CN113842220A

CN113842220A - Minimally invasive surgery robot

Info

Publication number: CN113842220A
Application number: CN202111268277.9A
Authority: CN
Inventors: 不公告发明人
Original assignee: Changzhou Weijing Medical Robot Co ltd
Current assignee: Changzhou Weijing Medical Robot Co ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2021-12-28

Abstract

The invention relates to the field of medical surgical instruments, in particular to a minimally invasive surgery robot, which comprises a master control console and slave operation equipment, wherein the slave operation equipment comprises a slave operation equipment base, a stand column arranged on the base, a mechanical arm connected with the stand column and an instrument connecting part arranged at the tail end of the mechanical arm; the instrument connecting part comprises an instrument box, an aseptic isolation device, an instrument box driving seat, a sleeve fixing seat and a fixing seat support, wherein the aseptic isolation device is positioned between the instrument box and the instrument box driving seat to connect the instrument box and the instrument box driving seat. The sterile cover of the sterile isolation device covers most of parts on the mechanical arm, so that the parts in a sterile area are only the instrument box, the sleeve and the sleeve fixing seat.

Description

Minimally invasive surgery robot

Technical Field

The invention relates to the field of medical surgical instruments, in particular to a minimally invasive surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, the difficulty of the surgical operation is greatly increased, and the actions of fatigue, trembling and the like of a doctor in the long-time surgical process are amplified, which becomes a key factor restricting the development of the minimally invasive surgery technology. With the development of the robot technology, a novel minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, in the minimally invasive medical field, is produced.

During robotically-assisted minimally invasive surgery, a surgeon performs surgical tasks with an elongated minimally invasive surgical instrument, requiring that the area adjacent to the patient be maintained in a sterile condition. However, the motors, sensors, encoders, electrical connections, etc. necessary to control the movement of the surgical instruments are typically not sterilizable using conventional methods such as steam, heat, or chemicals, and therefore need to be isolated from the surgical instruments.

To this end, chinese patent CN101242789B discloses a solution for sterile isolation using a sterile drape, with the "wrist unit adaptor and cannula adaptor extending through the aperture of the drape so that the remaining parts of the forearm assembly and manipulator assembly remain shielded from the patient during the procedure. In one embodiment, the wrist unit adaptor and cannula adaptor are manufactured as reusable components that will be sterilized as they both extend into the sterile field of the surgical site. The wrist unit and cannula adaptor may be sterilized by conventional methods, i.e. steam, heat and pressure, chemical sterilization, etc. In this patent scheme, the part that is in aseptic zone has wrist unit adaptor, sleeve pipe adaptor and wrist unit, the spare part that is in aseptic zone in the above-mentioned scheme is still more, and because wrist unit adaptor and sleeve pipe adaptor link firmly on the operation arm, it can take time and difficultly to disinfect them, because wrist unit adaptor and sleeve pipe adaptor pass the hole of curtain, when the in-service use, need aim at two parts with two holes, the installation degree of difficulty is big, and because the existence in hole still can lead to the gap, sealed risk such as untight.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a minimally invasive surgery robot, which solves the technical problems.

In order to achieve the purpose, the invention is realized by the following technical scheme: a minimally invasive surgical robot comprising:

the auxiliary operation equipment comprises an auxiliary operation equipment base, a stand column arranged on the base, a mechanical arm connected with the stand column and an instrument connecting part arranged at the tail end of the mechanical arm;

the instrument connecting part comprises an instrument box, an aseptic isolation device, an instrument box driving seat, a sleeve fixing seat and a fixing seat support, wherein the aseptic isolation device is positioned between the instrument box and the instrument box driving seat to connect the instrument box and the instrument box driving seat, and the sleeve is detachably arranged on the fixing seat support through the sleeve fixing seat;

the sterile isolation device comprises a sterile cover and an isolation assembly, the sterile cover comprises a first opening and a second opening, the isolation assembly comprises a connecting device matched with the first opening, and the connecting device is used for fixing the sterile cover and closing the first opening;

and under the state that the second opening is closed, the sterile cover is combined with the isolation assembly to form a closed cavity for accommodating the instrument box driving seat, the fixed seat support and the mechanical arm.

It is further defined that the connection device is made of plastic material, the connection device is a hollow closed ring-shaped plastic sheet, the first opening is similar to the connection device in shape, and the sterile cover is connected to the connection device in a manner of gluing and/or heat fixing near the first opening.

The isolation assembly further comprises a first isolation plate, a second isolation plate and a connecting device arranged between the first isolation plate and the second isolation plate, wherein a first through hole is formed in a first preset position on the first isolation plate, a second through hole is formed in the connecting device, and a positioning column is arranged in a second preset position, corresponding to the first preset position, on the second isolation plate;

and forming the isolation assembly under the condition that the positioning column is arranged in the first through hole and the second through hole.

Further, the sleeve is fixedly installed on the sleeve fixing seat, the sleeve fixing seat is provided with a groove, and the groove is in pluggable fit with the convex part on the fixing seat support so as to fix the sterile cover between the groove and the convex part.

Further defined, the isolation assembly further comprises a first connector, a second connector; the end part of the first connecting body is provided with a first connecting bulge matched with the instrument box, the end part of the second connecting body is provided with a second connecting bulge matched with the instrument box driving seat, and the first connecting bulge and the second connecting bulge are respectively used for fixing the isolation assembly on the instrument box and the instrument box driving seat.

Further, the first connecting body and the second connecting body are of an integral structure, connecting grooves are formed in two sides of the fixing position of the first connecting body and the second connecting body, and the first connecting body and the second connecting body are flexible due to the connecting grooves.

Further, the connecting device is provided with an outward protruding avoidance bulge at a position corresponding to the first connecting body and the second connecting body, and the avoidance bulge is used for ensuring that the connecting device is of a closed structure.

It is further limited that a third through hole is arranged at a third preset position of the first isolation plate and the second isolation plate, and a sensing component used for sensing whether the instrument box is assembled or not is arranged in the third through hole.

Further, the sensing part is of a cylindrical structure, a circular boss is arranged in the middle of the cylinder, and the diameter of the boss is larger than that of the third through hole, so that the sensing part is clamped between the first isolation plate and the second isolation plate.

Further, a thimble is disposed at a top end of the sensing component, and the thimble is pressed to move downward when the instrument box is assembled on the sterile isolation device, so as to trigger a corresponding sensing signal for prompting that the instrument box is assembled on the sterile isolation device.

Compared with the prior art, the beneficial effects of this application are: the sterile cover of the sterile isolation device covers most of parts on the mechanical arm, so that the parts in a sterile area are only the instrument box, the sleeve and the sleeve fixing seat, and compared with the prior art, the sterile isolation device reduces wrist unit connectors and can be detached; the sterile cover is only provided with two openings, the first opening is used for connecting the sterile cover fixing sheet, the second opening is used for penetrating through a part needing to be covered, extra holes are not formed, the sterile cover is more convenient to mount, and the risk of untight isolation is avoided.

Drawings

FIG. 1 is an overall schematic view of the present invention;

FIG. 2 is an enlarged view of A in FIG. 1 according to the present invention

FIG. 3 is an assembly schematic of the present invention;

FIG. 4 is a schematic view of the assembly of the present invention with the sterile cover removed;

FIG. 5 is an exploded view of the present invention;

FIG. 6 is a schematic view of the present invention with the sterile cover removed;

FIG. 7 is an exploded view of the present invention with the sterile cover removed;

FIG. 8 is a schematic view of an isolated floor of the present invention;

FIG. 9 is a schematic view of a securing tab of the sterile hood of the present invention;

FIG. 10 is a schematic view of a sterile hood of the present invention;

fig. 11 is a schematic view of the assembly of the sterile hood of the present invention.

In the figure: 1. a slave operation device base; 2. a column; 3. a driven arm; 4. an operating arm; 5. an instrument connection portion; 51. a sterile hood; 511. a sterile cover body; 512. a first opening; 513. a second opening; 52. an instrument cartridge; 53. an isolation component; 531. isolating the upper plate; 5311. an upper plate body; 5312. an upper mounting hole; 5313. an upper positioning hole; 5314. an upper auxiliary positioning hole; 532. an isolation base plate; 5321. a bottom plate body; 5322. a lower mounting hole; 5323. a positioning column; 5324. a lower auxiliary positioning hole; 5325. a notch; 533. a sterile cover fixing sheet; 5331. a stator body; 5332. avoiding the protrusion; 5333. a middle positioning hole; 534. a hasp; 535. a transmission member; 536. a sensing component; 54. an instrument box drive seat; 55. a sleeve; 56. a sleeve fixing seat; 57. a fixed seat support.

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.

Referring to fig. 1-2, the invention discloses a minimally invasive surgery robot, which is used for assisting in carrying out minimally invasive surgery and comprises a master control console (not shown in the figure) and a slave operation device, wherein the slave operation device is provided with a slave operation device base 1, an upright post 2 is arranged on the slave operation device base 1, a plurality of mechanical arms are arranged on the upright post 2, each mechanical arm comprises a driven arm 3 and an operation arm 4 which are connected with each other, an instrument connecting part 5 is arranged at the end part of each operation arm 4, each instrument connecting part 5 comprises an instrument box 52, an aseptic isolation device, an instrument box driving seat 54, a sleeve 55, a sleeve fixing seat 56 and a fixing seat support 57, the aseptic isolation device is positioned between the instrument box 52 and the instrument box driving seat 54 to connect the instrument box and the instrument box driving seat, and the sleeve 55 is detachably mounted on the fixing seat support 57 through the sleeve fixing seat 56. The instrument box 52 is used for providing support for surgical instruments and transmitting power on the instrument box driving seat 54 to the surgical instruments so as to complete multi-degree-of-freedom movement of the surgical instruments, and all mechanical parts are arranged inside the instrument box 52 and can be sterilized by using a conventional sterilization method. The cartridge drive bay 54 has electrical components therein, such as a motor, controller, etc., for powering the cartridge 52, and thus a sterile isolation device is provided to isolate the cartridge 52 from the cartridge drive bay 54. The sterile isolation device covers the passive arm 3, the operation arm 4 and a part of the instrument connecting part 5, only the instrument box 52, the sleeve 55 and the sleeve fixing seat 56 in the instrument connecting part 5 are left in a sterile environment, and only the three are required to be sterilized, and the sleeve 55 and the sleeve fixing seat 56 can be integrally detached from the mechanical arm, so that the sterilization is more convenient. Specifically, the cannula 55 is generally fixedly mounted on the cannula holder 56 by means of screw connection, and the cannula holder 56 has a recess which is adapted to be inserted into and removed from the protruding portion of the holder bracket 57, i.e. the cannula holder 56 is inserted into and removed from the holder bracket 57, so that the sterile cover 51 is fixed between the recess and the protruding portion.

Referring to fig. 3-5, the sterile isolation device of the present invention comprises a sterile cover 51 and an isolation assembly 53, wherein the sterile cover 51 is fixed on the isolation assembly 53, the sterile cover 51 covers the instrument box driving seat 54 and the fixing seat bracket 57, the part which is not covered by the sterile cover 51, i.e. the part which needs to be sterilized, only remains the instrument box 52, the cannula 55 and the cannula fixing seat 56, and these parts are installed only when in use, so that the sterilization is very convenient, and because no additional opening is formed on the sterile cover 51, the installation is more convenient, and the risk of poor isolation does not exist.

Referring to fig. 6, the isolation assembly 53 includes an isolation upper plate 531, an isolation bottom plate 532, an aseptic cover fixing plate 533, a buckle 534, a transmission member 535, and a sensing member 536, the aseptic cover fixing plate 533 is used for fixing the aseptic cover 51, and is itself fixed between the isolation upper plate 531 and the isolation bottom plate 532, the three may be connected by hot melting or buckling, the aseptic cover fixing plate 533 and the aseptic cover 51 are made of plastic material, and here, the fixation by hot melting is preferred, but of course, the fixation may be performed by other manners such as glue. The buckle 534 is used to compress the cartridge 52 and the cartridge drive socket 54 to bring them into tight engagement, and the transmission 535 is used to transmit the power from the cartridge drive socket 54 to the cartridge 52 to cause the distal instrument at the distal end of the cartridge 52 to perform the desired action. More specifically, the latch 534 is a one-piece connector extending to either side and having protrusions at both ends that fit into corresponding recesses in the cartridge 52 or cartridge drive socket 54. The buckle 534 may be integrally formed on the isolation upper plate 531, or may be integrally formed on the isolation lower plate 532. The one-piece construction facilitates manufacturing and provides a secure connection between the cartridge 52 and the cartridge drive socket 54. If the upper and lower portions of the hook and loop are formed on the upper and

lower partition plates

531 and 532, respectively, the connection between the instrument box 52 and the instrument box driving socket 54 is changed to a connection structure for connecting the upper and

lower partition plates

531 and 532, and the connection reliability is not good. The sensing element 536 is a cylindrical structure with a thimble at the end, which is pushed downward when the cartridge 52 is assembled with the sterile isolation device, thereby generating an electrical signal that can be processed by the processor to indicate to the user that the system and the cartridge 52 are installed. Referring to fig. 7, the isolation upper plate 531 includes an upper plate body 5311, and the upper plate body 5311 has an upper mounting hole 5312, an upper positioning hole 5313, and an upper auxiliary positioning hole 5314. The upper mounting hole 5312 is for mounting a transmission 535, the transmission 535 being used to transmit power from the cartridge drive socket 54 to the cartridge 52; the upper positioning holes 5313 are for positioning the isolation upper plate 531 and the isolation lower plate 532; the upper auxiliary positioning hole 5314 is for installing the sensing member 536, and the sensing member 536 is pushed up to recognize the existence of the instrument cartridge 52 when the instrument cartridge 52 is fastened to the sterile isolation device. It is understood that the above-mentioned holes do not necessarily exist at the same time, and those skilled in the art can arrange corresponding holes and the number thereof according to the needs, and can also adopt other equivalent implementations to realize the above-mentioned functions.

Referring to fig. 8, the isolation base plate 532 includes a base plate body 5321, two sides of the base plate body 5321 are provided with hasps 534 for fastening and fixing with the instrument box 52 and the instrument box driving seat 54, the hasps 534 and the isolation base plate 532 are plastic parts, and are made into a component by injection molding, wherein, the two sides of the hasp 534 connected with the bottom plate body 5321 are both provided with notches 5325, the notch 5325 can provide the buckle 534 with some flexibility relative to the base body 5321, i.e., can be shaken, by pressing the upper end of the buckle 534 inward, the lower end of the buckle 534 can be protruded outward, the isolation assembly 53 is detached from the instrument box driving seat 54, and of course, the buckle 534 may be formed on the isolation upper plate 531, and the bottom plate body 5321 is provided with a lower mounting hole 5322, a positioning post 5323, and a lower auxiliary positioning hole 5324 corresponding to the upper mounting hole 5312, the upper positioning hole 5313, and the upper auxiliary positioning hole 5314 in sequence. In the present embodiment, the upper and lower auxiliary positioning holes are for mounting the sensor member 536, and specifically, the sensor member 536 is engaged between the upper and lower auxiliary positioning holes. Therefore, a circular boss is further arranged in the middle of the cylindrical structure of the sensing component 536, and the diameter of the boss is up and down in addition to the diameter of the positioning hole.

Referring to fig. 9, the sterile cover fixing sheet 533 is a hollow closed ring structure as a whole, and includes a fixing sheet body 5331, where the fixing sheet body 5331 is provided with two avoidance protrusions 5332 and two middle positioning holes 5333, and the avoidance protrusions 5332 are located in the middle of the long sides of the fixing sheet body 5331. The avoiding projection 5332 is to give room for the buckle 534, and ensure that the sterile cover 51 can be completely and tightly fixed on the sterile cover fixing plate 533 without being broken in the middle due to the buckle 534. The sterile cover 51 is integrally and hermetically fixed on the sterile cover fixing plate 533, so that an intercommunicating channel between a sterile environment and a sterile environment does not appear, and the isolation effect of the sterile isolation device is improved.

In order to facilitate the assembly of the isolation upper plate 531, the isolation bottom plate 532 and the sterile cover fixing plate 533, a plurality of positioning columns 5323 and positioning holes are arranged on the isolation upper plate 531, the isolation bottom plate 532 and the sterile cover fixing plate 533. It is understood that the positions and the number of the positioning posts 5323 or the positioning holes are only examples, and the positions of the positioning posts 5323 and the positioning holes can be interchanged, such as the positioning holes 5313 on the bottom plate body 5321 and the positioning posts 5323 on the isolation upper plate 531.

Referring to fig. 10 and 11, the sterile cover 51 includes a sterile cover body 511 formed of a plastic material, a first opening 512 and a second opening 513, the shape of the first opening 512 is similar to the shape of the sterile cover fixing plate 533, when the sterile cover 51 is fixed, the first opening 512 of the sterile cover 51 covers the upper side or the lower side of the sterile cover fixing plate 533, the inner side of the first opening 512 is aligned with the inner side of the sterile cover fixing plate 533, then the first opening 512 of the sterile cover 51 and the sterile cover fixing plate 533 are fixed together by hot melting or gluing, and in a state that the second opening 513 is closed, the sterile cover 51 forms a closed cavity for accommodating the instrument box driving seat 54, the fixing seat support 57 and the robot arm in combination with the isolation assembly 53. The sterile cover 51 has no additional opening or hole except the first opening 512 and the second opening 513, and the first opening 512 is integrally and hermetically fixed on the sterile cover fixing plate 533, so that the risk of untight isolation does not exist, and the isolation effect of the sterile isolation device is improved.

In operation, the second opening 513 of the sterile enclosure 51 is inserted through the cartridge drive bay 54, and the isolation assembly 53 is mounted on the cartridge drive bay 54; flattening the sterile cover 51 to wrap the fixed seat support 57, and inserting the sleeve fixed seat 56 into the fixed seat support 57; thus, the object of the present invention is achieved.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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

1. A minimally invasive surgical robot, comprising:

2. The minimally invasive surgical robot according to claim 1, wherein the sterile cover and the connecting device are both made of plastic, the connecting device is a hollow closed ring-shaped plastic sheet, the first opening is similar to the connecting device in shape, and the sterile cover is connected to the connecting device by means of gluing and/or heat fixing close to the first opening.

3. The minimally invasive surgical robot according to claim 1, wherein the isolation assembly includes a first isolation plate, a second isolation plate, and a connecting device disposed between the first isolation plate and the second isolation plate,

a first through hole is arranged at a first preset position on the first isolation plate,

the connecting device is provided with a second through hole;

a positioning column is arranged at a second preset position corresponding to the first preset position on the second isolation plate;

4. The minimally invasive surgical robot of claim 1, wherein the cannula is fixedly mounted on the cannula mount, the cannula mount having a recess that is removably matable with a raised portion on the mount bracket to secure the sterile cover between the recess and the raised portion.

5. A minimally invasive surgical robot according to claim 2 or 3, wherein the isolation assembly further comprises a first connector, a second connector; the end part of the first connecting body is provided with a first connecting bulge matched with the instrument box, the end part of the second connecting body is provided with a second connecting bulge matched with the instrument box driving seat, and the first connecting bulge and the second connecting bulge are respectively used for fixing the isolation assembly on the instrument box and the instrument box driving seat.

6. The minimally invasive surgery robot according to claim 5, wherein the first connecting body and the second connecting body are of an integral structure, connecting grooves are arranged on two sides of the fixing position of the isolation assembly, and the connecting grooves enable the first connecting body and the second connecting body to be flexible.

7. The minimally invasive surgical robot according to claim 5, wherein the connecting device is provided with an outward protruding avoidance protrusion at a position corresponding to the first connecting body and the second connecting body, and the avoidance protrusion is used for ensuring that the connecting device is a closed structure.

8. The minimally invasive surgical robot according to claim 3, wherein a third through hole is formed in a third predetermined position of the first isolation plate and the second isolation plate, and a sensing component for sensing whether the instrument box is assembled or not is arranged in the third through hole.

9. The minimally invasive surgical robot according to claim 8, wherein the sensing member is a cylinder, and a circular boss is provided in the middle of the cylinder, and the diameter of the boss is larger than that of the third through hole, so that the sensing member is clamped between the first isolation plate and the second isolation plate.

10. The minimally invasive surgical robot according to claim 8, wherein the sensing member is provided at a top end thereof with a thimble, the thimble is pressed to move downward when the instrument box is mounted on the sterile isolation device, thereby triggering a corresponding sensing signal for indicating that the instrument box is mounted on the sterile isolation device.