CN114668432B - Integrated surgical robot for diagnosis and treatment through natural cavity - Google Patents
Integrated surgical robot for diagnosis and treatment through natural cavity Download PDFInfo
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- CN114668432B CN114668432B CN202210317773.7A CN202210317773A CN114668432B CN 114668432 B CN114668432 B CN 114668432B CN 202210317773 A CN202210317773 A CN 202210317773A CN 114668432 B CN114668432 B CN 114668432B
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- 238000003745 diagnosis Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 89
- 230000005540 biological transmission Effects 0.000 claims abstract description 71
- 230000009471 action Effects 0.000 claims abstract description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 145
- 239000010959 steel Substances 0.000 claims description 145
- 210000001503 joint Anatomy 0.000 claims description 44
- 230000008878 coupling Effects 0.000 claims description 25
- 238000010168 coupling process Methods 0.000 claims description 25
- 238000005859 coupling reaction Methods 0.000 claims description 25
- 241000270295 Serpentes Species 0.000 claims description 8
- 210000000988 bone and bone Anatomy 0.000 claims description 8
- 230000003902 lesion Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 5
- 239000011324 bead Substances 0.000 description 4
- 238000002674 endoscopic surgery Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000000936 intestine Anatomy 0.000 description 3
- 210000002784 stomach Anatomy 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000001035 gastrointestinal tract Anatomy 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 210000000436 anus Anatomy 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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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
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- 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
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an integrated surgical robot for diagnosis and treatment through a natural cavity, which comprises an endoscope main body, a surgical instrument, an endoscope main body control mechanism, an instrument transmission mechanism and an integrated device, wherein the endoscope main body control mechanism is connected with the surgical instrument through an endoscope traction piece so as to adjust the inclination angle of a joint at the tail end of the surgical instrument relative to a connecting pipe; the instrument control mechanism can control the rotation, swing and action operation of the surgical instrument; the instrument transmission mechanism can drive the surgical instrument to advance and retreat in the instrument channel; the integrated device is provided with an endoscope main body control mechanism, an instrument control mechanism and an instrument transmission mechanism. The invention has compact and ingenious structure and reasonable design, can realize the integration of diagnosis and treatment, is beneficial to rapidly completing the operation, can lighten the workload of medical staff, lighten the working intensity of doctors, improve the working efficiency of the medical staff and simultaneously increase the flexibility of the operation.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a diagnosis and treatment integrated surgical robot through a natural cavity.
Background
The prior natural cavity operation adopts the following two schemes: the first scheme is to use a traditional hand-held endoscope to enter a lesion part, then manually send a surgical instrument to the surgical part through an endoscope biopsy channel, and perform surgery by using a hand-held endoscope and a hand-held surgical instrument. The mode surgical instrument is simple, has poor flexibility, can only finish operations such as sleeving, clamping and marking under the operation of a single surgical instrument, greatly restricts the flexibility of the operation, and has the advantages that the doctor needs to hold the mirror for a long time in the operation process, the doctor is extremely easy to fatigue, and the operation risk is brought. The second scheme is to use the existing minimally invasive surgical robot to implement transluminal endoscopic surgery, and the minimally invasive surgical robot uses rigid surgical rods, so that a plurality of lesion sites cannot be reached through natural cavity passages, the application range of the surgical robot is greatly restricted, and the damage risk of other tissues is increased.
The current special surgical robot system for the endoscope through the natural cavity is still in a laboratory stage, the Endo SAMURAI system designed by the existing endoscope is used by Olympus corporation in Japan to realize the endoscopic surgery of the natural cavity in a manual operation mode, but the surgical actuator is fixed at the tail end of the endoscope and can not be replaced in the surgical process, so that the difficulty of endoscope feeding is caused; and the mode of direct manual wire-adding conduction restricts the flexibility of the operation. The Via Cath System developed by Endo VIA MEDICAL is still in the laboratory principle verification stage at present due to its oversized outside diameter. The Anubis project developed by Karl Storz is a relatively perfect natural cavity endoscopic surgery robot system at present, and can only drive a single-section flexible arm, and is in an experimental stage at present and not yet clinically applied.
As can be seen from the above, no mature integrated surgical robot for diagnosis and treatment through natural cavity is available, the operator manually operates the surgical instruments to complete the diagnosis of the stomach and intestine, and when the existence of pathological tissues is found, the operator places the instruments again, and only one instrument channel is operated outside the human body, so that the operation requirement of the remote operation on the doctor is high, and the flexibility of the operation is greatly restricted. Therefore, it is necessary to provide an integrated surgical robot for diagnosis and treatment via a natural cavity, so that a doctor can perform a surgical operation on a lesion area at the same time when performing a gastrointestinal endoscopy, thereby realizing integration of diagnosis and treatment.
Disclosure of Invention
The invention aims to provide an integrated surgical robot for diagnosis and treatment through a natural cavity channel, which solves the problem that in the prior art, a doctor is tired in the hand caused by holding a mirror for a long time, and the risk is increased for the operation.
In order to achieve the above object, the present invention provides the following solutions:
The invention provides an integrated surgical robot for diagnosis and treatment through a natural cavity, which comprises the following components:
the endoscope comprises an endoscope main body, wherein the endoscope main body comprises a connecting pipe and a tail end snake bone framework, the connecting pipe is used for extending into a natural cavity of a human body, the tail end snake bone framework comprises a tail end joint and a plurality of connecting joints, the connecting joints are arranged continuously, a first relative rotation axis is formed by hinging any two adjacent connecting joints, and the first relative rotation axes are vertical to any two adjacent connecting joints; the tail end joint is provided with an instrument channel, the connecting joint at one end of the connecting joints is connected with one end of the connecting pipe, the connecting joint at the other end of the connecting joints is hinged with the tail end joint and is provided with a second relative rotation axis, and the second relative rotation axis is perpendicular to the first relative rotation axis adjacent to the second relative rotation axis;
The surgical instrument is movably arranged in the instrument channel and can extend out of the instrument channel so as to perform surgical operation on a lesion area found by the endoscope main body;
The endoscope main body control mechanism is connected with the tail end joint through an endoscope traction piece so as to adjust the inclination angle of the tail end joint relative to the connecting pipe;
The instrument control mechanism is connected with the surgical instrument and can control the rotation, swing and action operation of the surgical instrument;
An instrument transmission mechanism capable of driving the surgical instrument to extend or retract into the instrument channel;
The integrated device is provided with the endoscope main body control mechanism, the instrument control mechanism and the instrument transmission mechanism, and the other end of the connecting pipe is connected with the endoscope main body control mechanism.
Optionally, the end joint includes:
the tail end joint comprises a tail end joint body, wherein grooves are formed in two sides of the tail end joint body;
The instrument support block is provided with the instrument channel; the device supporting block is embedded in the groove, one end, close to the connecting joint, of the device supporting block is rotatably connected with the tail end joint body through a rotating shaft, a torsion spring is sleeved at the end part of the rotating shaft, and two ends of the torsion spring are respectively abutted against the device supporting block and the tail end joint body so that the device supporting block is contained in the groove;
The L-shaped support connecting rod is embedded in one side of the instrument support block, which is close to the groove, and the corner of the L-shaped support connecting rod is rotationally connected with the instrument support block through the connecting rod, one end of the L-shaped support connecting rod stretches into the instrument channel and is stirred when the surgical instrument stretches out through the instrument channel, so that the other end of the L-shaped support connecting rod rotates and contacts with the groove, and one end, far away from the connecting joint, of the instrument support block is pushed away from the groove.
Optionally, the surgical instrument includes:
The device comprises a plurality of device connection joints, wherein a third relative rotation axis is formed by hinging any two adjacent device connection joints, and the third relative rotation axes are parallel to any two adjacent device connection joints;
The scissors comprise a first half scissors and a second half scissors, the first half scissors are connected with the instrument connecting joints at one ends of the instrument connecting joints, the second half scissors are connected with a scissors traction piece through a scissors connecting rod, the scissors traction piece is connected with the instrument control mechanism, and the opening and closing between the first half scissors and the second half scissors are controlled by the instrument control mechanism;
A hose having one end connected to the instrument connection joint at the other end of the plurality of instrument connection joints; the other end of the hose is connected with the instrument control mechanism, and the hose is rotated by the instrument control mechanism.
Optionally, the instrument control mechanism includes:
The rotary driving assembly comprises an instrument box and a rotary mechanism, the rotary mechanism comprises a rotary joint motor, and the output end of the rotary joint motor is connected with the instrument box to control the instrument box to rotate; the hose is connected with the instrument box;
The swinging driving assembly is arranged in the instrument box and comprises a servo motor and an instrument deflection traction assembly, the instrument deflection traction assembly comprises a deflection rotating shaft, a deflection steel wire rope and a deflection steel wire rope wire wheel, one end of the deflection rotating shaft is connected with the output end of the servo motor, two deflection steel wire rope wire wheels are arranged at the other end of the deflection rotating shaft along the axial direction of the deflection rotating shaft, two deflection steel wire ropes are arranged, one ends of the two deflection steel wire ropes are respectively wound on the two deflection steel wire rope wire wheels, the winding directions of the two deflection steel wire ropes are opposite, and the other ends of the two deflection steel wire ropes are connected with instrument connection joints connected with the first half scissors so as to realize deflection control of the surgical instrument;
the opening and closing driving assembly is arranged in the instrument box and comprises an electric push rod, the scissors traction piece is a scissors traction steel wire, and the electric push rod is connected with the scissors traction steel wire to push and pull the scissors traction steel wire so as to realize opening and closing between the first half scissors and the second half scissors.
Optionally, the scissors traction steel wire is a thick steel wire.
Optionally, the instrument control mechanism further comprises a locking device, the locking device comprising:
the locking device comprises a locking device box, wherein end covers are arranged on two sides of the locking device box, and a notch is formed in the top of the locking device box; the locking device box is fixed at the output end of the rotary joint motor;
the push rods are arranged in the locking device box, two push rods are arranged, and the two push rods are symmetrically arranged on two sides of the notch;
the locking springs are arranged, and the two push rods are respectively connected with the end covers on the corresponding sides through one locking spring;
the device comprises a locking device box, wherein an L-shaped buckle is arranged at one end of the device box, which is close to the rotary joint motor, and is clamped between two push rods in the locking device box, and the locking device box is tightly propped by a locking spring.
Optionally, the apparatus control mechanism further comprises:
The first deflection steel wire rope guide wheel is supported on one side of the deflection rotating shaft through a guide wheel frame;
the second deflection steel wire rope guide wheel is supported on the same side of the deflection rotating shaft through the guide wheel frame and the first deflection steel wire rope guide wheel;
the first deflection wire rope guide wheel and the second deflection wire rope guide wheel are respectively used for guiding the deflection wire ropes led out by the two deflection wire rope routing wheels.
Optionally, the instrument transmission mechanism includes:
The buckle is arranged on the integrated device;
The hard pipe sleeve is arranged in the buckle, and the hose penetrates through the hard pipe sleeve;
The pipe sleeve joint comprises an inner sleeve and an outer sleeve sleeved outside the inner sleeve, and the inner sleeve is rotationally connected with the outer sleeve; the outer sleeve is sleeved in the hard pipe sleeve and is fixedly connected with the inner wall of the hard pipe sleeve, and the hose is sleeved in the inner sleeve and is fixedly connected with the inner sleeve;
The friction transmission assembly comprises a stepping motor, a driving friction wheel and a pressing mechanism, and the output end of the stepping motor is connected with the driving friction wheel; the compressing mechanism comprises a supporting seat, a spring, an L-shaped connecting rod, an adjusting rod, a cylindrical pin and a driven friction wheel, wherein the supporting seat is arranged on the integrated device, the adjusting rod compresses the spring and is connected with the supporting seat through threads, one end of the L-shaped connecting rod is rotationally connected with the cylindrical pin, the other end of the L-shaped connecting rod is connected with the driven friction wheel, a hard tube sleeve placing space is formed between the driven friction wheel and the driving friction wheel, and the hard tube sleeve can drive the surgical instrument to stretch out or retract into the instrument channel under the friction action of the driving friction wheel.
Optionally, the endoscope pulling member includes a first endoscope pulling wire, a second endoscope pulling wire, a third endoscope pulling wire, and a fourth endoscope pulling wire, and the endoscope body control mechanism includes:
An endoscope body control box disposed on the integrated device; one end of the endoscope main body control box is provided with a joint for the connecting pipe to pass through;
The first transmission shaft and the second transmission shaft respectively penetrate through two side walls of the endoscope main body control box;
The first endoscope traction steel wire running wheel set is arranged in the endoscope main body control box and comprises a first endoscope traction steel wire running wheel and a second endoscope traction steel wire running wheel, and the first endoscope traction steel wire running wheel and the second endoscope traction steel wire running wheel are arranged at one end of the first transmission shaft, which is positioned in the endoscope main body control box; one end of the first endoscope traction steel wire and one end of the second endoscope traction steel wire are connected to the tail end joint in a first diagonal mode, the other end of the first endoscope traction steel wire and the other end of the second endoscope traction steel wire are respectively wound on the first endoscope traction steel wire running wheel and the second endoscope traction steel wire running wheel, and winding directions of the first endoscope traction steel wire and the second endoscope traction steel wire are opposite;
The second endoscope traction steel wire running wheel set is arranged in the endoscope main body control box and comprises a third endoscope traction steel wire running wheel and a fourth endoscope traction steel wire running wheel, and the third endoscope traction steel wire running wheel and the fourth endoscope traction steel wire running wheel are arranged at one end of the second transmission shaft, which is positioned in the endoscope main body control box; one end of the third endoscope traction wire and one end of the fourth endoscope traction wire are connected to the terminal joint in a second diagonal direction, and the second diagonal direction is arranged in a crossing manner with the first diagonal direction; the other end of the third endoscope traction steel wire and the other end of the fourth endoscope traction steel wire are respectively wound on the third endoscope traction steel wire running wheel and the fourth endoscope traction steel wire running wheel, and the winding directions of the third endoscope traction steel wire and the fourth endoscope traction steel wire are opposite;
The first main body deflection motor and the first transmission shaft are arranged on the same side of the endoscope main body control box, and the output end of the first main body deflection motor is connected with one end of the first transmission shaft, which is positioned outside the endoscope main body control box, through a first coupling;
the second main body deflection motor is arranged on the same side of the endoscope main body control box, and the output end of the second main body deflection motor is connected with one end, located outside the endoscope main body control box, of the second transmission shaft through a second coupling.
Optionally, one end of the first transmission shaft and one end of the second transmission shaft, which are positioned outside the endoscope main body control box, are respectively provided with a deflection knob;
The first coupler comprises a lower half coupler, an upper half coupler and a coupler locking bolt; the lower half coupler is connected with the output end of the first main body deflection motor, one end of the upper half coupler is rotationally connected with one end of the lower half coupler through a pin shaft, and the other end of the upper half coupler is connected with the other end of the lower half coupler through the coupler locking bolt; the upper half coupler and the lower half coupler are used for clamping the first transmission shaft, and when the upper half coupler and the lower half coupler are locked through the coupler locking bolt, the first transmission shaft rotates under the drive of the first main body deflection motor; when the coupling locking bolt between the upper half coupling and the lower half coupling is unscrewed, the first transmission shaft can be driven to rotate through the deflection knob;
the second coupling has the same structure as the first coupling.
Optionally, the endoscope body control mechanism further includes:
The first endoscope traction steel wire guide wheel and the second endoscope traction steel wire guide wheel are positioned in the endoscope main body control box, and are both arranged above the first endoscope traction steel wire running wheel set through the guide wheel frame, and are simultaneously used for guiding the first endoscope traction steel wire, and the second endoscope traction steel wire is directly corresponding to a small hole (a wire outlet hole) on the endoscope main body control box.
The third endoscope traction steel wire guide wheel and the fourth endoscope traction steel wire guide wheel are positioned in the endoscope main body control box, and are respectively arranged above the second endoscope traction steel wire running wheel set through the guide wheel frame, and are simultaneously used for guiding the third endoscope traction steel wire, and the fourth endoscope traction steel wire is directly corresponding to a small hole (a wire outlet hole) in the endoscope main body control box.
Optionally, the connecting pipe is a rubber pipe.
Optionally, the rubber tube is a soft rubber tube with certain hardness.
Optionally, the integrated device is a bottom plate. The base plate may be integrated on a trolley, hospital bed or the like treatment device.
Compared with the prior art, the invention has the following technical effects:
the diagnosis and treatment integrated surgical robot through the natural cavity channel has compact and ingenious structure and reasonable design, can realize the integration of diagnosis and treatment, is beneficial to rapidly completing the operation, can lighten the workload of medical staff, lighten the working intensity of doctors, improve the working efficiency of the medical staff, can more conveniently and flexibly carry out gastrointestinal tract treatment, improves the condition of separating diagnosis and treatment during the manual operation at present, overcomes the defect of inconvenient operation of a single surgical instrument in the prior endoscopic operation, and increases the flexibility of the operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of an integrated surgical robot for diagnosis and treatment via a natural orifice according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a structure of a bone skeleton of a terminal snake according to an embodiment of the invention;
FIG. 3 is a schematic view of an end joint according to an embodiment of the present invention;
FIG. 4 is a schematic view of a surgical instrument according to an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of the disclosed instrument control mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the mechanism of the disclosed instrument drive mechanism according to an embodiment of the present invention;
fig. 7 is a schematic view of a control mechanism for endoscope body according to an embodiment of the present invention.
Wherein, the reference numerals are as follows:
The endoscope comprises an endoscope main body 1, a tail end joint main body 1-1, a connecting joint 1-2, a rivet 1-3, a steel wire wiring hole 1-4, an instrument supporting block 1-5,L-shaped supporting connecting rod 1-6, an instrument channel 1-7 and a connecting pipe 1-8; a surgical instrument 2, an end instrument connection joint 2-1, an intermediate instrument connection joint 2-2, an initial instrument connection joint 2-3, a scissors linkage 2-4, a second half scissors 2-5, and a first half scissors 2-6; the device control mechanism 3, the endoscope main body control mechanism 4, the device transmission mechanism 5, the bottom plate 6, the rotating mechanism 7, the device box 8, the end cover 8-1, the lower shell 8-2, the upper shell 8-3, the electric push rod 8-4, the servo motor 8-5, the shaft sleeve 8-6, the deflection wire rope routing wheel 8-7, the guide wheel 8-8, the guide wheel 8-9, the clamp spring 8-10, the mandrel 8-11, the flange 8-12, the bearing 8-13, the bearing seat 8-14, the limiting device 9,U plate 9-1, the spring poking bead 9-2, the motor frame 10, the rotating joint motor 11, the front flange 12-1, the rear flange 12-2, the transmission shaft 13, the bearing 14, the bearing seat 15, the locking device 16, the locking device box 16-1 and the locking spring 16-2, the push rod 16-3, the end cover 16-4, the buckle 17, the stepping motor 18, the hard tube sleeve 19, the driving friction wheel 20, the pressing mechanism 21, the supporting seat 21-1, the spring 21-2, the L-shaped connecting rod 21-3, the adjusting rod 21-4, the oilless bearing 21-5, the cylindrical pin 21-6, the driven friction wheel 21-7, the joint motor group 22, the endoscope main body control box 23, the motor frame 24, the second main body deflection motor 25, the flange 26, the coupler 27, the lower half coupler 27-1, the pin 27-2, the upper half coupler 27-3, the screw knob 27-4, the deflection knob control mechanism 28, the deflection knob 28-1, the locking mechanism 28-2, the transmission shaft 28-3, the first endoscope traction steel wire routing wheel group 28-4, the device comprises a bearing 28-5, a bearing seat 28-6, a guide wheel set 29, a guide wheel frame 29-1, a threaded rod 29-2, a guide wheel 29-3, a clamp spring 29-4, a shell 30, a connector 31 and an upper cover 32.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an integrated surgical robot for diagnosis and treatment through a natural cavity channel, which solves the problem that in the prior art, a doctor is tired in the hand caused by holding a mirror for a long time, and the risk is increased for the operation.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1 to 7, the present embodiment provides an integrated surgical robot for diagnosis and treatment via a natural orifice, which mainly comprises an endoscope main body 1, a surgical instrument 2, an instrument control mechanism 3, an endoscope main body control mechanism 4, an instrument transmission mechanism 5 and a bottom plate 6. The instrument control mechanism 3, the instrument transmission mechanism 5, the endoscope main body control mechanism 4 and the endoscope main body 1 are sequentially arranged on the bottom plate 6, the endoscope main body 1 is connected with the endoscope main body control mechanism 4, the surgical instrument 2 is connected with the instrument control mechanism 3, and passes through the instrument transmission mechanism 5 and the endoscope main body control mechanism 4 to be arranged in instrument channels 1-7 in the endoscope main body 1. During the operation, when the endoscope main body 1 finds the lesion area in the natural cavity of the human body, the surgical instrument 2 can be extended out of the instrument channel 1-7 to perform the operation.
In this embodiment, the endoscope body 1 is formed by connecting a terminal snake bone skeleton and connecting pipes 1-8, and the connecting pipes 1-8 are soft rubber pipes with certain hardness, which are glued with the terminal snake bone skeleton. The tail end snake bone framework is formed by connecting a tail end joint with multiple channels and a plurality of connecting joints 1-2 through rivets 1-3, and specifically comprises the following components: the plurality of connecting joints 1-2 are arranged continuously, any two adjacent connecting joints 1-2 are hinged and form a first relative rotation axis (namely the axis where the rivet 1-3 is positioned), and any two adjacent first relative rotation axes are mutually perpendicular; the connection joint 1-2 located at one end (head end) of the plurality of connection joints 1-2 is connected to one end of the connection pipe, and the connection joint 1-2 located at the other end (tail end) of the plurality of connection joints 1-2 is hinged to the tail end joint and is formed with a second relative rotation axis, which is also perpendicular to the first relative rotation axis adjacent thereto. The terminal joint mainly comprises a terminal joint main body 1-1, two symmetrically placed instrument support blocks 1-5 and an L-shaped support connecting rod 1-6, wherein two torsion springs are symmetrically placed on two parallel planes of the instrument support blocks 1-5, which are connected with the terminal joint main body 1-1, and the instrument support blocks 1-5 are connected with the L-shaped support connecting rod 1-6 through a thin rod, so that the L-shaped support connecting rod 1-6 can rotate around the thin rod. Each instrument supporting block 1-5 is provided with an instrument channel 1-7, when the surgical instrument 2 extends out of the instrument channel 1-7 in the instrument supporting block 1-5, the head of the surgical instrument 2 and the wall of the instrument extrude the short side of the L-shaped supporting connecting rod 1-6, and the L-shaped supporting connecting rod 1-6 is stressed to rotate around the thin rod to push the surgical instrument 2 and the instrument supporting block 1-5 together, so that a good operation triangle area is formed between the two surgical instruments 2 and the focus area. The two instrument channels 1-7 and the two surgical instruments 2 are structurally arranged, so that robot operation can be performed in a mode of simulating actual working of a doctor, learning time of the doctor is shortened, the two surgical instruments can be operated simultaneously and matched with each other, for example, one lifting and one cutting are performed, the defect that a single surgical instrument is inconvenient to operate in the conventional endoscopic surgery is overcome, and flexibility of the surgical operation is improved.
In this embodiment, the surgical instrument 2 mainly comprises a hose, scissors and a plurality of instrument connection joints, and the number of the instrument connection joints is preferably 4, wherein the two intermediate instrument connection joints 2-2, one initial instrument connection joint 2-3 and one end instrument connection joint 2-1, and the 4 instrument connection joints are sequentially riveted in the order of the initial instrument connection joint 2-3, the two intermediate instrument connection joints 2-2 and the end instrument connection joint 2-1, so that a rotational connection is formed between the adjacent instrument connection joints. The scissors are used as actuating mechanisms of the surgical instruments 2, the centers of the scissors and the instrument connecting joints are respectively provided with a thick steel wire hole, the thick steel wires penetrate through the thick steel wire holes as scissors traction steel wires and are connected with the second half scissors 2-5 through the scissors connecting rods 2-4, and the opening and the closing of the second half scissors 2-5 relative to the first half scissors 2-6 are controlled by controlling the length of the thick steel wires, so that the shearing motion of the instrument scissors is realized. All the connecting holes in the surgical instrument 2 are preferably connected by riveting.
In this embodiment, the device control mechanism 3 is used for controlling the rotation of the whole surgical device 2, the deflection of the end device connection joint 2-1, and the opening and closing of the second half scissors 2-5 of the device end effector relative to the first half scissors 2-6, and mainly comprises a device box 8, a limiting device 9, and a rotation mechanism 7 for controlling the rotation of the device box 8. The rotating mechanism 7 comprises a motor frame 10, a rotating joint motor 11, a front flange 12-1, a rear flange 12-2, a transmission shaft 13, a bearing 14, a bearing seat 15 and a locking device 16, wherein the motor frame 10 is an L-shaped motor frame, one surface of the motor frame is connected with a screw of the bottom plate 6, the other surface of the motor frame is aligned with the rear end of the bottom plate 6, one end of the rotating joint motor 11 is connected with the motor frame 10 through a screw, the other end of the rotating joint motor 11 is connected with the front flange 12-1 through a screw, the transmission shaft 13 is connected with the rear flange 12-1 through a jackscrew, and is connected with the front flange 12-2 through a jackscrew through a bearing 14 and a bearing seat 15 in tight fit connection with the outer ring of the bearing 14, the bearing seat 15 is fixedly connected with the motor frame 10 through a screw, and the front flange 12-2 is fixedly connected with the locking device box 16-1 in the locking device 16 through a screw. The locking device 16 comprises the locking device box 16-1, two locking springs 16-2, two push rods 16-3 and two end covers 16-4 are symmetrically placed in the locking device box 16-1 left and right, one end of each locking spring 16-2 compresses the push rod 16-3, the other end of each locking spring is tightly abutted against the end cover 16-4 on the same side, and the end covers 16-4 are connected with the locking device box 16-1 through screws. The two push rods 16-3 in any one of the locking device boxes 16-1 can compress the respective connected locking springs 16-2 under the action of external force, so that the two push rods 16-3 are far away from each other, and after the external force is removed, the two push rods 16-3 can approach each other under the action of the respective connected locking springs 16-2, so that the original position is restored, the external force mainly points to the thrust of the clamping piece on the two push rods 16-3 when the clamping piece is placed between the two push rods 16-3, and after the clamping piece is installed in place, the two push rods 16-3 clamp the clamping piece under the pushing action of the respective connected locking springs 16-2, so that the effect of locking the clamping piece is achieved.
In this embodiment, the above-mentioned instrument box 8 is preferably rectangular and mainly comprises an end cover 8-1, a lower housing 8-2, an upper housing 8-3, an electric push rod 8-4, a servo motor 8-5, a shaft sleeve 8-6, a deflection wire rope routing wheel 8-7, a guide wheel frame 8-8, a guide wheel 8-9, a clamp spring 8-10, a mandrel 8-11, a flange 8-12, a bearing 8-13 and a bearing seat 8-14. The end cover 8-1 of the instrument box 8 is provided with an L-shaped buckle, which is used for being clamped between two push rods 16-3 in the locking device box 16-1 when the instrument box 8 is installed, the opening and closing of the locking device 16 are controlled by sliding the push rods 16-3 left and right, quick replacement and locking of the instrument box 8 are realized, meanwhile, the movement of the instrument box 8 can be limited, and the installation stability of the instrument box 8 is improved. A square wiring channel is reserved on one side of the short side of the end cover 8-1 and is fixedly connected with the lower shell 8-2 through a screw, an electric push rod 8-4 is connected to the upper end of the lower shell 8-2 through a screw, the central axis of the electric push rod 8-4 coincides with the instrument hole channel of the upper shell 8-3, a servo motor 8-5 is connected to the lower end of the lower shell 8-2 through a screw, a motor shaft of the servo motor 8-5 is connected with a deflection rotating shaft through a jackscrew, a shaft sleeve 8-6 is arranged on the deflection rotating shaft, two deflection wire rope wiring wheels 8-7 which are reversely arranged and are connected through a screw are arranged on the shaft sleeve 8-6, a guide wheel frame 8-8 is connected with the lower shell 8-2 through a screw and is arranged between the electric push rod 8-4 and the servo motor 8-5, two spindles 8-11 are arranged on the guide wheel frame 8-8 up and down, each spindle 8-11 is provided with a guide wheel 8-9 which is fixed through a clamp spring 8-10 and provided with a V-shaped groove, a steel wire rope is locked on the deflection steel wire rope wire wheel 8-7 and passes through the guide wheel 8-9 to enter an instrument hole channel of the upper shell 8-3, and the rotation of the deflection steel wire rope wire wheel 8-7 is controlled by controlling the rotation of the servo motor 8-5, so that the elongation of the steel wire rope is controlled, and the deflection of the tail end instrument connecting joint 2-1 in the surgical instrument 2 is controlled. The outer screw of the instrument hole channel of the upper shell 8-3 is connected with a flange 8-12, a bearing 8-13 is arranged on a flange shaft of the flange 8-12, and the bearing seat 8-14 compresses the bearing 8-13 and is in tight fit connection with the outer ring of the bearing 8-13. The lower ends of the bearing blocks 8-14 are longer and can be placed in the limiting device 9 to limit the up-down and left-right movement of the instrument box 8.
In this embodiment, the guide wheels 8-9 include a first deflection wire rope guide wheel and a second deflection wire rope guide wheel, where the first deflection wire rope guide wheel is supported on one side of the deflection rotating shaft; the second deflection steel wire rope guide wheel and the first deflection steel wire rope guide wheel are arranged on the same side of the deflection rotating shaft in a supporting mode; the first deflection wire rope guide wheel and the second deflection wire rope guide wheel are respectively used for guiding deflection wire ropes led out by the two deflection wire rope wire wheels 8-7. The outer circumferences of the first deflection steel wire rope guide wheel and the second deflection steel wire rope guide wheel are respectively provided with a V-shaped groove for accommodating the steel wire ropes, and the heights of the lower edges of the V-shaped grooves of the first deflection steel wire rope guide wheel and the second deflection steel wire rope guide wheel respectively correspond to the heights of the wire grooves of the two deflection steel wire rope routing wheels 8-7 and correspond to the routing small holes on the shell 8-3.
In this embodiment, the main body of the limiting device 9 is a U-shaped plate 9-1, and is fixedly connected with a convex surface of the bottom plate 6 through a screw, two sides of the U-shaped plate 9-1 are respectively provided with 3 spring poking beads 9-2, the spring poking beads 9-2 are connected with the side wall of the U-shaped plate 9-1 through threads, penetrate through the outer wall of the U-shaped plate 9-1 and penetrate out of the inner wall, and when the instrument box 8 is placed in the U-shaped plate 9-1, small holes on two sides of the instrument box 8 just correspond to balls of the spring poking beads 9-2, so that limiting and locking of the instrument box 8 are realized.
In this embodiment, the device transmission mechanism 5 mainly comprises a buckle 17, a stepping motor 18, a hard tube sleeve 19, an active friction wheel 20 and a pressing mechanism 21. The buckle 17 is glued with the bottom plate 6, the stepping motor 18 is connected with the back of the bottom plate 6 through a screw, and a motor shaft of the stepping motor 18 is fixedly connected with the driving friction wheel 20 through a jackscrew. The pressing mechanism 21 mainly comprises a supporting seat 21-1, a spring 21-2, an L-shaped connecting rod 21-3, an adjusting rod 21-4, an oilless bearing 21-5, a cylindrical pin 21-6 and a driven friction wheel 21-7. The supporting seat 21-1 is connected with the bottom plate 6 through a screw, the adjusting rod 21-4 compresses the spring 21-2 and is connected with the supporting seat 21-1 through threads, one end of the L-shaped connecting rod 21-3 is connected with the cylindrical pin 21-6 through an oilless bearing 21-5 and can rotate around the cylindrical pin 21-6, and the other end of the L-shaped connecting rod is connected with the driven friction wheel 21-7 through threads. The adjusting rod 21-4 can control the compression degree between the driven friction wheel 21-7 and the driving friction wheel 20 through rotating the screw thread depth, the hose of the surgical instrument 2 is penetrated in the hard pipeline 19 and sequentially penetrates through the clamping buckle 17 along with the hard pipeline 19, and the gap between the driven friction wheel 21-7 and the driving friction wheel 20, and the transmission of the hose is controlled by controlling the rotation of the stepping motor 18 to control the movement of the driving friction wheel 20 and the driven friction wheel 21-7, so that the forward and backward movement of the surgical instrument 2 is realized. The hard tube sleeve 19 is sleeved at one end of the hose in the surgical instrument 2, which is close to the instrument box 8, the hard tube sleeve 19 can swing up and down and left and right, two layers of steel tubes which are nested inside and outside are arranged at the interfaces of the two ends of the hard tube sleeve 19, the two layers of steel tubes can rotate relatively around the axial direction and move back and forth synchronously along the axial direction, the driving friction wheel 20 drives the hose of the surgical instrument 2 to move forward and backward synchronously when driving the hard tube sleeve 19 to move back and forth, the forward and backward of the surgical instrument 2 are realized, and when the hose of the surgical instrument 2 rotates under the driving of the rotary joint motor 11, the hard tube sleeve 19 is relatively static and does not rotate along with the hose of the surgical instrument 2, and only the rotating motion of the surgical instrument 2 is realized.
In the present embodiment, the endoscope main body control mechanism 4 is mainly composed of a joint motor group 22 and an endoscope main body control box 23 which are placed in bilateral symmetry. The power-off unit 22 mainly comprises a motor frame 24, a first main body deflection motor, a second main body deflection motor 25, a flange 26, a first coupler and a second coupler, wherein the first coupler and the second coupler are both couplers 27, the first main body deflection motor and the second main body deflection motor 25 are both joint motors, the first main body deflection motor and the second main body deflection motor 25 are identical in structure and are symmetrically arranged, and the second main body deflection motor 25 is taken as an example for specific illustration. One side of the motor frame 24 is connected with the bottom plate 6 through a screw, the bottom of the second main body deflection motor 25 is connected with the other side of the motor frame 24 through a screw, the head of the second main body deflection motor 25 is connected with the flange 26 through a screw, the flange 26 is connected with the lower half coupler 27-1 in the coupler 27 through a jackscrew, one end of the lower half coupler 27-1 is connected with one end of the upper half coupler 27-3 through a pin 27-2, the upper half coupler 27-3 can rotate around the pin 27-2, the lower half coupler 27-1 and the upper half coupler 27-3 are of semicircular arc structures, and after the lower half coupler 27-1 and the upper half coupler 27-3 are butted, by means of the locking of the screw knob 27-4, a closed ring can be formed to clamp and fix the shaft member to be connected with the second main body deflection motor 25, so that the transmission of motor power is facilitated. The clamping force between the lower coupling half 27-1 and the upper coupling half 27-3 can be adjusted by the screw knob 27-4 to adapt to the shaft members with different shaft diameters, in this embodiment, the shaft member to be connected with the second body yaw motor 25 is the driving shaft 28-3 in the yaw knob control mechanism 28, the yaw knob 28-1 is arranged on the driving shaft 28-3, when the driving shaft 28-3 is clamped and fastened with the output end of the second body yaw motor 25 by the lower coupling half 27-1 and the upper coupling half 27-3, the lower coupling half 27-1 and the upper coupling half 27-3 can rotate along with the second body yaw motor 25, and when the driving shaft 28-3 is not clamped by the lower coupling half 27-1 and the upper coupling half 27-3 by adjusting the screw knob 27-4, the deflection knob 28-1 can be manually shifted to realize the rotation of the transmission shaft 28-3, thereby realizing two modes of manual control and automatic control of the endoscope main body control box 23, and the endoscope main body 1 can be controlled to enter the natural cavity of the human body through the two modes of manual control and automatic control. During manual control, a doctor controls the deflection knob 28-1 on the transmission shaft 28-3 to rotate by one hand to adjust the up, down, left and right deflection of the tail end joint main body 1-1 in the endoscope main body 1, and the other hand pinches the connecting pipe 1-8 of the endoscope main body 1 close to the anus of the human body to perform forward and backward movement, so that the endoscope diagnosis is realized, the locking mechanism 28-2 is fixedly connected to the endoscope main body control box 23, and the deflection angle of the tail end joint main body 1-1 in the endoscope main body 1 at any position can be fixed. When the operation is performed in the automatic control mode, the endoscope main body control box 23 is placed between the two lower half couplings 27-1, the upper half couplings 27-3 at the two ends of the endoscope main body control box 23 and the corresponding lower half couplings 27-1 are locked through the bolt knobs 27-4, and the locking mechanisms 28-2 of the knobs are loosened, so that power transmission of the second main body deflection motor 25 and the deflection knob 28-1 is realized. In the automatic control process, the endoscope main body control box 23 is placed in the lower half coupler 27-1 and locked by the bolt knob 27-4, so that the diagnosis process of the endoscope in the intestinal tract can be realized.
In this embodiment, the endoscope main body control box 23 is mainly composed of two symmetrically placed yaw knob control mechanisms 28, two symmetrically placed guide wheel sets 29, a housing 30, a joint 31 and an upper cover 32. In the yaw knob control mechanism 28, a locking mechanism 28-2 is connected with a housing 30 through a screw, the left-right movement of a ball bearing at the housing 30 on a transmission shaft 28-3 is limited, two transmission shafts 28-3 are symmetrically arranged, namely a first transmission shaft and a second transmission shaft, which correspond to a first main body yaw motor and a second main body yaw motor respectively, structural arrangement and working principles on the first transmission shaft and the second transmission shaft are identical, and the transmission shaft 28-3 represents the first transmission shaft, and the structure in the endoscope main body control box 23 is specifically described. The transmission shaft 28-3 passes through the locking mechanism 28-2, one end of the transmission shaft 28-3, which is positioned in the shell 30, is fixedly provided with a first endoscope traction steel wire wiring wheel set 28-4 through screws, the first endoscope traction steel wire wiring wheel set 28-4 comprises two wiring wheels which are reversely arranged, namely, a first endoscope traction steel wire routing wheel and a second endoscope traction steel wire routing wheel, the tail end of a transmission shaft 28-3 is provided with a bearing 28-5 and a bearing seat 28-6 which play a supporting role, the bearing seat 28-6 is fixedly connected with the bearing 28-5 through jackscrews, and one end of the transmission shaft 28-3, which is positioned outside a shell 30, is fixedly connected with a deflection knob 28-1 through screws. The guide wheel set 29 mainly comprises a guide wheel frame 29-1, threaded rods 29-2, guide wheels 29-3 and snap springs 29-4, wherein the guide wheel frame 29-1 is fixedly connected with the shell 30 through screws, the guide wheel frame 29-1 is connected with the two threaded rods 29-2 through threads, and each threaded rod 29-2 is provided with one guide wheel 29-3 which is fixed through the snap springs 29-4, namely a first endoscope traction steel wire guide wheel and a second endoscope traction steel wire guide wheel. The first endoscope traction steel wire is led out from the wire-running wheel wire groove close to the inner wall of the shell 30, passes through the first endoscope traction steel wire guide wheel and the second endoscope traction steel wire guide wheel and enters the steel wire hole of the joint 31, the second endoscope traction steel wire is led out from the wire-running wheel wire groove close to one side of the bearing seat and directly enters the steel wire hole of the joint 31, and the joint steel wire hole position corresponds to the wire-running wheel wire groove. The structural arrangement and the working principle on the first transmission shaft and the second transmission shaft are completely the same, the guide wheel set 29 corresponding to the second transmission shaft comprises a third endoscope traction steel wire guide wheel and a fourth endoscope traction steel wire guide wheel, and the second transmission shaft is provided with a second endoscope traction steel wire running wheel set, namely a third endoscope traction steel wire running wheel and a fourth endoscope traction steel wire running wheel. The four endoscope traction steel wires are arranged in pairs in a crossing way after passing through the joint 31, and in a normal use state, the fixing points of the four endoscope traction steel wires at the tail end joint main body 1-1 are respectively positioned at four corners of a rectangle or a square, and the four endoscope traction steel wires are mutually parallel.
Above-mentioned can know, the integrated surgical robot is diagnose through natural chamber way that this technical scheme provided is a novel integrated surgical robot is diagnose through natural chamber way to intestines and stomach mirror, not only can realize diagnosis and treatment integration, be favorable to accomplishing the operation fast, can alleviate medical staff's work load moreover, alleviate doctor's working strength, improve medical staff's work efficiency, can carry out intestines and stomach mirror treatment more conveniently, in a flexible way, diagnosis and the condition of treatment separation when having improved present manual operation.
The utility model provides an apparatus transmission mechanism, specifically be a friction wheel transmission mechanism that can adjust friction wheel pressure by oneself, adjust the compression degree of spring through the precession degree of adjustment lever screw thread on the adjustment mechanism to this adjusts the pressure of friction wheel, and can very convenient the taking off surgical instrument through pressing L shape connecting rod, realize the quick change of surgical instrument.
According to the technical scheme, the instrument control mechanism can simultaneously realize the rotation and the forward and backward movement of the surgical instrument around the axis of the instrument, the structural design is ingenious, the hard tube sleeve nested with two layers of steel tubes at the joint of two ends is connected with the instrument hose, the two layers of steel tubes can relatively rotate around the axial direction and synchronously move forward and backward along the axial direction, the friction wheel drives the hose to synchronously move forward and backward when driving the hard tube sleeve to move forward and backward, the surgical instrument is driven to move forward and backward, the hard tube sleeve is clamped in the friction wheel when the hose rotates, and the hard tube sleeve does not rotate along with the hose channel, so that the rotary movement of the surgical instrument is realized.
According to the technical scheme, the hose of the surgical instrument is sleeved in the hard tube sleeve, so that the hose can be rapidly installed and taken down, twisting of the hose of the surgical instrument can be prevented when the hose rotates, the hose can be rotated around the axis of the hose well, and the reliability of the device is improved.
According to the technical scheme, the electric push rod is used for controlling the forward and backward movements of the steel wires to control the opening and closing of scissors in the surgical instrument, the mode that the motor is originally used for connecting the wire wheel and the guide mechanism and the two steel wires are used for controlling is changed, the opening and closing of the instrument is controlled to be simpler, the structure is more compact and small, and the utilization rate of the space of the instrument box is improved.
It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. The utility model provides an integrated surgical robot is diagnose through natural cavity way which characterized in that includes endoscope main part, surgical instruments, endoscope main part control mechanism, apparatus drive mechanism and integrated device, wherein:
The endoscope comprises an endoscope body and a plurality of connecting joints, wherein the endoscope body comprises a connecting pipe and a tail end snake bone framework, the connecting pipe is used for extending into a natural cavity of a human body, the tail end snake bone framework comprises a tail end joint and the connecting joints, the connecting joints are arranged continuously, a first relative rotation axis is formed by hinging any two adjacent connecting joints, and the first relative rotation axes of any two adjacent connecting joints are vertical; the tail end joint is provided with an instrument channel, the connecting joint at one end of the connecting joints is connected with one end of the connecting pipe, the connecting joint at the other end of the connecting joints is hinged with the tail end joint and is provided with a second relative rotation axis, and the second relative rotation axis is perpendicular to the first relative rotation axis adjacent to the second relative rotation axis;
The surgical instrument is movably arranged in the instrument channel, and can extend out of the instrument channel to perform surgical operation on a lesion area found by the endoscope main body; the surgical instrument comprises instrument connection joints, scissors and hoses, wherein a plurality of instrument connection joints are continuously arranged, any two adjacent instrument connection joints are hinged to form a third opposite rotation axis, and any two adjacent third opposite rotation axes are parallel; the scissors comprise a first half scissors and a second half scissors, the first half scissors are connected with the instrument connection joints at one ends of the instrument connection joints, the second half scissors are connected with a scissors traction piece through a scissors connecting rod, and one end of a hose is connected with the instrument connection joint at the other ends of the instrument connection joints;
The endoscope main body control mechanism is connected with the tail end joint through an endoscope traction piece so as to adjust the inclination angle of the tail end joint relative to the connecting pipe; the endoscope traction piece comprises a first endoscope traction steel wire, a second endoscope traction steel wire, a third endoscope traction steel wire and a fourth endoscope traction steel wire, the endoscope main body control mechanism comprises an endoscope main body control box, a first transmission shaft, a second transmission shaft, a first endoscope traction steel wire running wheel set, a second endoscope traction steel wire running wheel set, a first main body deflection motor and a second main body deflection motor, and a joint for the connecting pipe to pass through is arranged at one end of the endoscope main body control box; the first transmission shaft and the second transmission shaft respectively penetrate through two side walls of the endoscope main body control box; the first endoscope traction steel wire running wheel set is arranged in the endoscope main body control box and comprises a first endoscope traction steel wire running wheel and a second endoscope traction steel wire running wheel, and the first endoscope traction steel wire running wheel and the second endoscope traction steel wire running wheel are arranged at one end of the first transmission shaft, which is positioned in the endoscope main body control box; one end of the first endoscope traction steel wire and one end of the second endoscope traction steel wire are connected to the tail end joint in a first diagonal mode, the other end of the first endoscope traction steel wire and the other end of the second endoscope traction steel wire are respectively wound on the first endoscope traction steel wire running wheel and the second endoscope traction steel wire running wheel, and winding directions of the first endoscope traction steel wire and the second endoscope traction steel wire are opposite; the second endoscope traction steel wire running wheel set is arranged in the endoscope main body control box and comprises a third endoscope traction steel wire running wheel and a fourth endoscope traction steel wire running wheel, and the third endoscope traction steel wire running wheel and the fourth endoscope traction steel wire running wheel are arranged at one end of the second transmission shaft, which is positioned in the endoscope main body control box; one end of the third endoscope traction wire and one end of the fourth endoscope traction wire are connected to the terminal joint in a second diagonal direction, and the second diagonal direction is arranged in a crossing manner with the first diagonal direction; the other end of the third endoscope traction steel wire and the other end of the fourth endoscope traction steel wire are respectively wound on the third endoscope traction steel wire running wheel and the fourth endoscope traction steel wire running wheel, and the winding directions of the third endoscope traction steel wire and the fourth endoscope traction steel wire are opposite; the first main body deflection motor and the first transmission shaft are arranged on the same side of the endoscope main body control box, and the output end of the first main body deflection motor is connected with one end of the first transmission shaft, which is positioned outside the endoscope main body control box, through a first coupling; the second main body deflection motor and the second transmission shaft are arranged on the same side of the endoscope main body control box, and the output end of the second main body deflection motor is connected with one end, located outside the endoscope main body control box, of the second transmission shaft through a second coupling;
The device control mechanism is connected with the surgical device and can control rotation, swing and action operations of the surgical device, the device control mechanism comprises a rotation driving assembly, a swing driving assembly and an opening and closing driving assembly, the rotation driving assembly comprises a device box and a rotating mechanism, and the rotating mechanism comprises a rotary joint motor, and the output end of the rotary joint motor is connected with the device box so as to control the device box to rotate; the hose is connected with the instrument box and rotated by the instrument control mechanism; the swing driving assembly is arranged in the instrument box and comprises a servo motor and an instrument deflection traction assembly, the instrument deflection traction assembly comprises a deflection rotating shaft, a deflection steel wire rope and deflection steel wire rope wiring wheels, one end of the deflection rotating shaft is connected with the output end of the servo motor, two deflection steel wire rope wiring wheels are arranged at the other end of the deflection rotating shaft along the axial direction of the deflection rotating shaft, two deflection steel wire ropes are arranged, one ends of the two deflection steel wire ropes are respectively wound on the two deflection steel wire rope wiring wheels, the winding directions of the two deflection steel wire ropes are opposite, and the other ends of the two deflection steel wire ropes are connected with instrument connection joints connected with the first half scissors so as to realize deflection control of the surgical instrument; the opening and closing driving assembly is arranged in the instrument box and comprises an electric push rod, the scissors traction member is a scissors traction steel wire, and the electric push rod is connected with the scissors traction steel wire to push and pull the scissors traction steel wire so as to realize opening and closing between the first half scissors and the second half scissors;
The instrument transmission mechanism can drive the surgical instrument to extend or retract into the instrument channel; the device transmission mechanism comprises a buckle, a hard pipe sleeve, a pipe sleeve joint and a friction transmission assembly, wherein the hard pipe sleeve is arranged in the buckle, the hose penetrates through the hard pipe sleeve, the pipe sleeve joint comprises an inner sleeve and an outer sleeve sleeved outside the inner sleeve, and the inner sleeve and the outer sleeve are rotationally connected; the outer sleeve is sleeved in the hard pipe sleeve and is fixedly connected with the inner wall of the hard pipe sleeve, the hose is sleeved in the inner sleeve and is fixedly connected with the inner sleeve, the friction transmission assembly comprises a stepping motor, a driving friction wheel and a pressing mechanism, and the output end of the stepping motor is connected with the driving friction wheel; the compressing mechanism comprises a supporting seat, a spring, an L-shaped connecting rod, an adjusting rod, a cylindrical pin and a driven friction wheel, wherein the supporting seat is arranged on the integrated device, the adjusting rod compresses the spring and is connected with the supporting seat through threads, one end of the L-shaped connecting rod is rotationally connected with the cylindrical pin, the other end of the L-shaped connecting rod is connected with the driven friction wheel, a hard tube sleeve placing space is formed between the driven friction wheel and the driving friction wheel, and the hard tube sleeve can drive the surgical instrument to stretch out of or retract into the instrument channel under the friction action of the driving friction wheel;
The integrated device is provided with the endoscope main body control box of the endoscope main body control mechanism, the instrument control mechanism and the buckle of the instrument transmission mechanism, and the other end of the connecting pipe is connected with the endoscope main body control mechanism.
2. The integrated trans-natural orifice surgical robot of claim 1, wherein the end joint comprises:
the tail end joint comprises a tail end joint body, wherein grooves are formed in two sides of the tail end joint body;
The instrument support block is provided with the instrument channel; the device supporting block is embedded in the groove, one end, close to the connecting joint, of the device supporting block is rotatably connected with the tail end joint body through a rotating shaft, a torsion spring is sleeved at the end part of the rotating shaft, and two ends of the torsion spring are respectively abutted against the device supporting block and the tail end joint body so that the device supporting block is contained in the groove;
The L-shaped support connecting rod is embedded in one side of the instrument support block, which is close to the groove, and the corner of the L-shaped support connecting rod is rotationally connected with the instrument support block through the connecting rod, one end of the L-shaped support connecting rod stretches into the instrument channel and is stirred when the surgical instrument stretches out through the instrument channel, so that the other end of the L-shaped support connecting rod rotates and contacts with the groove, and one end, far away from the connecting joint, of the instrument support block is pushed away from the groove.
3. The integrated trans-natural orifice surgical robot of claim 1, wherein the instrument control mechanism further comprises a locking device comprising:
the locking device comprises a locking device box, wherein end covers are arranged on two sides of the locking device box, and a notch is formed in the top of the locking device box; the locking device box is fixed at the output end of the rotary joint motor;
the push rods are arranged in the locking device box, two push rods are arranged, and the two push rods are symmetrically arranged on two sides of the notch;
the locking springs are arranged, and the two push rods are respectively connected with the end covers on the corresponding sides through one locking spring;
the device comprises a locking device box, wherein an L-shaped buckle is arranged at one end of the device box, which is close to the rotary joint motor, and is clamped between two push rods in the locking device box, and the locking device box is tightly propped by a locking spring.
4. The integrated surgical robot for diagnosis and treatment via a natural orifice according to claim 1, wherein one end of the first transmission shaft and one end of the second transmission shaft, which are positioned outside the endoscope main body control box, are provided with deflection knobs;
The first coupler comprises a lower half coupler, an upper half coupler and a coupler locking bolt; the lower half coupler is connected with the output end of the first main body deflection motor, one end of the upper half coupler is rotationally connected with one end of the lower half coupler through a pin shaft, and the other end of the upper half coupler is connected with the other end of the lower half coupler through the coupler locking bolt; the upper half coupler and the lower half coupler are used for clamping the first transmission shaft, and when the upper half coupler and the lower half coupler are locked through the coupler locking bolt, the first transmission shaft rotates under the drive of the first main body deflection motor; when the coupling locking bolt between the upper half coupling and the lower half coupling is unscrewed, the first transmission shaft can be driven to rotate through the deflection knob;
the second coupling has the same structure as the first coupling.
5. The integrated trans-natural orifice surgical robot of claim 4, wherein the endoscope body control mechanism further comprises:
The first endoscope traction steel wire guide wheel and the second endoscope traction steel wire guide wheel are positioned in the endoscope main body control box, and are both arranged above the first endoscope traction steel wire running wheel set through a guide wheel frame, and are used for guiding the first endoscope traction steel wire led out by the first endoscope traction steel wire running wheel, and the second endoscope traction steel wire guide wheel is used for guiding the second endoscope traction steel wire led out by the second endoscope traction steel wire running wheel;
The guide wheel frame is arranged above the second endoscope traction wire running wheel group, the third endoscope traction wire guide wheel is used for guiding the third endoscope traction wire led out by the third endoscope traction wire running wheel, and the fourth endoscope traction wire guide wheel is used for guiding the fourth endoscope traction wire led out by the fourth endoscope traction wire running wheel.
6. The integrated trans-natural orifice surgical robot of claim 1, wherein the integrated device is a base plate.
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