CN114831733A - Surgical robot system - Google Patents
Surgical robot system Download PDFInfo
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- CN114831733A CN114831733A CN202110145991.2A CN202110145991A CN114831733A CN 114831733 A CN114831733 A CN 114831733A CN 202110145991 A CN202110145991 A CN 202110145991A CN 114831733 A CN114831733 A CN 114831733A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses a surgical robot system, which comprises a valve support, a robot motion system and a remote control system; the robot motion system comprises a base, a support, a rotating table, an end effector and a driving assembly, wherein the support is movably arranged on the base; the rotating table includes a table main body and a pair of connecting portions via which the rotating table is rotatably connected to the support; the end effector is arranged on the table main body and used for implanting the valve stent into a body; the driving assembly drives the support to move relative to the base so as to move the end effector and drives the rotating table to rotate around the central axis of the end effector; the remote control system can remotely control the robot motion system and comprises a control cabinet, a control console and a display, wherein the control cabinet is electrically connected with the driving assembly, the control console and the display respectively. According to the surgical robot system, a doctor does not need to stand beside an operating table to complete the operation, and the time of exposing the doctor to radiation such as X-rays can be reduced.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical robot system.
Background
The heart is the most important organ in the cardiovascular system of the human body and its main function is to provide the power for blood flow and to move blood to various parts of the body. The human heart is located in the lower left part of the chest, and has a volume about equivalent to the size of a fist and a weight of about 250 g.
At present, aiming at cardiovascular system diseases, comprehensive means such as drug therapy, open surgery, plant intervention therapy and the like are clinically adopted to relieve symptoms. The plant intervention therapy is an emerging treatment method in the field of cardiovascular diseases, has the advantages of small trauma, quick recovery, short hospitalization time and the like compared with surgical treatment, and has become the third clinical major branch subject parallel to the traditional internal medicine and surgery.
In brief, the implantation intervention treatment is a general name of a series of technologies that under the condition of exposing a focus without operation, under the guidance and monitoring of imaging equipment (an angiography machine, an X-ray machine, a CT (computed tomography), an MR (magnetic resonance) and a B-ultrasonic), a puncture needle, a catheter and other intervention equipment are utilized to guide a specific instrument into a diseased part of a human body through a natural pore or a tiny wound of the human body for minimally invasive treatment.
The cardiovascular system is implanted to intervene to diagnose and rely on implanting to intervene diagnosis and treatment apparatus and medical consumables, including pjncture needle, sheath pipe, seal wire, pipe, sacculus, support, artificial valve, distal end protector, vascular closer etc.. In diagnosis and treatment, a Seldinger blood vessel puncture is usually performed, a sheath is inserted into a blood vessel from a puncture site, then a guide wire and a guide tube are inserted through the sheath, the guide tube is inserted into a target blood vessel or a treatment site to be entered through the mutual matching operation of the guide wire and the guide tube, and finally diagnosis and treatment are performed through a specific catheter operation technology.
In the traditional implantation intervention operation, a doctor needs to stand beside an operating table, corresponding operation is carried out through image positioning information acquired by a real-time X-ray imaging technology, and the doctor is difficult to avoid X-ray radiation; especially in China, a large number of plant intervention doctors carry out overload work, a large number of occupational diseases such as leucopenia, low immunity, alopecia and the like are caused due to long-term large-scale radiation, the morbidity of diseases such as leukemia, cancer and the like is greatly increased, and the health of the plant intervention doctors is seriously threatened. In addition, the operation of the partial implantation intervention (such as aortic valve replacement) is complex, multiple doctors are needed to cooperate, sometimes, the doctors are needed to operate according to experience and feeling, the operation difficulty is high, and the risk is high.
To this end, the present invention provides a surgical robotic system to at least partially solve the problems of the prior art.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to at least partially solve the above-mentioned problems, according to a first aspect of the present invention, a surgical robot system for valve replacement surgery, the surgical robot system comprising:
a valve stent for implantation in a body;
a robot motion system, the robot motion system comprising:
a base;
a support movably disposed on the base;
a rotating table including a table main body and a pair of connecting portions provided at both ends of the table main body, the rotating table being rotatably connected to the support via the pair of connecting portions;
an end effector provided to the table body for implanting the valve stent in a body;
a drive assembly disposed on at least one of the base, the support, and the rotation stage to drive the support to move relative to the base to move the end effector and to drive the rotation stage to rotate about a central axis of the end effector; and
a remote manipulation system capable of remotely manipulating the robot motion system, the remote manipulation system comprising:
the control cabinet is electrically connected with the driving assembly;
the control console is electrically connected with the control cabinet and is used for controlling the driving assembly; and
and the display is electrically connected with the control cabinet and is used for displaying real-time images during operation.
According to the surgical robot system of the first aspect of the invention, the driving assembly can drive the support to move relative to the base so as to move the end effector, and drive the rotating table to rotate around the central axis of the end effector, so that the end effector can rotate around the central axis of the end effector, and therefore the end effector can be remotely controlled by the remote control system so as to implant the valve stent into the body, so that the implantation interventionalist can complete the valve replacement operation without standing beside the operation table, and the time of exposure of the implantation interventionalist to the radiation of X-rays and the like can be reduced.
Optionally, the robot motion system further comprises a force sensor disposed on the table main body, the force sensor being connected to the end effector and electrically connected to the control cabinet to be able to transmit the detected data to the control cabinet.
Optionally, the base comprises a mounting portion for connection to an operating table, a support portion connected to the mounting portion, and a rail portion connected to the support portion, the support being movably connected to the rail portion.
Optionally, the table main body and the guide rail part are arranged at an included angle as viewed in a direction perpendicular to a vertical plane on which an axis of the guide rail part is located; and/or
The support portion includes a support arm and a movable arm pivotably connected to the support arm, the support arm is fixedly or rotatably connected to the mounting portion, and the guide rail portion is pivotably connected to the movable arm.
Optionally, the driving assembly includes a first motor and a screw rod, the first motor and the screw rod are disposed on the guide rail portion, one end of the screw rod is connected to the first motor, one end of the support is connected to the screw rod, and the first motor can drive the screw rod to rotate, so that the support can move along the length direction of the screw rod.
Optionally, the driving assembly further includes a second motor disposed on the support and a gear assembly disposed on the rotating table and connected to the second motor, and the second motor can drive the gear assembly to rotate so as to drive the rotating table to rotate.
Optionally, the end effector includes a first rotating handle and a second rotating handle that are sequentially arranged along an axial direction, the driving assembly further includes a third motor, a fourth motor, a first transmission member that is connected to the third motor and is matched with the first rotating handle, and a second transmission member that is connected to the fourth motor and is matched with the second rotating handle, the third motor can drive the first transmission member to rotate so as to drive the first rotating handle to rotate, and the fourth motor can drive the second transmission member to rotate so as to drive the second rotating handle to rotate.
Optionally, the console includes a housing and a steering lever, a motor selection button, a speed adjustment button, and an emergency stop button disposed on the housing to enable control of at least one of the first motor, the second motor, the third motor, and the fourth motor.
Optionally, the console includes a fixing portion, a holding portion rotatably disposed on the fixing portion, a thumb portion movably disposed on the holding portion, and a handle portion rotatably disposed on the holding portion, so as to be able to control at least one of the first motor, the second motor, the third motor, and the fourth motor.
Optionally, the console further includes a first angle sensor electrically connected to the control cabinet, the first angle sensor is capable of detecting a rotation angle of the holding portion, and the control cabinet controls the second motor based on rotation angle data of the holding portion detected by the first angle sensor.
Optionally, the console further includes a feedback device electrically connected to the control cabinet, the feedback device being capable of detecting a push-forward or pull-back operation of the thumb, and the control cabinet controls the first motor based on the push-forward or pull-back operation data of the thumb detected by the feedback device.
Optionally, the console further includes a second angle sensor electrically connected to the control cabinet, the second angle sensor being capable of detecting a rotation angle of the handle portion, and the control cabinet controls the third motor or the fourth motor based on the rotation angle data of the handle portion detected by the second angle sensor.
Optionally, the support includes a seat main body and a pair of extensions provided at both ends of the seat main body, and the table main body is provided above the seat main body and between the pair of extensions in a length direction of the seat main body.
Optionally, the table body comprises a first surface facing the seat body and configured as an arc-shaped face, and/or
The table body includes a second surface facing away from the seat body and configured to be planar, the end effector being disposed on the second surface.
Optionally, the surgical robotic system further comprises a catheter, one end of the catheter is connected to the end effector, the valve stent is arranged at the other end of the catheter, and the end effector can actuate the catheter to move and/or release the valve stent.
Optionally, the surgical robot system further includes a sheath tube through which the guide tube can enter a blood vessel, the rail portion includes a guide tube groove and a connection groove provided at one end of the guide tube groove and communicating with the guide tube groove, the sheath tube is provided at the connection groove, and the guide tube is movable along the guide tube groove.
Optionally, the surgical robotic system further comprises a guide wire, the base further comprises a positioning portion connected to the rail portion, the positioning portion being used for positioning the guide wire, one end of the guide wire being used for extending into a blood vessel, the guide wire extending through the catheter and being capable of guiding the catheter to move.
According to a second aspect of the present invention, there is disclosed a surgical robotic system for valve replacement surgery, the surgical robotic system comprising:
a robot motion system, the robot motion system comprising:
a base;
a support movably disposed on the base;
a rotating table including a table main body and a pair of connecting portions provided at both ends of the table main body, the rotating table being rotatably connected to the support via the pair of connecting portions;
an end effector provided to the table body for performing the valve replacement procedure;
a drive assembly disposed on at least one of the base, the support, and the rotation stage to drive the support to move relative to the base to move the end effector and to drive the rotation stage to rotate about a central axis of the end effector; and
a remote manipulation system capable of remotely manipulating the robot motion system, the remote manipulation system comprising:
the control cabinet is electrically connected with the driving assembly;
the control console is electrically connected with the control cabinet and is used for controlling the driving assembly; and
and the display is electrically connected with the control cabinet and is used for displaying real-time images during operation.
According to the surgical robot system of the second aspect, the driving assembly can drive the support to move relative to the base so as to move the end effector, and the rotating table is driven to rotate around the central axis of the end effector, so that the end effector can rotate around the central axis of the end effector, and therefore the end effector can be remotely controlled by the remote control system, so that the implantation interventionalist can complete valve replacement without standing beside an operating table, and the time of exposure of the implantation interventionalist to radiation such as X-rays can be reduced.
According to a third aspect of the present invention, there is disclosed a surgical robotic system for valve replacement surgery, the surgical robotic system comprising:
a valve stent for implantation in a body; and
a robot motion system, the robot motion system comprising:
a base;
a support movably disposed on the base;
a rotating table including a table main body and a pair of connecting portions provided at both ends of the table main body, the rotating table being rotatably connected to the support via the pair of connecting portions;
an end effector provided to the table body for implanting the valve stent in a body;
a drive assembly disposed on at least one of the base, the support, and the rotation stage to drive the support to move relative to the base to move the end effector and to drive the rotation stage to rotate about a central axis of the end effector.
According to the surgical robot system of the third aspect, the driving assembly is arranged, the driving assembly can drive the support to move relative to the base so as to move the end effector, and the driving rotating table rotates around the central axis of the end effector, so that the end effector can rotate around the central axis of the end effector, the end effector can be remotely controlled, and the valve stent can be implanted into a body, therefore, an implantation interventionalist can complete valve replacement without standing beside an operation table, and the time of exposure of the implantation interventionalist to radiation such as X-rays can be reduced.
Drawings
The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.
In the drawings:
FIG. 1 is a perspective view of a surgical robotic system according to a preferred embodiment of the present invention;
FIG. 2 is a perspective schematic view of a robotic motion system of the surgical robotic system of FIG. 1;
FIG. 3 is a side view schematic of the robotic motion system of FIG. 2;
FIG. 4 is a schematic top view of the robotic motion system of FIG. 2;
FIG. 5 is a cross-sectional schematic view of a partial structure of the surgical robotic system of FIG. 1, showing a catheter and a valve stent;
FIG. 6 is a perspective view of a console of the telerobotic system of the surgical robotic system of FIG. 1;
fig. 7 to 15 are schematic views illustrating an operation process of the surgical robot system of fig. 1;
fig. 16 is a perspective view illustrating a console of a teleoperational system of a surgical robot system according to a second embodiment of the present invention.
Description of reference numerals:
10: the valve 20: aorta
30: coronary artery 100: surgical robot system
110: base 111: supporting part
112: guide rail portion 113: mounting part
114: duct groove 115: connecting groove
116: positioning portion 117: support arm
118: movable arm 119: rotating part
120: support 121: seat main body
122: extension 123: mating part
130: the rotating table 131: table main body
132: connection portion 133: first surface
134: second surface 140: end effector
141: the conduit 142: catheter tip
143: the guide wire 144: first rotating handle
145: second knob 146: valve stent
147: flap hanging portion 148: outer layer pipe
149: inner layer tube 151: first motor
152: the screw rod 153: second electric machine
154: gear assembly 155: third electric machine
156: fourth motor 157: first transmission piece
158: second transmission member 160: force sensor
170: the control cabinet 180: display device
190/290: the console 191: fixing part
192: grip portion 193: thumb part
194: the handle portion 291: shell body
292: steering control lever 293: motor selection button
294: speed adjustment button 295: emergency stop button
296: switch with a switch body
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that embodiments of the invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to obscure the embodiments of the invention.
In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the invention. It is apparent that the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. It should be noted that ordinal numbers such as "first" and "second" are used in the invention only for identification and do not have any other meanings, such as a specific order. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component". The terms "upper", "lower", "front", "rear", "left", "right" and the like as used herein are for purposes of illustration only and are not limiting.
The invention provides a surgical robotic system for use in valve replacement surgery. The surgical robot system mainly comprises a valve support, a robot motion system and a remote control system. The remote control system can remotely control the robot motion system so as to realize the implantation of the valve stent in the body. For example, a valve stent is implanted at the diseased location of a heart valve to work in place of the diseased heart valve (aortic, tricuspid, mitral) to enable unidirectional blood flow.
A surgical robot system 100 according to a first embodiment of the present invention will be described in detail with reference to fig. 1 to 6.
As shown in fig. 1, the robotic motion system generally includes a base 110, a support 120, a turret 130, an end effector 140, and a drive assembly. As shown in fig. 2 to 4, the support 120 is movably disposed on the base 110. The rotating table 130 includes a table main body 131 and a pair of connecting portions 132 provided at both ends of the table main body 131. The pair of connecting portions 132 are disposed in parallel, and the connecting portions 132 are configured to extend upward from the table main body 131. The rotating table 130 is rotatably connected to the support 120 via the pair of connecting portions 132. The end effector 140 is provided on the top of the table main body 131 to be rotatable with the rotation of the rotating table 130. A drive assembly is provided to at least one of the base 110, the support 120, and the rotation stage 130 to drive the support 120 to move relative to the base 110 to move the end effector 140, and to drive the rotation stage 130 to rotate about a central axis of the end effector 140 such that the end effector 140 can rotate about its central axis.
As shown in fig. 1, the remote manipulation system mainly includes a control cabinet 170, a console 190, and at least one display 180. The control cabinet 170 is electrically connected to the control board 190 and the driving components, respectively, and the control board 190 can operate the driving components via the control cabinet 170. A display 180 is electrically connected to the control cabinet 170 to enable display of intraoperative real-time imagery and/or parameters (e.g., DAS images, patient real-time conditions, and various physiological indices) to facilitate operation of the end effector 140 by an interventional physician. Therefore, the end effector 140 can be remotely controlled by the remote control system to implant the valve stent 146 into the body, so that the implantation interventionalist can complete the valve replacement operation without standing beside an operating table, and the time of the implantation interventionalist exposed to X-ray and other radiation can be reduced.
As shown in fig. 2 to 4, the robot motion system further includes a force sensor 160 disposed on the table main body 131, and the force sensor 160 is connected to the table main body 131 and the end effector 140 respectively, so as to be able to detect a force condition of the end effector 140 along a central axis thereof. Force sensor 160 is electrically connected to control cabinet 170 to enable transmission of sensed data to control cabinet 170 and is presented in the form of data on display 180 to facilitate an interventional physician operating end effector 140 in accordance with a force condition of end effector 140. In addition, the robot moving system may further include an angle sensor for detecting a rotation angle of the end effector 140, and a displacement sensor for detecting a back and forth movement of the end effector 140 with respect to the base 110. Further, the robotic motion system may further include a limit sensor to limit the rotation angle or the forward and backward movement position of the end effector 140, thereby ensuring that the surgical robotic system 100 operates safely.
The base 110 includes a mounting portion 113 for connection to an operating table, a support portion 111 connected to the mounting portion 113, and a rail portion 112 connected to the support portion 111. The mounting portion 113 is clampable to an operating table, and the support portion 111 includes a support arm 117 and a movable arm 118 pivotably connected to the support arm 117. The base 110 further includes a rotating portion 119 capable of rotating about a vertical direction, the rotating portion 119 rotatably connecting the support arm 117 to the mounting portion 113. The guide rail portion 112 is pivotally connected to the movable arm 118 to facilitate adjustment of the angle of the end effector 140 relative to the horizontal. Preferably, the table main body 131 and the rail portion 112 are disposed at an angle therebetween as viewed in a direction perpendicular to a vertical plane on which an axis of the rail portion 112 is located. For example, the angle between the table main body 131 and the rail portion 112 is greater than 0 ° and less than or equal to 45 °. In one embodiment, not shown, the rotating portion may be omitted such that the support arm is fixedly connected to the mounting portion.
In the present embodiment, the mount 120 is movably coupled to the rail portion 112 along the length direction of the rail portion 112. Specifically, the holder 120 includes a holder main body 121, a pair of extension portions 122 provided at both ends of the holder main body 121, and a fitting portion 123 connected with the holder main body 121. The pair of extending portions 122 are disposed in parallel, and the extending portions 122 are configured to extend upward from the seat main body 121, and the fitting portion 123 is disposed at the bottom of the seat main body 121. The rotating table 130 (e.g., the table main body 131) is disposed above the seat main body 121 and between the pair of extending portions 122 in the length direction of the seat main body 121. The lower surface of the table main body 131 and the upper surface of the seat main body 121 are spaced apart in a vertical direction to prevent friction or interference between the lower surface of the table main body 131 and the upper surface of the seat main body 121 when the rotating table 130 rotates.
Preferably, the table main body 131 includes a first surface 133 and a second surface 134 connected to the first surface 133. The first surface 133 faces the seat main body 121 and is configured as an arc-shaped surface to be able to avoid interference of the table main body 131 with the seat main body 121 when the rotating table 130 rotates. The second surface 134 faces away from the seat body 121 and is configured as a plane, and the end effector 140 is disposed on the second surface 134.
The surgical robotic system 100 also includes a sheath (not shown), a catheter 141, and a guidewire 143. One end of the guide wire 143 is used for extending into a blood vessel, the sheath is sleeved outside the guide wire 143, and one end of the sheath extends into the blood vessel so as to establish a passage between the robot motion system and the blood vessel. The catheter 141 is sleeved outside the guide wire 143, the proximal end of the catheter 141 is connected to the end effector 140, and the distal end of the catheter 141 enters the blood vessel through the sheath.
Specifically, as shown in FIG. 5, the catheter 141 includes an outer tube 148 and an inner tube 149 disposed inside the outer tube, with the valve stent 146 disposed between the outer tube 148 and the inner tube 149 at the distal end of the catheter 141. The end effector 140 can actuate the catheter 141 such that the catheter 141 can move along the guidewire 143 and can release or retract the valve stent 146. For example, after the distal end of catheter 141 reaches the diseased location along guidewire 143, valve stent 146 can be released outward from catheter 141 by operating end effector 140. In this embodiment, force sensor 160 is capable of detecting a force applied to catheter 141, and the interventional implanter is capable of operating end effector 140 in response to the force applied to catheter 141.
As shown in fig. 2 and 4, the guide rail portion 112 includes a guide groove 114 extending in a length direction thereof and a coupling groove 115 provided at one end of the guide rail portion 112 and communicating with the guide groove 114. Specifically, a connection groove 115 is provided at one end of the guide pipe groove 114, and both the guide pipe groove 114 and the connection groove 115 may be configured as a U-shaped groove. The sheath is fixed to the coupling groove 115, and the guide tube 141 can move along the guide tube groove 114. Further, the base 110 further includes a positioning portion 116 connected to the rail portion 112, the positioning portion 116 is disposed at an end of the rail portion 112 away from the connecting groove 115, and is used for positioning and/or fixing the guide wire 143. Surgical robotic system 100 also includes a motion system (not shown) for controlling the motion of guidewire 143 such that guidewire 143 can be rotated or moved back and forth along its central axis to facilitate manipulation of guidewire 143 by a surgeon during surgery.
With continued reference to fig. 2 to 4, the driving assembly includes a first motor 151 disposed on the guide rail portion 112 and a lead screw 152, and one end of the lead screw 152 is connected to the first motor 151. The first motor 151 is a servo/stepper motor. The first motor 151 is disposed at an end of the guide rail portion 112 away from the connecting groove 115, and the screw 152 is rotatably disposed on the guide rail portion 112 along a length direction of the guide rail portion 112. The matching part 123 of the support 120 is connected with the screw rod 152, and the first motor 151 can drive the screw rod 152 to rotate, so that the support 120 can move along the length direction of the screw rod 152, and further the catheter 141 can move forwards or backwards in the blood vessel. Specifically, the fitting portion 123 is provided with a feed screw nut (not shown) which is fitted over the outside of the feed screw 152 and engages with the feed screw.
The driving assembly further includes a second motor 153 disposed on the support 120 and a gear assembly 154 disposed on the rotating table 130 and connected to the second motor 153, wherein the second motor 153 can drive the gear assembly 154 to rotate so as to rotate the rotating table 130. The second motor 153 is a servo/stepper motor. Specifically, the second motor 153 is disposed at one end of the holder 120 and at a side of one of the extensions 122 facing away from the other extension 122. The gear assembly 154 is disposed at one end of the rotating table 130 near the second motor 153, and is disposed at a side of one of the connection parts 132 facing away from the other connection part 132.
The gear assembly 154 includes a drive wheel and a driven wheel that meshes with the drive wheel. The driving pulley is connected to a rotation shaft of the second motor 153, and the driven pulley is rotatably connected to the connection portion 132. Thus, the second motor 153 can drive the driving wheel to rotate, the driving wheel can drive the driven wheel to rotate, and the driven wheel can drive the rotating table 130 to rotate, so that the end effector 140 can rotate around the central axis thereof, and the catheter 141 can rotate in the blood vessel.
The surgical robotic system 100 also includes a bend adjusting wire (not shown) having a proximal end coupled to the first knob 144 and a distal end coupled to the distal end of the outer tube 148 of the catheter 141. The third motor 155 can drive the first transmission member 157 to rotate so as to drive the first rotating handle 144 to rotate, so as to control the motion of the catheter 141 through the bending adjusting wire, thereby achieving the bending adjusting operation of the catheter 141. Second transmission member 158 is coupled to the shaft of fourth motor 156 and is configured to mate (e.g., mesh) with second knob 145. The second knob 145 is coupled to the proximal end of the outer tube 148, and the fourth motor 156 can drive the second transmission member 158 to rotate, thereby rotating the second knob 145 to move the outer tube 148 relative to the inner tube 149 to release or retract the valve holder 146.
As shown in fig. 6, the console 190 includes a fixing portion 191 and a holding portion 192 rotatably disposed on the fixing portion 191, a thumb portion 193 movably disposed on the holding portion 192, and two rotating handle portions 194 rotatably disposed on the holding portion 192, so as to be able to control at least one of the first motor 151, the second motor 153, the third motor 155, and the fourth motor 156. The console 190 is seated on a table top through the fixing portion 191, and the console 190 simulates the operation of a handle of a medical instrument, so that a doctor can operate the console with hands more easily. One end of the grip 192 is rotatably connected to the fixing portion 191 and extends in a horizontal direction. The grip portion 192 is generally configured as a cylindrical structure extending in the horizontal direction. A thumb 193 is disposed at the top of the grip 192 and may be configured to move along the length of the grip 192. The two screw parts 194 are spaced apart from each other in the axial direction of the grip part 192, and the screw parts 194 can be rotated about the central axis of the grip part 192 to control the movement of the catheter 141.
The console 190 also includes a first angle sensor (not shown), a feedback device (not shown), and two second angle sensors (not shown) electrically connected to the control cabinet 170. The first angle sensor can detect the rotation angle of the grip 192, and the control cabinet 170 controls the second motor 153 based on the rotation angle data of the grip 192 detected by the first angle sensor, so that the end effector 140 rotates along with the turntable 130, thereby rotating the catheter 141. The feedback device can detect a forward or backward pushing operation of the thumb 193, and the control cabinet 170 controls the first motor 151 based on the forward or backward pushing operation data of the thumb 193 detected by the feedback device, so that the carriage 120 can move along the length direction of the lead screw 152, and thus the guide tube 141 moves forward or backward. The second angle sensor can detect the rotation angle of the rotary handle part 194, and the control cabinet 170 correspondingly controls the third motor 155 or the fourth motor 156 based on the rotation angle data of the rotary handle part 194 detected by the second angle sensor to correspondingly control the catheter to bend, release or retract the valve stent.
The following describes in detail the operation of the surgical robot system 100 according to the present embodiment by taking aortic valve replacement as an example with reference to fig. 7 to 15.
As shown in fig. 7 and 8, the end effector 140 is remotely operated by the console 190 such that the tip 142 of the catheter 141 reaches the proper location for the valve 10. Fig. 7 and 8 show two conditions of the catheter 141 being stressed in the aortic vessel 20, fig. 7 showing the catheter 141 being under forward thrust and fig. 8 showing the catheter 141 being under backward tension. In this embodiment, the force sensor 160 can detect the force applied to the catheter 141 and present the force on the display 180 in the form of data, so that the interventional implanting physician can more intuitively know the force applied to the end effector 140 and the catheter 141, so as to move the catheter 141 and precisely release the valve stent 146. In addition, the first motor 151 may be controlled to stabilize its rotation speed to a constant value, so as to stably release the valve holder 146.
Fig. 9 shows a slow release valve stent 146. When the implanting surgeon finds the valve stent 146 in an inappropriate release position, as shown in fig. 10, the knob portion 194 of the console 190 can be rotated to activate the fourth motor 156, which in turn drives the second knob 145 to rotate to retract the valve stent 146 inwardly. As shown in fig. 11, the position of the tip 142 of the catheter 141 is then adjusted by the console 190 before the valve stent 146 is released again (see fig. 12). As shown in fig. 13 and 14, if properly positioned, the valve stent 146 is fully released.
As shown in fig. 14 and 15, the valve holder 146 has three valve hanging portions 147, and the three valve hanging portions 147 are arranged at intervals in the circumferential direction of the valve holder 146, for example, may be arranged at equal angles in the circumferential direction. The end effector 140 is remotely manipulated by the console 190 to control the catheter 141 to move such that the three valve-hanging portions 147 avoid the position of the coronary artery 30 after the valve stent 146 is released.
A surgical robot system according to a second embodiment of the present invention will be described in detail with reference to fig. 16.
The surgical robot system according to the second embodiment has substantially the same structure as the surgical robot system 100 according to the first embodiment, wherein the substantially same or similar structures having the same functions are given similar reference numerals. For the sake of simplicity, only the differences will be explained.
In the present embodiment, as shown in fig. 16, the console 290 includes a housing 291, and a steering lever 292, a motor selection button 293, a speed control button 294, an emergency stop button 295, and a switch 296 provided to the housing 291 so as to be able to control at least one of the first motor, the second motor, the third motor, and the fourth motor. The steering lever, the motor selection button, and the speed control button may be provided in sets, for example, four sets may be provided to control the first motor, the second motor, the third motor, and the fourth motor, respectively.
The motor selection button 293 may be used to select one of the first motor, the second motor, the third motor, and the fourth motor in order to control the selected motor. The steering lever 292 may be used to control the forward and reverse rotation of the currently selected motor, thereby implementing corresponding operations on the end effector. The steering lever 292 may be configured to rock back and forth or side to accommodate different operating habits of the operator. The throttle button 294 may adjust the current rotational speed of the selected motor to control the speed of the corresponding motion of the end effector 140. The emergency stop button 295 is used to emergency stop the currently operating motor in case of an emergency, so as to ensure the safety of the surgical robot system.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "disposed" and the like, as used herein, may refer to one element being directly attached to another element or one element being attached to another element through intervening elements. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.
The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the scope of the described embodiments. It will be appreciated by those skilled in the art that many variations and modifications may be made to the teachings of the invention, which fall within the scope of the invention as claimed.
Claims (19)
1. A surgical robotic system for valve replacement, the surgical robotic system comprising:
a valve stent for implantation in a body;
a robot motion system, the robot motion system comprising:
a base;
the support is movably arranged on the base;
a rotating table including a table main body and a pair of connecting portions provided at both ends of the table main body, the rotating table being rotatably connected to the support via the pair of connecting portions;
an end effector provided to the table body for implanting the valve stent in a body;
a drive assembly disposed on at least one of the base, the support, and the rotation stage to drive the support to move relative to the base to move the end effector and to drive the rotation stage to rotate about a central axis of the end effector; and
a remote manipulation system capable of remotely manipulating the robot motion system, the remote manipulation system comprising:
the control cabinet is electrically connected with the driving assembly;
the control console is electrically connected with the control cabinet and is used for controlling the driving assembly; and
and the display is electrically connected with the control cabinet and is used for displaying real-time images during operation.
2. A surgical robotic system as claimed in claim 1, wherein the robotic movement system further comprises a force sensor disposed in the table body, the force sensor being connected to the end effector and electrically connected to the control cabinet to enable transmission of the detected data to the control cabinet.
3. A surgical robotic system as claimed in claim 1, wherein the base includes a mounting portion for connection to an operating table, a support portion connected to the mounting portion and a rail portion connected to the support portion, the support being moveably connected to the rail portion.
4. A surgical robotic system as claimed in claim 3,
the table main body and the guide rail part are arranged in an included angle manner when being observed along the direction of a vertical surface where the axis of the guide rail part is positioned; and/or
The support portion includes a support arm and a movable arm pivotably connected to the support arm, the support arm is fixedly or rotatably connected to the mounting portion, and the guide rail portion is pivotably connected to the movable arm.
5. The surgical robot system according to claim 3, wherein the driving assembly includes a first motor and a screw rod disposed on the guide rail portion, one end of the screw rod is connected to the first motor, one end of the support is connected to the screw rod, and the first motor can drive the screw rod to rotate, so that the support can move along a length direction of the screw rod.
6. The surgical robotic system as claimed in claim 5, wherein the drive assembly further includes a second motor disposed on the support and a gear assembly disposed on the rotating table and connected to the second motor, the second motor being capable of driving the gear assembly to rotate the rotating table.
7. The surgical robotic system according to claim 6, wherein the end effector includes a first rotating handle and a second rotating handle arranged in sequence along an axial direction, the driving assembly further includes a third motor, a fourth motor, a first transmission member connected to the third motor and engaged with the first rotating handle, and a second transmission member connected to the fourth motor and engaged with the second rotating handle, the third motor is capable of driving the first transmission member to rotate so as to drive the first rotating handle to rotate, and the fourth motor is capable of driving the second transmission member to rotate so as to drive the second rotating handle to rotate.
8. The surgical robotic system as claimed in claim 7, wherein the console includes a housing and a steering lever, a motor selection button, a speed knob, and an emergency stop button disposed on the housing to enable control of at least one of the first motor, the second motor, the third motor, and the fourth motor.
9. The surgical robotic system of claim 7, wherein the console includes a fixed portion and a grip portion rotatably disposed on the fixed portion, a thumb portion movably disposed on the grip portion, and a handle portion rotatably disposed on the grip portion to enable control of at least one of the first motor, the second motor, the third motor, and the fourth motor.
10. The surgical robotic system of claim 9, wherein the console further includes a first angle sensor electrically connected to the control cabinet, the first angle sensor being capable of detecting a rotation angle of the grip, the control cabinet controlling the second motor based on rotation angle data of the grip detected by the first angle sensor.
11. A surgical robotic system as claimed in claim 9, wherein the console further includes a feedback device electrically connected to the control cabinet, the feedback device being capable of detecting a push-forward or pull-back operation of the thumb, the control cabinet controlling the first motor based on the push-forward or pull-back operation data of the thumb detected by the feedback device.
12. A surgical robotic system as claimed in claim 9, wherein the console further includes a second angle sensor electrically connected to the control cabinet, the second angle sensor being capable of detecting the angle of rotation of the handle portion, the control cabinet controlling the third motor or the fourth motor based on the angle of rotation data of the handle portion detected by the second angle sensor.
13. A surgical robotic system as claimed in any of claims 1 to 12, wherein the mount comprises a mount body and a pair of extensions provided at both ends of the mount body, the table body being provided above the mount body and between the pair of extensions in a length direction of the mount body.
14. The surgical robotic system of claim 13,
the table body comprises a first surface facing the seat body and configured as an arc-shaped face, and/or
The table body includes a second surface facing away from the seat body and configured to be planar, the end effector being disposed on the second surface.
15. A surgical robotic system as claimed in any of claims 3 to 12, further comprising a catheter having one end connected to the end effector, the valve stent being disposed at the other end of the catheter, the end effector being configured to actuate the catheter to move and/or release the valve stent.
16. The surgical robot system according to claim 15, further comprising a sheath tube through which the guide tube can enter a blood vessel, the rail portion including a guide tube groove and a connection groove provided at one end of the guide tube groove and communicating with the guide tube groove, the sheath tube being provided to the connection groove, the guide tube being movable along the guide tube groove.
17. A surgical robotic system as claimed in claim 15, further comprising a guide wire, the base further comprising a positioning portion connected to the rail portion for positioning the guide wire, one end of the guide wire being for extending into a blood vessel, the guide wire extending through the catheter and being capable of guiding movement of the catheter.
18. A surgical robotic system for valve replacement, the surgical robotic system comprising:
a robot motion system, the robot motion system comprising:
a base;
a support movably disposed on the base;
a rotating table including a table main body and a pair of connecting portions provided at both ends of the table main body, the rotating table being rotatably connected to the support via the pair of connecting portions;
an end effector provided to the table body for performing the valve replacement procedure;
a drive assembly disposed on at least one of the base, the support, and the rotation stage to drive the support to move relative to the base to move the end effector and to drive the rotation stage to rotate about a central axis of the end effector; and
a remote manipulation system capable of remotely manipulating the robot motion system, the remote manipulation system comprising:
the control cabinet is electrically connected with the driving assembly;
the control console is electrically connected with the control cabinet and used for controlling the driving assembly; and
and the display is electrically connected with the control cabinet and is used for displaying real-time images during operation.
19. A surgical robotic system for valve replacement, the surgical robotic system comprising:
a valve stent for implantation in a body; and
a robot motion system, the robot motion system comprising:
a base;
a support movably disposed on the base;
a rotating table including a table main body and a pair of connecting portions provided at both ends of the table main body, the rotating table being rotatably connected to the support via the pair of connecting portions;
an end effector provided to the table body for implanting the valve stent in a body;
a drive assembly disposed on at least one of the base, the support, and the rotation stage to drive the support to move relative to the base to move the end effector and to drive the rotation stage to rotate about a central axis of the end effector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110145991.2A CN114831733B (en) | 2021-02-02 | 2021-02-02 | Surgical robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110145991.2A CN114831733B (en) | 2021-02-02 | 2021-02-02 | Surgical robot system |
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| CN114831733B CN114831733B (en) | 2024-09-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024088347A1 (en) * | 2022-10-26 | 2024-05-02 | 智程医疗科技（嘉兴）有限公司 | Slave end execution device and medical system |
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