 1. Fig. 1 is a schematic view of an ear-nose robot of the present invention. As shown in the drawings, the ear-nose robot of the present invention includes a robot body 10, a fixing device 20, and a connecting device 30.
The robot body 10 comprises an operation arm 101 and an image acquisition device 102, wherein the operation arm 101 is used for performing medical operations and operations in an ear cavity or a nasal cavity; the image capturing device 102 is used for capturing images in the ear cavity or the nasal cavity. The robot body 10 may further include a housing for protecting the robot body and preventing liquid from entering and corroding various parts of the robot body, including the surgical arm and the image capturing device.
The securing device 20 is intended to be secured to the body of a user. In the present invention, the fixture 20 may be a head-mounted device, worn by the user on the head; or an ear-hook device, which is hung on the ear by the user; other suitable means may be secured to the head or other body part of the user. The fixture 20 may further comprise a rail 201 on which the connecting device 30 is movable. The tracks may be provided individually or may be multiple tracks. The track may be a horizontal track, a vertical track, or a combination thereof. The coupling device 30 is provided with rail wheels matching the rails so that the coupling device 30 can move on the rails.
The connecting means 30 is used to connect the robot body 10 and the fixing means 20. The connecting device 30 includes a connecting rod 301 and a rotating shaft 302. The connection rod 301 is retractable, and has one end connected to the fixing device 20 and the other end connected to the robot body 10. The rotation shaft 302 is located at the middle of the connection rod 301 for adjusting the angle of the connection rod 301. In this embodiment, the connecting rod 301 is divided into an upper portion and a lower portion, which are respectively telescopic, the rotating shaft 302 includes a first rotating shaft and a second rotating shaft connected to each other, the first rotating shaft is connected to the upper portion of the connecting rod 301, the second rotating shaft is connected to the lower portion of the connecting rod 301, and an angle between the first rotating shaft and the second rotating shaft is adjustable. In the present invention, the connecting device 30 slides on the rail, and the connecting rod 301 and the rotating shaft 302 are extended or shortened, and the angle adjustment may be performed electrically or manually. The ear-nose robot may further comprise a battery for supplying power. The ear-nose robot can also supply power by an external power line.
In the ear-nose robot of the present invention, the fixing device 20 is fixed on the body of the user, the connecting device 30 connects the robot body 10 and the fixing device 20, the position, angle and relative angle of the robot body 10 can be adjusted by extending or shortening the connecting rod 301 and adjusting the angle of the connecting rod 301 by the rotating shaft 302, so that the connecting device 30 can deliver the robot body 10 into the ear cavity or nasal cavity of the user. The image acquiring device 102 of the robot body acquires an image in an ear cavity or a nasal cavity, and the surgical arm 101 performs a medical operation and an operation based on the acquired image. In the present invention, the fixing device 20 and the connecting device 30 may have other suitable structures to perform the functions of fixing, connecting, and moving the robot body to a suitable position.
The ear-nose robot of the present invention can be used for cleaning, examination, image acquisition, surgery, etc. of the nasal cavity or ear cavity. By the ear-nose robot, a doctor can inspect and operate the nasal cavity or the ear cavity by the aid of the ear-nose robot, the automation degree and operability of the inspection and operation of the nasal cavity or the ear cavity can be greatly improved, the cleaning and self-inspection of the nasal cavity or the ear cavity can be facilitated, the comfort of a patient is improved, the inspection and operation accuracy is improved, and the operation time and the wound recovery time can be shortened.
In the ear-nose robot of the present invention, the robot body 10 may further include at least one supporting arm, and the supporting arm is configured to be supported on an inner wall of the nasal cavity or the ear cavity, so as to prop open the nasal cavity or the ear cavity and stabilize the position of the robot body 10 in the nasal cavity or the ear cavity. The support arm can include supporting seat, angle adjusting device and telescoping device, the supporting seat contacts nasal cavity or ear intracavity wall and supports, angle adjusting device is used for adjusting the angle of support arm, the telescoping device is used for adjusting the length of support arm.
In the invention, the supporting arm can be retracted into the shell or positioned on the outer surface of the shell, or the shell is provided with a sandwich layer, and the supporting arm is positioned in the sandwich layer. The support arm is located inside the shell, can stretch out the shell through the trompil during strutting, and the inner wall of supporting seat contact nasal cavity or ear chamber supports, can adjust the angle of support arm through angle adjusting device, adjusts the length of support arm through the telescoping device. The cooperative support of the plurality of support arms stabilizes the position of the robot body 10 in the nasal or ear cavity.
The ear-nose robot can also monitor the pressure of the supporting arm on the inner wall of the nasal cavity or the ear cavity by arranging the pressure sensor on the supporting arm, and is provided with a threshold value, when the pressure on the inner wall of the nasal cavity or the ear cavity reaches or approaches the threshold value, the supporting arm is limited to extend continuously, and the injury to a user is prevented.
The ear-nose robot of the invention can adjust the position of the robot body 10 through the connecting device 30, and can also move the position of the robot body 10 in the nasal cavity or the ear cavity by adjusting the lengths and the angles of different supporting arms, thereby being capable of more conveniently acquiring images or carrying out medical operation and leading the acquired images or the medical operation to have better effect. When the robot body 10 is supported by the plurality of support arms and is in the nasal cavity or the ear cavity, if the position needs to be moved for acquiring images or performing medical operations, the robot body 10 can be moved in the nasal cavity or the ear cavity by adjusting the lengths and the angles of the different support arms. For example: the telescoping device that can adjust the left support arm of robot 10 makes left support arm length shorten, and the telescoping device who adjusts the support arm on robot 10 right side simultaneously makes the support arm length extension on right side, is equivalent to robot 10 and removes to the left side in nasal cavity or ear chamber, and the support arm in other positions also need be according to nasal cavity or the interior actual conditions adjustment angle of ear chamber and length, makes robot 10 can support in the new position after removing. The adjustment of the length and the angle of each supporting arm can be realized by analyzing and giving a specific adjustment instruction according to the actual condition in the nasal cavity or the ear cavity by a processor, or can be realized by giving an actual adjustment instruction according to the image in the nasal cavity or the ear cavity by a server and sending the actual adjustment instruction to the ear-nose robot, and the ear-nose robot adjusts according to the instruction.
The image capturing device 102 is used for capturing images in the ear cavity or the nasal cavity. The image capturing device 102 may be a camera, an infrared imaging device, an ultrasonic imaging device, etc., and the present invention is not limited thereto. In the ear-nose robot of the present invention, the robot body 10 may include one image capturing device 102, or may include a plurality of image capturing devices 102. The image capturing device 102 may be provided separately, at the front, rear or side of the housing, or may be provided on the surgical arm 101. The image capture device 102 may also include a corresponding light source for coordinated imaging. The image acquiring device 102 may be the ear-nose robot of the present invention, or may establish a model through images of the nasal cavity or the ear cavity at different positions and different angles acquired by the image acquiring device 102, or may include a holographic model for examination and subsequent diagnosis and treatment.
In the ear-nose robot of the present invention, the robot body 10 may further include a mechanical arm, and the image capturing device 102 is disposed on the mechanical arm, so that the image capturing device 102 can capture an image at a suitable position. The image capture device 102 may be located inside the housing or may be mounted on a robotic arm that extends out of the housing to capture images of the nasal or ear cavity. The combination of the mechanical arm can enable the image acquisition device 102 to acquire images in the nasal cavity or the ear cavity at more angles and more positions, and can acquire images with more suitable positions and angles, so that the result obtained by the ear-nose robot for inspecting the nasal cavity or the ear cavity is more accurate.
According to the ear-nose robot, the operation arm 101 is used for performing medical operations and operations in a nasal cavity or an ear cavity, and the length and the angle of the operation arm 101 are adjustable. The operation arm comprises at least one of a knife, a pair of scissors, a needle, a pair of forceps, a pair of clamps, a spoon, an electric welding head, an electric cautery head, an electric heating head, an illumination probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device, a cleaning device, a medicine feeding device, a negative pressure suction device, a brush head, a cotton ball, a disinfectant and an ultrasonic cleaning head. The surgical arm may be used to perform operations such as cutting, shearing, puncturing, suturing, grasping, welding, irrigating, sampling, probing, electrocoagulation, hemostasis, tissue separation and dissection, dredging, radiotherapy, phototherapy, hyperthermia, magnetotherapy, waste or wastewater cleanup, and the like. In the present invention, the cleaning device is preferably a vacuum cleaner-like device. In the present invention, the radioactive probe is preferably a gamma knife. The operation arm can also stretch out and draw back and rotate, makes things convenient for the operation arm to remove to suitable position. The operation arm can also set up pressure sensor, and the monitoring is to the pressure of nasal cavity or ear intracavity wall to set up and be fit for a threshold value, when reaching or being close the threshold value to the pressure of nasal cavity or ear intracavity wall, restrict the operation of operation arm, prevent to cause the injury to the user. The surgical arm may be disposed within/sandwiched between the housing and may extend out of the housing during operation. The operation arm can also be arranged outside the shell, and the operation arm is close to the target position to carry out relevant operations.
The ear-nose robot can be used for cleaning nasal cavities or ear cavities, and the nasal cavities or the ear cavities can be cleaned through the brush head, the ultrasonic cleaning head and the like carried by the operation arm, so that a user can clean the nasal cavities or the ear cavities more conveniently, and the effect is better.
In the invention, the medicine applying device is used for applying medicine in the nasal cavity or the ear cavity. The medicine feeding device can be a spraying device and is used for spraying liquid medicine to a position needing medicine feeding; the medicine applying device can also be used for applying the medicine to the position needing medicine application; or an injection device for injecting the medicament to a specified location; or an implant device for implanting a drug at a specific location. The drug delivery device may be located on the surface of the housing, or may be located on the surgical arm 101, or the drug delivery device may have a retractable and rotatable mechanical arm to facilitate the drug delivery device moving to the appropriate location for drug delivery.
The ear-nose robot provided by the invention can further comprise a protection device, and is used for protecting the nasal cavity or other non-operative parts in the ear cavity of a user from being damaged by the operation arm when the operation arm performs medical operations and operations. The protective device can be a baffle plate, and can also be other devices which can protect other non-operation parts in the nasal cavity or the ear cavity.
According to the ear-nose robot, parts of the ear-nose robot, which are contacted with the nasal cavity or the inner part of the ear cavity, such as the supporting arm and the operation arm, can be provided with local anesthetic, so that the local irritation and sensitivity are reduced, and the comfort of a user is improved.
The ear-nose robot provided by the invention can further comprise a processor, and the processor can automatically control the ear-nose robot to perform medical operations and operations according to the actual conditions of the nose or the ear of a user according to the images acquired by the image acquisition device 102. In the invention, the ear-nose robot may further include a communication module for passing back the acquired image and/or receiving an operation instruction, and the ear-nose robot operates according to the received operation instruction. Through transmitting nasal cavity or the image in the ear cavity to outside server, give actual operating scheme by the server according to nasal cavity or the image in the ear cavity to send the operating instruction who corresponds for ear-nose robot, after the communication module of ear-nose robot received operating instruction, the treater was operated according to operating instruction control ear-nose robot. The operating instruction can also be given by medical staff according to the images in the nasal cavity or the ear cavity. The ear-nose robot of the invention can also be operated by combining the processor of the robot with an external medical staff or server to give an operation scheme. In the invention, when the ear-nose robot operates in the nasal cavity or the ear cavity, the ear-nose robot can receive an operation instruction sent from the outside through the communication module, and then perform corresponding operation according to the operation instruction, or automatically perform corresponding operation according to the actual situation of the image in the nasal cavity or the ear cavity.
The method of giving the operation plan based on the image in the nasal cavity or the ear cavity may be; the method comprises the steps of identifying focuses based on images in a nasal cavity or an ear cavity to give an examination result, and then giving a proper operation scheme according to the result and an operation template, wherein the operation template can be obtained according to an operation treatment standard, or obtained by continuous accumulation and refinement of clinicians in the operation treatment process, or obtained by big data analysis, or obtained by artificial intelligence deep learning, and the operation template can be continuously adjusted and updated in the using process.
The ear-nose robot of the invention can also determine the position of the robot body 10 in the nasal cavity or the ear cavity through the positioning device. The positioning device may be images of different angles acquired by a plurality of cameras, and the position of the robot body 10 is determined according to the relative position in the images. Or may be otherwise located.
The ear-nose robot can transmit the acquired images to an external server, construct a model of the nose or the ear of the patient, show the real situation of the nose or the ear of the patient, and be used for cleaning and self-checking the nose or the ear of the user, or medical staff to carry out symptom analysis, give a diagnosis result, design/recommendation/determination of an operation or an operation scheme, position an operation site and assist the execution of the operation/operation.
The obtained images in the nasal cavity or the ear cavity can be used independently for constructing the model of the nose or the ear, and the images in the nasal cavity or the ear cavity of the human body can be combined. The images in the human nasal cavities or the ear cavities can be general images in the human nasal cavities or the ear cavities, and can also be images in the human nasal cavities or the ear cavities of the users acquired by an X-ray device and the like. The model of the nose or the ear can conveniently show the real condition in the nasal cavity or the ear cavity of the patient to medical staff, the medical staff can carry out symptom analysis, give diagnosis results, design/recommendation/determination of operation or operation schemes through the model of the nose or the ear, and can also combine the model of the nose or the ear to position operation sites and assist the execution of operations/operations.
A second embodiment of the present invention is seen in figure 2. Fig. 2 is a method flowchart of a method of using the ear-nose robot of the present invention. The invention discloses a using method of an ear-nose robot, which comprises the following steps:
s1: the fixing device is fixed on the body of the user, and the connecting device moves the ear-nose robot body to the nose or the ear of the user;
s2: the image acquisition device acquires images in the nasal cavity or the ear cavity;
s3: the operation arm performs medical operation and operation according to the images in the nasal cavity or the ear cavity.
The use method of the ear-nose robot of the present invention corresponds to the technical features of the ear-nose robot of the present invention one by one, and reference may be made to the description of the ear-nose robot, which is not repeated herein.
In summary, the ear-nose robot and the using method thereof of the present invention include a robot body, a fixing device and a connecting device, wherein the robot body includes an operation arm and an image capturing device. The using method of the ear-nose robot comprises the following steps: the fixing device is fixed on the body of the user, and the connecting device moves the ear-nose robot body to the nose or the ear of the user; the image acquisition device acquires images in the nasal cavity or the ear cavity; the operation arm performs medical operation and operation according to the images in the nasal cavity or the ear cavity. By the ear-nose robot and the use method thereof, a doctor can inspect and operate the nasal cavity or the ear cavity by means of the ear-nose robot, the automation degree and operability of the inspection and operation of the nasal cavity or the ear cavity can be greatly improved, a user can be helped to clean the nasal cavity or the ear cavity and perform self-inspection by himself, the comfort is improved, the inspection and operation accuracy is improved, the operation time and the wound surface recovery time can be shortened, and the ear-nose robot and the use method thereof have important significance for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An ear-nose robot is characterized in that the ear-nose robot comprises a robot body, a fixing device and a connecting device,
the robot body comprises an operation arm and an image acquisition device, wherein the operation arm is used for performing medical operation and operation in an ear cavity or a nasal cavity; the image acquisition device is used for acquiring images in an ear cavity or a nasal cavity;
the fixing device is used for fixing on the body of a user;
the connecting device is used for connecting the robot body and the fixing device.
2. An otorhinorobot according to claim 1, wherein: the connecting device comprises a connecting rod and a rotating shaft, the connecting rod is telescopic, one end of the connecting rod is connected with the fixing device, the other end of the connecting rod is connected with the robot body, and the rotating shaft is located in the middle of the connecting rod and used for adjusting the angle of the connecting rod.
3. An otorhinorobot according to claim 1, wherein: the fixing device further comprises a rail on which the connecting device is movable.
4. An otorhinorobot according to claim 1, wherein: the robot body further comprises a mechanical arm, and the image acquisition device is arranged on the mechanical arm and can acquire images at a proper position.
5. An otorhinorobot according to claim 1, wherein: the operation arm comprises at least one of a knife, a pair of scissors, a needle, a pair of forceps, a pair of clamps, a spoon, an electric welding head, an electric cautery head, an electric heating head, an illumination probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device, a cleaning device, a medicine feeding device, a negative pressure suction device, a brush head and an ultrasonic cleaning head.
6. An otorhinorobot according to claim 1, wherein: the ear-nose robot further comprises a protection device, and when the operation arm is used for performing medical operation and operation, the protection device is used for protecting the nasal cavity or other non-operation parts in the ear cavity of a user from being damaged by the operation arm.
7. An otonasal robot according to any one of claims 1-6 wherein: the ear-nose robot further comprises a processor, wherein the processor can automatically control the images acquired by the image acquisition device to perform medical operations and operations according to the actual conditions of the nose or the ear of a user.
8. An otorhinorobot according to claim 7, wherein: the ear-nose robot further comprises a communication module for returning the acquired images and/or receiving operation instructions, and the ear-nose robot operates according to the received operation instructions.
9. An otorhinorobot according to claim 8, wherein: the ear-nose robot transmits the acquired images to an external server, constructs a 3D model of the nose or the ear of the patient, displays the real situation of the nose or the ear of the patient, and is used for cleaning and self-checking the nose or the ear of the user, or medical staff carries out symptom analysis, gives a diagnosis result, designs/recommends/determines an operation or an operation scheme, positions an operation site and assists in executing the operation/operation.
10. A method of using an otonasal robot as claimed in any one of claims 1 to 9, the method comprising:
s1: the fixing device is fixed on the body of the user, and the connecting device moves the ear-nose robot body to the nose or the ear of the user;
s2: the image acquisition device acquires images in the nasal cavity or the ear cavity;
s3: the operation arm performs medical operation and operation according to the images in the nasal cavity or the ear cavity.
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| CN202110787848.3A CN113440258A (en) | 2021-07-12 | 2021-07-12 | Ear-nose robot and using method thereof |
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| CN202110787848.3A CN113440258A (en) | 2021-07-12 | 2021-07-12 | Ear-nose robot and using method thereof |
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