CN116392256B - Rigidity-controllable sheath tube, regulating and controlling method thereof and surgical robot - Google Patents
Rigidity-controllable sheath tube, regulating and controlling method thereof and surgical robot Download PDFInfo
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- CN116392256B CN116392256B CN202310664588.XA CN202310664588A CN116392256B CN 116392256 B CN116392256 B CN 116392256B CN 202310664588 A CN202310664588 A CN 202310664588A CN 116392256 B CN116392256 B CN 116392256B
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Classifications
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M25/005—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M25/005—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids
- A61M25/0053—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids having a variable stiffness along the longitudinal axis, e.g. by varying the pitch of the coil or braid
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M2025/0063—Catheters; Hollow probes characterised by structural features having means, e.g. stylets, mandrils, rods or wires to reinforce or adjust temporarily the stiffness, column strength or pushability of catheters which are already inserted into the human body
- A61M2025/0064—Catheters; Hollow probes characterised by structural features having means, e.g. stylets, mandrils, rods or wires to reinforce or adjust temporarily the stiffness, column strength or pushability of catheters which are already inserted into the human body which become stiffer or softer when heated
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/14—Thermal energy storage
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention relates to the technical field of medical instruments and provides a rigidity-controllable sheath, a regulating and controlling method thereof and a surgical robot, wherein the rigidity-controllable sheath comprises a sheath and a sheath regulating and controlling module connected with the sheath, and the sheath comprises a head section, a transition section, a main body section and a tail section which are sequentially connected; the sheath regulating and controlling module comprises a rigidity regulating and controlling unit for regulating the rigidity of the sheath and a bending regulating and controlling device for regulating the bending angle of the head section of the sheath; the rigidity-controllable sheath tube has the functions of bending adjustment and rigidity adjustment, is wide in application range, high in adaptation degree with the surgical robot, can reduce the requirement on the operation skill of doctors, and ensures stable surgical effect.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a rigidity-controllable sheath tube, a regulating and controlling method thereof and a surgical robot.
Background
Minimally invasive surgery has been accepted by doctors and patients in agreement with the advantages of small wound surface, patient pain reduction, quick postoperative recovery and the like, but minimally invasive surgery has extremely strict requirements on the operating skill level of the doctors and the performance of surgical instruments and tools. On the one hand, because the natural cavity of the human body is tortuous and the inner wall is very fragile, doctors can not directly operate rigid tools such as a scalpel to finish the operation, and the flexible instruments are required to be adopted to reach the focus position of the operation along the inner wall of the cavity, and in addition, the doctors are difficult to directly operate the flexible instruments to stably reach the focus position, and because of long-time twisting operation, the hands of the doctors are easy to produce stiffness and ache, and the entering effect of the sheath tube is influenced. On the other hand, the extra-long distance between the sheath feeding force acting position and the surgical focus position requires a certain rigidity of the surgical instrument tool, and can transmit the control force to the head of the sheath to assist in completing the actions of sampling, cutting and the like of the focus position.
Researchers in the field have developed some sheaths with adjustable rigidity to be able to adapt to the natural lumen of the human body to reach the surgical lesion location. However, in the current rigidity-adjustable sheath pipes, low-temperature freezing spray is required to be sprayed or cooling fluid is required to be introduced in the rigidity-adjustable sheath pipes to assist the low-melting-point alloy to complete the phase change, so that rigidity adjustment is realized. However, the mode of spraying the low-temperature freezing spray or introducing the cooling fluid easily causes the change of the physiological parameters of the human body and the operation environment in the operation process, which is not beneficial to the safe operation. Although chinese patent application publication No. CN115920200a provides a continuously stiffness-adjustable sheath, and a stiffness adjustment method and surgical apparatus thereof, it does not require cryogenic sprays or cooling fluids to assist in achieving the phase change process. However, the sheath tube does not have a bending adjusting function, is only suitable for central pulmonary nodules, cannot be accurately aligned to focus positions such as peripheral pulmonary nodules and the like, has limitation in use, and is mainly operated manually by a doctor like some rigidity-adjustable sheath tubes at present, has high requirements on operation skills of the doctor, and cannot guarantee stable operation effects.
Disclosure of Invention
The invention aims to provide a rigidity-controllable sheath tube, a regulating and controlling method thereof and a surgical robot, wherein the rigidity-controllable sheath tube has a bending regulating function and a rigidity regulating function, has wide application range and high adaptation degree with the surgical robot, can reduce the requirement on the operation skill of doctors, and ensures stable surgical effect.
The present invention provides in one aspect a stiffness controllable sheath comprising:
the sheath tube comprises a head section, a transition section, a main body section and a tail section which are connected in sequence, wherein the sheath tube comprises an inner layer tube with a hollow channel for a biopsy instrument to pass through and an outer layer tube sleeved outside the inner layer tube, a phase change layer is arranged between the inner layer tube and the outer layer tube of the head section, and the inner layer tube and the outer layer tube of the transition section, the main body section and the tail section are tightly attached;
the sheath regulation and control module comprises a rigidity regulation and control unit connected with the phase-change layer and a bending regulation and control device connected with the head section, wherein the rigidity regulation and control unit is used for regulating and controlling the phase-change state of the phase-change layer so as to regulate the rigidity of the head section in real time; the bending device comprises a bending wire and a length adjusting component connected to the bending wire, one end of the bending wire is connected to the length adjusting component, the other end of the bending wire penetrates through the main body section and the transition section of the sheath tube and is connected to the head section, and the length adjusting component is used for adjusting the length of the bending wire in the sheath tube, so that the bending wire drives the head section to bend at an angle, and the bending adjusting function of the sheath tube is achieved.
Optionally, the length adjustment assembly includes the supporting seat, set up guiding axle on the supporting seat, slidable set up in guiding slider of guiding axle and linkage in guiding slider's lead screw motor, wherein guiding slider connect in the curved silk of accent, lead screw motor is used for driving guiding slider is followed guiding axle slides, thereby changes the length of curved silk of accent in the sheath.
Optionally, the length adjustment assembly further includes a guide slider bracket connected to the guide slider and the rotating shaft of the screw motor, the guide slider bracket has a support portion adapted to the guide slider and a linkage portion extending from the support portion, the support portion and the guide slider are slidably disposed on the guide shaft, and the rotating shaft of the screw motor is connected to the linkage portion.
Optionally, the number of the supporting seats is two, and the two supporting seats are respectively supported at two ends of the guide shaft.
Optionally, the length adjustment assembly further comprises a motor bracket for supporting the lead screw motor.
Optionally, the rigidity regulation and control unit includes heating circuit, measuring circuit and electricity connect in heating circuit with the controller of measuring circuit, heating circuit with measuring circuit all connect in the phase change layer, the phase change layer is for filling the inlayer pipe with low melting point alloy between the skin pipe, heating circuit includes spiral winding be in the heater strip outside the inlayer pipe and electricity connect in the heater strip with the driver of controller, measuring circuit includes connect in the measuring wire of low melting point alloy and electricity connect in the resistance collection device of measuring wire with the controller, the controller is used for based on the resistance value that the resistance collection device gathered, via the driver regulation and control the current value of heater strip to the real-time adjustment low melting point alloy's phase change state.
Optionally, the sheath tube comprises a stay wire chamber for accommodating the bending wire, a heating wire chamber for accommodating the heating wire and a measuring wire chamber for accommodating the measuring wire; the bending wire is arranged in the stay wire cavity, and one end of the bending wire is fixed on the head section through a thin gasket after being knotted; the stay wire chamber, the heating wire chamber and the measuring wire chamber are mutually independent; the pull wire chamber extends from the head section to the main body section in a penetrating manner; the heating wire chamber and the measuring wire chamber extend from the transition section to the tail section in a penetrating manner.
Alternatively, the low melting point alloy is a bismuth-based eutectic alloy.
Optionally, the measurement wire is a copper wire, a gold wire or a silver wire.
Optionally, the heating wire adopts an enameled copper wire with the diameter of 0.04-0.06 mm, and the measuring wire adopts an enameled copper wire with the exposed head end and the diameter of 0.08-0.1 mm.
Optionally, the bending-adjusting wire is a polymer LCP wire with the diameter of 0.15 mm-0.18 mm.
Optionally, the inner layer tubes of the sheath tube are made of polytetrafluoroethylene materials; the length of the head section is 25-30 mm, and the outer layer pipe is made of Pebax elastomer material with Shore hardness of 20D; the length of the transition section is 5-10 mm, and the outer layer pipe is made of Pebax elastomer material with the Shore hardness of 40D; the length of the main body section is 50-55 mm, and the outer layer pipe is made of a Pebax elastomer material with the hardness of 60D; the outer layer tube of the tail section is made of a Pebax elastomer material with the hardness of 60D.
The invention also provides a regulating and controlling method of the rigidity-controllable sheath, which comprises the following steps:
s1, adjusting the rigidity of the sheath tube:
s11, current is introduced into a heating wire of a heating loop, and the heating wire heats to enable the phase change layer to change phase, so that the rigidity of the sheath tube is changed;
s12, the resistance acquisition device is connected with the phase-change layer through a measuring wire, and acquires the resistance value of the phase-change layer in real time;
s13, the controller regulates and controls the current value introduced by the heating wire of the heating loop based on the resistance value acquired by the resistance acquisition device, so as to regulate the phase change state of the phase change layer in real time and obtain the rigidity value required by the sheath tube with continuously adjustable rigidity;
s2, adjusting the bending angle of the head section of the sheath tube:
s21, starting a screw motor, wherein the screw motor is linked with a guide slide block to slide along a guide shaft;
s22, the guide sliding block pulls the bending wire to change the length of the bending wire in the sheath tube, so that the head section is bent at an angle, and the bending function of the sheath tube is realized.
The invention also provides a surgical robot in another aspect, which is a three-section surgical robot, and comprises a robot main body, the rigidity-controllable sheath pipe arranged on the robot main body and a biopsy instrument tool arranged on the rigidity-controllable sheath pipe, wherein the robot main body comprises an endoscope, a bending device of the rigidity-controllable sheath pipe is arranged on the robot main body, a sheath pipe of the rigidity-controllable sheath pipe is inserted in a working channel of the endoscope, and a biopsy instrument tool is inserted in a hollow channel of the sheath pipe.
Optionally, the endoscope is a bronchoscope, and the outer diameter size range of the bronchoscope is: 5.1-5.2 mm, and the working channel size range of the bronchoscope is as follows: 2.5-2.6 mm, the external diameter size range of the sheath tube is as follows: 2.4-2.5 mm, wherein the size range of the hollow channel of the sheath tube is as follows: 1.1-1.2 mm, the outside diameter dimension of the biopsy instrument tool ranges from: 1.0 to 1.1mm.
The rigidity-controllable sheath tube and the robot are cooperatively matched to realize the combined control of the sheath tube bending adjusting function and the rigidity-controllable function, and the robot is assisted to complete the biopsy sampling operation flow. The rigidity-controllable sheath tube provided by the invention is suitable for robot-assisted bronchoscopy, meets the requirement that a doctor controls the robot to finish bronchoscopy by sending an instruction operation, and does not need to directly and manually operate a surgical instrument tool according to the traditional operation to finish biopsy sampling operation, so that the skill requirement and fatigue of the doctor are effectively reduced; and the sheath tube is matched with the robot by adopting a detachable structure, so that the sheath tube is convenient to replace and sterilize for disposable use, and the bending and rigidity controllable function combination control scheme is suitable for the wider focus positions of peripheral lung nodules and the like, and improves the operation effect.
The invention has the following beneficial effects:
(1) The stiffness-controllable sheath tube combines bending adjustment operation and stiffness-controllable technology, is beneficial to expanding the operation application range of a robot, and has important significance for the operation of peripheral pulmonary nodules.
(2) The stiffness-controllable sheath tube can be well adapted to robot-assisted bronchoscopy, the operation difficulty of doctors is reduced, and the doctors control the sheath tube to complete corresponding functions by means of robot instructions.
(3) The rigidity-controllable sheath tube is suitable for three-section operation, can enter finer bronchi than a bronchoscope, increases the lung contact position of a surgical instrument tool, improves the accuracy of the operation, and effectively reduces the safety risk caused by blind wearing of the surgical instrument tool such as biopsy forceps in a human body and improves the safety of the operation.
(4) The rigidity-controllable sheath tube has the characteristics of simple structure, no dependence on a complex skeleton structure, convenient manufacture and low cost, and safety and reliability, and cooling of the sheath tube is finished by depending on normal temperature of a human body and no dependence on external stimulation.
Further objects and advantages of the present invention will become fully apparent from the following description and the accompanying drawings.
Drawings
Fig. 1 is a schematic structural view of a stiffness controllable sheath according to a preferred embodiment of the present invention.
Fig. 2 is a schematic perspective view of the head section of the controllable stiffness sheath shown in fig. 1.
Fig. 3 is a schematic semi-sectional view of the head section of the stiffness controllable sheath shown in fig. 2.
Fig. 4 is a schematic perspective view of a bending device of the stiffness-controllable sheath shown in fig. 1.
Fig. 5 is a block diagram showing a control method of the stiffness controllable sheath shown in fig. 1, which illustrates a specific structure of the stiffness control unit.
Fig. 6 is a schematic structural view of a surgical robot according to a preferred embodiment of the present invention, which illustrates a use state of the surgical robot.
Fig. 7 is a schematic perspective view of a part of the structure of the surgical robot shown in fig. 6.
Fig. 8 is an enlarged schematic view of a portion a of a partial structure of the surgical robot shown in fig. 7.
Fig. 9 is a schematic plan view of a part of the structure of the surgical robot shown in fig. 6.
Fig. 10 is an enlarged schematic view of a portion B of a part structure of the surgical robot shown in fig. 9.
Fig. 11 is a block diagram of an inspection flow of the surgical robot shown in fig. 6.
Reference numerals illustrate:
1-a head section; 2-transition section; 3-a body segment; 4-tail section; 5-a bending device; 51-bending wire adjustment; 6-a length adjustment assembly; 61-guiding the slide block; 62-a guide shaft; 63-a support base; 64-screw motor; 65-guiding a sliding block bracket; 651-support; 652-linkage; 66-a motor bracket; 7-an outer layer tube; 8-an inner tube; 9-hollow channels; 10-a phase change layer; 12-a heating wire chamber; 13-a pull wire chamber; 14-measuring wire chamber; 15-a thin gasket; 21-a controller; 22-heating wires; a 23-driver; 24-measuring wire; 25-a resistor acquisition device; 30-surgical robot; 31-a robot body; 32-bronchoscope.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "vertical," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In order to solve the technical problems that the application range of the existing rigidity-adjustable sheath tube is limited, the requirement on the operation skill of doctors is high, and the stable operation effect cannot be ensured, the invention provides the rigidity-controllable sheath tube, the regulating and controlling method thereof and the operation robot.
The invention particularly provides a rigidity-controllable sheath tube for surgical robot assisted bronchoscopy, which comprises a sheath tube and a sheath tube regulating and controlling module connected with the sheath tube, wherein the whole structure of the sheath tube consists of four parts, namely: a head section 1, a transition section 2, a body section 3 and a tail section 4; the sheath regulating module comprises a rigidity regulating unit for regulating the rigidity of the sheath and a bending regulating device 5 for regulating the bending angle of the head section 1 of the sheath.
Specifically, the sheath comprises an inner layer tube 8 with a hollow channel 9 for passing a biopsy instrument tool and an outer layer tube 7 sleeved outside the inner layer tube 8, a phase change layer 10 is arranged between the inner layer tube 8 and the outer layer tube 7 of the head section 1, and the inner layer tube 8 and the outer layer tube 7 of the transition section 2, the main body section 3 and the tail section 4 are tightly attached.
Specifically, the stiffness regulating unit is used for regulating the phase change state of the phase change layer 10 to regulate the stiffness of the head section 1 in real time; the bending device 5 comprises a bending wire 51 and a length adjusting component 6 connected to the bending wire 51, one end of the bending wire 51 is connected to the length adjusting component 6, the other end of the bending wire penetrates through the main body section 3 and the transition section 2 of the sheath tube and is connected to the head section 1, the length adjusting component 6 is used for adjusting the length of the bending wire 51 in the sheath tube, and accordingly the bending wire 51 drives the head section 1 to bend at an angle, and the bending adjusting function of the sheath tube is achieved.
More specifically, the stiffness adjusting unit includes a heating circuit, a measuring circuit, and a controller 21 electrically connected to the heating circuit and the measuring circuit, both of which are connected to the phase-change layer 10, the phase-change layer 10 is a low-melting alloy filled between the inner tube 8 and the outer tube 7, the heating circuit includes a heating wire 22 spirally wound outside the inner tube 8 and a driver 23 electrically connected to the heating wire 22 and the controller 21, the measuring circuit includes a measuring wire 24 connected to the low-melting alloy and a resistance acquisition device 25 electrically connected to the measuring wire 24 and the controller 21, and the controller 21 is configured to adjust a current value of the heating wire 22 via the driver 23 based on a resistance value acquired by the resistance acquisition device 25, thereby adjusting a phase-change state of the low-melting alloy in real time.
It can be understood that the head section 1 is an execution section of sheath bending adjusting and controllable rigidity changing functions, the bending adjusting is realized by tensioning and loosening the bending adjusting wire 51, and the controllable rigidity is realized by melting and solidifying the low-melting-point alloy; the transition section 2 and the main body section 3 support the integral structure of the sheath tube, so that the sheath tube keeps a certain rigidity and is not easy to bend; the sheath tube is matched with the robot main body 31 through the bending adjusting device 5, so that the control instruction of the surgical robot 30 can complete the bending adjusting function of the rigidity-controllable sheath tube through the bending adjusting device 5; the tail section 4 is clamped on the delivery structure of the surgical robot 30, the heating wire 22 and the measuring wire 24 of the rigidity regulating unit are led out from the delivery structure and connected to the control system of the surgical robot 30, and the controllable rigidity function of the sheath is completed through the control instruction of the surgical robot 30. The rigidity-controllable sheath tube and the robot structure are integrally of an easily-detachable structure, so that the disposable sheath tube is convenient to replace and sterilize, and the robot is better assisted to complete the three-section bronchoscopy method.
The flow of the stiffness-controllable sheath tube applied to three-section bronchoscopy comprises the following steps: installing the rigidity-controllable sheath on the robot main body 31, and after the installation work of the sheath is completed, operating the robot to control the bronchoscope 32 to a designated position in the body cavity by a doctor; the heating wire 22 is heated, the whole sheath tube is softened, the head section 1 of the sheath tube after the softening is delivered to the appointed focus position by the robot friction wheel, the bending operation is carried out by the bending wire 51 under the strong dynamic environment of the respiratory motion of the lung, the power-on and power-off state of the heating wire 22 is timely adjusted by matching with the rigidity adjusting unit, the soft and hard state of the sheath tube is changed, the sheath tube can be opposite to the focus, and the success rate of biopsy sampling is improved. Biopsy instrument tools such as biopsy forceps, biopsy needles and the like are then inserted through the hollow channel 9 of the sheath, guided by the sheath, to the precise focus position required for the operation. After the surgical operation is completed, the electric heating is conducted again, and the sheath tube is withdrawn from the working channel of the bronchoscope 32 after being softened. All operations of the sheath are completed by a doctor through sending instructions by the surgical robot 30, that is, the sheath regulation and control module of the sheath with controllable rigidity is integrated in the control system of the surgical robot 30, and the control is realized through sending instructions by the surgical robot 30.
The specific structure of the stiffness controllable sheath and surgical robot 30 of the present invention will be explained below with reference to the drawings.
As shown in fig. 1 to 5, the rigidity-controllable sheath tube of the present invention mainly comprises a sheath tube and a sheath tube regulating module, wherein the overall length of the sheath tube is 1m, and the sheath tube is divided into four parts: a head section 1, a transition section 2, a main body section 3 and a tail section 4. The sheath tube is of a hollow tubular structure, the inner layer tube 8 of the sheath tube is made of Polytetrafluoroethylene (PTFE) material, and the friction coefficient of the PTFE material is ultra-low and only 0.05, so that surgical instruments such as biopsy forceps can conveniently pass through smoothly, and the operation feeling of doctors is improved; the sheath tube outer layer tube 7 adopts Pebax (polyether block polyamide) elastomer materials with different hardness according to the function of the position.
In particular, a cylindrical cavity is formed between the inner layer tube 8 and the outer layer tube 7 of the head section 1 of the sheath tube and is used for filling low-melting-point alloy (namely a phase-change layer 10) so as to realize the function of controlling the rigidity of the sheath tube; in other functional sections, the inner layer tube 8 is tightly attached to the outer layer tube 7, four independent cavities which are distributed at 90 degrees intervals are arranged in the outer layer tube 7, namely a stay wire cavity 13, a heating wire cavity 12 and two measuring wire cavities 14, specifically, the stay wire cavity 13 extends from the head section 1 of the sheath tube to the bending control section in a penetrating manner, and the heating wire cavity 12 and the two measuring wire cavities 14 extend from the transition section 2 to the tail section 4 in a penetrating manner.
The sheath regulating and controlling module mainly comprises a rigidity regulating and controlling unit and a bending regulating and controlling device 5. As shown in fig. 1 and fig. 4, the bending device 5 includes a bending wire 51 and a length adjusting component 6 connected to the bending wire 51, one end of the bending wire 51 is connected to the length adjusting component 6, the other end of the bending wire penetrates through the main body section 3 and the transition section 2 of the sheath tube and is connected to the head section 1, and the length adjusting component 6 is used for adjusting the length of the bending wire 51 in the sheath tube, so that the head section 1 is driven to bend at an angle by the bending wire 51, and the bending function of the sheath tube is realized.
Specifically, the length adjusting assembly 6 includes a support 63, a guide shaft 62 disposed on the support 63, a guide slider 61 slidably disposed on the guide shaft 62, and a screw motor 64 coupled to the guide slider 61, wherein the guide slider 61 is connected to the bending wire 51, and the screw motor 64 is used to drive the guide slider 61 to slide along the guide shaft 62, thereby changing the length of the bending wire 51 in the sheath.
It should be noted that the length adjusting assembly 6 further includes a guide slider bracket 65 connected to the guide slider 61 and the rotation shaft of the screw motor 64, the guide slider bracket 65 has a supporting portion 651 adapted to the guide slider 61 and a linkage portion 652 extending from the supporting portion 651, the supporting portion 651 and the guide slider 61 are slidably disposed on the guide shaft 62, and the rotation shaft of the screw motor 64 is connected to the linkage portion 652.
That is, in this embodiment, the bending wire 51 is fixed on the guide slide 61, the guide slide 61 is located on a guide shaft 62 with a length of 40mm, at two ends of the guide shaft 62, the guide slide 61 is connected and fixed on the surgical robot 30 by two supporting seats 63, the guide slide 61 is connected to a screw motor through a guide slide bracket 65, the screw motor is mounted on the surgical robot 30 through a motor bracket 66, the guide slide 61 is made to perform linear motion on the guide shaft 62 through screw transmission by the rotary motion of the screw motor, the length of the bending wire 51 in the sheath bending cavity is changed, the sheath head section 1 is driven to perform angle bending, and the sheath bending function is further achieved.
It can be understood that the bending device 5 of the rigidity-controllable sheath tube is detachably mounted on the surgical robot 30 through screws, and the sheath tube does not influence the delivery of the sheath tube by the friction wheel of the delivery system of the surgical robot 30 when the sheath tube is subjected to the bending control operation.
Further, as shown in fig. 2 and 5, the rigidity adjusting unit includes a heating circuit, a measuring circuit, and a controller 21 electrically connected to the heating circuit and the measuring circuit, the heating circuitThe phase-change layer 10 is a low-melting-point alloy filled between the inner layer tube 8 and the outer layer tube 7, the heating circuit comprises a heating wire 22 spirally wound outside the inner layer tube 8 and a driver 23 electrically connected with the heating wire 22 and a controller 21, the measuring circuit comprises a measuring wire 24 connected with the low-melting-point alloy and a resistance acquisition device 25 electrically connected with the measuring wire 24 and the controller 21, and the controller 21 is used for acquiring a resistance value R based on the resistance acquisition device 25 LMPA Regulating the current value I of the heating wire 22 via the driver 23 LMPA Thereby adjusting the phase change state of the low-melting-point alloy in real time.
In this embodiment of the present invention, the heating wires 22 and the measuring wires 24 are distributed at 90 ° intervals, the heating wires 22 receive Pulse Width Modulation (PWM) current signals sent by the controller 21, adjust the amount of heat generated by the heating wires, control the phase change speed of the low melting point alloy, and further control the rigidity value of the sheath; the measuring wire 24 is used for measuring a resistance value in the phase transition process of the low melting point alloy, providing feedback for the frequency of a Pulse Width Modulation (PWM) current signal output by the control system, forming a dynamic feedback loop, and because the measured resistance value has a corresponding mapping relationship with the stiffness value of the sheath, the bending adjustment operation needs to be dynamically adjusted according to the measured resistance value.
It is worth mentioning that the low melting point alloy adopts bismuth-based eutectic alloy. The bismuth-based eutectic alloy specifically adopts CERROLOW 117 (phase transition temperature 47 ℃) and has the characteristic of high rigidity when the bismuth-based eutectic alloy is in a solid state at normal human body temperature. When heated above 47 ℃, the low melting point alloy melts such that the stiffness is continuously tunable to soften.
It can be understood that the phase change layer 10 of the sheath tube with continuously adjustable rigidity realizes rigidity adjustment by heating and is hardened by natural cooling, the rigidity changing process is realized without other cooling equipment or cooling substances such as low-temperature freezing spray and the like, and the phase change mode is simple and high in safety.
Alternatively, the measurement wire 24 is a copper wire, a gold wire, or a silver wire. In this embodiment of the invention, the heater wire 22 is an enameled copper wire having a diameter of 0.04mm to 0.06mm, i.e., the heater wire 22 is a resistance wire. The measuring wire 24 is an enameled copper wire with the exposed head end and the diameter of 0.08-0.1 mm. In some embodiments of the present invention, other materials and other dimensions for the measuring wire 24 and the heating wire 22 may be used, and the present invention is not limited in this regard.
Further, the head section 1 of the sheath tube has the functions of bending adjustment and rigidity control of the sheath tube, the outer layer tube 7 of the head section 1 is made of Pebax elastomer material with Shore hardness of 20D, and the length of the head section 1 is 25-30 mm.
The bending wire 51 of the bending device 5 adopts a flat-specification polymer LCP wire (linear alkyl polyacrylate), the specification size is 0.15-0.18 mm, compared with the stainless steel bending wire 51 of the traditional bending-adjustable sheath tube, the polymer LCP wire has excellent extensibility, extremely small abrasion, and the polymer LCP wire with insulating property has no influence on the rigidity of the sheath tube which is controlled by heating the resistance wire, so that the bending-adjusting function and the controllable rigidity performance of the sheath tube are mutually independent, and better control fit is realized.
In this specific embodiment, after the polymer LCP filaments are knotted, the polymer LCP filaments are fixed on the head section 1 of the sheath by using the thin gasket 15 to serve as a force fixing point for bending the sheath, and then the polymer LCP filaments start from the head section 1 along the independent stay wire chamber 13, pass through the sheath transition section 2 and the main body section 3, are matched with the surgical robot 30 through the length adjusting assembly 6, and complete the accurate bending adjustment action of the sheath by the instruction operation of the surgical robot 30. That is, the length adjustment assembly 6 is mounted on the robot body 31 of the surgical robot 30 and is controlled to operate by the control system of the surgical robot 30.
The rigidity controllable function of the sheath tube is completed through the phase change of the low-melting-point alloy, and the specific control flow is as follows: the surgical robot 30 controller 21 sends a Pulse Width Modulation (PWM) current signal to the heater wire 22, and the heater wire 22 generates joule heat to cause solid-liquid transformation of the low melting point alloy in the head section 1, thereby realizing the change of the sheath stiffness. In the rigidity control circuit, the resistance value of the phase change condition of the low-melting-point alloy is measured by the resistance acquisition device 25 and the measuring wire 24, and the ratio of the solid phase component to the liquid phase component of the low-melting-point alloy is calculated to obtain the corresponding mapping relation between the resistance value and the rigidity. The controller 21 adjusts Pulse Width Modulation (PWM) current signals according to the resistance value feedback (i.e. mapping stiffness values), adjusts the heat generated by the heating wire 22, quantitatively controls the ratio of the solid phase to the liquid phase component of the low melting point alloy, and further realizes the stiffness control of the sheath.
Further, the outer layer tube 7 of the transition section 2 of the sheath tube is made of Pebax elastomer material with the Shore hardness of 40D, and the length of the transition section 2 is 5-10 mm. The transition section 2 is used as a connecting section of the head section 1 and the main body section 3, and is used for preventing the joint of the head section 1 and the main body section 3 from bending.
Because the head section 1 bears the sheath tube bending adjusting function, the outer cladding material of the head section 1 is a rigid soft material, the main body section 3 is used as a supporting section of the sheath tube integral structure, the outer cladding material is a rigid hard material, if the transition section 2 is not added between the outer cladding material and the main body section 1, the force action point can not be stabilized at the head of the sheath tube when the sheath tube is bent, and the joint of the head section 1 and the main body section 3 can lead the sheath tube to generate bending phenomenon, so that bending adjusting operation can not be normally performed, and the operation effect is further influenced. Therefore, the transition section 2 is added in the sheath tube, and the bending phenomenon at the joint of the head section 1 and the main body section 3 can be prevented.
Further, the outer tube 7 of the main body section 3 is made of a Pebax elastomer material with the hardness of 60D, the length of the main body section 3 is 50-55 mm, and the main body section 3 is used for providing rigid support for the integral structure of the sheath. The main body section 3 serves as a force acting part of a friction wheel delivery sheath of the surgical robot 30, and the surgical robot 30 relies on friction force between the friction wheel and the main body section 3 to enable the delivery sheath to advance along a working channel of the bronchoscope 32 to reach a focus part of a human body.
Further, the tail section 4 is the part of the heating wire 22 and the measuring wire 24 connected to the robot control system, and the material is consistent with the main body section 3, that is, the outer layer tube 7 of the tail section 4 is also made of Pebax elastomer material with the hardness of 60D.
It should be appreciated that the stiffness controllable sheath provided by the present invention may be used for robotic assisted bronchoscopy, but may also be used for assisting in the examination of other endoscopes such as gastroscopy, enteroscopy, cystoscopy, thoracoscopy, laparoscopy, etc., and the invention is not limited to its particular application.
It can be appreciated that the invention also provides a regulating and controlling method of the rigidity-controllable sheath, which comprises the following steps:
s1, adjusting the rigidity of the sheath tube:
s11, current is introduced into a heating wire 22 of a heating loop, and the heating wire 22 heats to enable the phase change layer 10 to change phase, so that the rigidity of the sheath tube is changed;
s12, a resistance acquisition device 25 is connected with the phase-change layer 10 through a measurement wire 24, and acquires the resistance value of the phase-change layer 10 in real time;
s13, the controller 21 regulates and controls the current value introduced by the heating wire 22 of the heating loop based on the resistance value acquired by the resistance acquisition device 25, so as to regulate the phase change state of the phase change layer 10 in real time and obtain the rigidity value required by the sheath pipe with continuously adjustable rigidity;
s2, adjusting the bending angle of the head section 1 of the sheath tube:
s21, starting a screw motor, wherein the screw motor 64 is linked with the guide slide block 61 to slide along the guide shaft 62;
s22, the guide sliding block 61 pulls the bending wire 51 to change the length of the bending wire 51 in the sheath, so that the head section 1 is bent at an angle, and the bending function of the sheath is realized.
As further shown in fig. 6 to 10, the present invention also provides, in another aspect, a surgical robot 30, the surgical robot 30 being a three-stage surgical robot 30 including a robot body 31, a rigidity-controllable sheath provided on the robot body 31, and a biopsy instrument tool provided on the rigidity-controllable sheath, wherein an endoscope is mounted on the robot body 31, a bending apparatus 5 of the rigidity-controllable sheath is mounted on the robot body 31, and the sheath of the rigidity-controllable sheath is inserted in a working channel of the endoscope of the robot body 31, and the biopsy instrument tool is inserted in a hollow channel 9 of the sheath.
In this particular embodiment of the invention, the surgical robot 30 is a bronchoscopic surgical robot 30, i.e. the robot body 31 is provided with a bronchoscope 32, the stiffness controllable sheath bending device 5 of the invention is provided on the robot body 31, and the tail section 4 of the sheath is provided on the delivery system of the surgical robot 30, and the head section 1 is inserted into the patient through the working channel of the bronchoscope 32 for working, the biopsy instrument tool reaching the finer bronchi by insertion into the hollow channel 9 of the sheath.
It should be noted that the outer diameter of bronchoscope 32 ranges from: 5.1-5.2 mm, the working channel size range of bronchoscope 32 is: 2.5-2.6 mm, the outer diameter size range of the sheath tube is as follows: 2.4-2.5 mm, the size range of the hollow channel of the sheath tube is as follows: 1.1-1.2 mm, the outside diameter dimension of the biopsy instrument tool ranges from: 1.0 to 1.1mm.
It will be appreciated that as shown in fig. 11, the present invention also provides in another aspect a method of applying the surgical robot 30 to a three-stage bronchoscopy procedure, comprising the steps of:
installing the rigidity-controllable sheath on the robot main body 31, and after the installation work of the sheath is completed, operating the robot to control the bronchoscope 32 to a designated position in the body cavity by a doctor;
heating the heating wire 22, the sheath is softened as a whole, the sheath is kept in a flexible state and enters the human body along the bronchoscope 32 and the head section 1 extends out of the working channel of the bronchoscope 32;
the robot friction wheel delivers the softened sheath tube head section 1 to the appointed focus position, and under the strong dynamic environment of lung respiratory motion, the stiffness regulating unit is matched, the power-on and power-off state of the heating wire 22 is timely regulated, and the sheath tube soft and hard state is changed;
the rigidity value is reduced to be in a bending-adjustable state, bending adjustment is carried out by the bending adjustment wire 51, the bending angle of the sheath tube head section 1 is increased by controlling the forward rotation of the screw motor, the bending angle of the sheath tube head section 1 is reduced by controlling the reverse rotation of the screw motor, and the sheath tube is opposite to the focus position by combining the work of the rigidity adjusting and controlling unit and the bending device;
the rigidity value of the sheath tube is increased to be in a rigid state through natural cooling;
then surgical instruments such as biopsy forceps, biopsy needles and the like are inserted from the hollow channel 9 of the sheath, guided by the sheath, to reach the accurate focus position required by the operation, and biopsy sampling is completed;
after the surgical operation is completed, the electric heating is conducted again, and the sheath tube is withdrawn from the working channel of the bronchoscope 32 after being softened.
The stiffness-controllable sheath tube combines the bending-adjusting technology and the stiffness-controllable technology, can meet the minimally invasive surgery demands of different focus positions, and has important significance for the surgery operation of peripheral pulmonary nodules by cooperatively matching the robot bending-adjusting operation and the stiffness control.
Compared with the traditional medical instrument tool, the stiffness-controllable sheath tube can be well adapted to the robot-assisted bronchoscopy, the operation difficulty of doctors is reduced, and the doctors control the sheath tube to complete corresponding functions by means of the robot instructions.
That is, the invention adopts the combination mode of the robot and the rigidity controllable sheath, replaces doctors to directly operate flexible instruments in a robot operation mode, reduces the requirements on the operation skill level of the doctors, better guides the surgical instrument to reach the position of the operation focus, prevents the surgical instrument from damaging human tissues, influences the operation effect, provides rigid support for the focus when sampling or cutting off the focus, and improves the accuracy and safety of the operation.
The rigidity-controllable sheath tube is applied to a three-section bronchoscope operation procedure, the sheath tube can extend out of a commercial bronchoscope working channel, and the middle structure of the sheath tube can allow surgical tool instruments such as flexible biopsy forceps to pass through. Therefore, the rigidity-controllable sheath tube can enter a finer-level bronchus than a bronchoscope, the lung contact position of a surgical instrument tool is increased, the accuracy of surgery is improved, and the superfine sheath tube effectively reduces the safety risk caused by blind penetration of the surgical instrument tool such as a biopsy forceps in a human body and improves the safety of surgery.
The rigidity-controllable sheath tube adopts the low-melting-point alloy phase transition technology to realize the application of variable rigidity to bronchoscopy, and doctors can change the rigidity of the sheath tube according to the complexity of human anatomy environment so as to enable the sheath tube to smoothly pass through and reach the focus of operation.
The rigidity-controllable sheath tube has the characteristics of simple structure, no dependence on a complex skeleton structure, convenient manufacture and low cost, and safety and reliability, and cooling of the sheath tube is finished by depending on normal temperature of a human body and no dependence on external stimulation.
In general, the invention provides the rigidity-controllable sheath tube for robot-assisted bronchoscopy, the regulating and controlling method thereof and the surgical robot, the rigidity-controllable sheath tube has perfect functional structure, high adaptation degree with the robot, reduced doctor skill operation level and good rigidity-controllable effect, and can be applied to surgical focuses with different bending degrees and positions. The bending wire is matched with the controllable rigidity function, so that the sheath tube can be accurately aligned to a focus part in a strong dynamic environment of the lung, the biopsy instrument tool has stronger anti-interference capability while keeping flexibility, human tissues are prevented from being directly exposed under the biopsy instrument tool, scratch and puncture risks are reduced, and operation precision and safety are improved.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples only represent preferred embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. A stiffness-controllable sheath comprising:
the sheath tube comprises a head section, a transition section, a main body section and a tail section which are connected in sequence, wherein the sheath tube comprises an inner layer tube with a hollow channel for a biopsy instrument to pass through and an outer layer tube sleeved outside the inner layer tube, a phase change layer is arranged between the inner layer tube and the outer layer tube of the head section, the transition section, the main body section and the inner layer tube and the outer layer tube of the tail section are tightly attached, the inner layer tube of the sheath tube is made of polytetrafluoroethylene materials, and the outer layer tubes of the main body section and the tail end are made of Pebax elastomer materials;
the sheath regulation and control module comprises a rigidity regulation and control unit connected with the phase-change layer and a bending regulation and control device connected with the head section, wherein the rigidity regulation and control unit is used for regulating and controlling the phase-change state of the phase-change layer so as to regulate the rigidity of the head section in real time; the bending device comprises a bending wire and a length adjusting component connected with the bending wire, one end of the bending wire is connected with the length adjusting component, the other end of the bending wire penetrates through the main body section and the transition section of the sheath tube and is connected with the head section, and the length adjusting component is used for adjusting the length of the bending wire in the sheath tube, so that the bending wire drives the head section to bend at an angle, and the bending adjusting function of the sheath tube is realized;
the bending-adjusting wire is a polymer LCP wire with the diameter of 0.15 mm-0.18 mm; the length of the head section is 25-30 mm, and the outer layer pipe is made of Pebax elastomer material with Shore hardness of 20D; the length of the transition section is 5-10 mm, and the outer layer pipe is made of Pebax elastomer material with the Shore hardness of 40D; the length of the main body section is 50-55 mm, and the outer layer pipe is made of a Pebax elastomer material with the hardness of 60D; the outer layer tube of the tail section is made of a Pebax elastomer material with the hardness of 60D;
the length adjusting assembly comprises a supporting seat, a guide shaft arranged on the supporting seat, a guide sliding block slidably arranged on the guide shaft and a screw motor linked with the guide sliding block, wherein the guide sliding block is connected with the bending wire, and the screw motor is used for driving the guide sliding block to slide along the guide shaft so as to change the length of the bending wire in the sheath tube;
the rigidity regulating unit comprises a heating loop, a measuring loop and a controller electrically connected with the heating loop and the measuring loop, wherein the heating loop and the measuring loop are both connected with the phase-change layer, the phase-change layer is low-melting-point alloy filled between the inner layer tube and the outer layer tube, the heating loop comprises a heating wire spirally wound outside the inner layer tube and a driver electrically connected with the heating wire and the controller, the measuring loop comprises a measuring wire connected with the low-melting-point alloy and a resistance acquisition device electrically connected with the measuring wire and the controller, and the controller is used for regulating the current value of the heating wire through the driver based on the resistance value acquired by the resistance acquisition device so as to regulate the phase-change state of the low-melting-point alloy in real time;
the sheath tube comprises a stay wire chamber for accommodating the bending wire, a heating wire chamber for accommodating the heating wire and a measuring wire chamber for accommodating the measuring wire; the bending wire is arranged in the stay wire cavity, and one end of the bending wire is fixed on the head section through a thin gasket after being knotted; the stay wire chamber, the heating wire chamber and the measuring wire chamber are mutually independent; the pull wire chamber extends from the head section to the main body section in a penetrating manner; the heating wire chamber and the measuring wire chamber extend from the transition section to the tail section in a penetrating manner;
the low-melting-point alloy adopts bismuth-based eutectic alloy;
the pull wire chamber is disposed in the outer tube.
2. The stiffness controllable sheath of claim 1, wherein the length adjustment assembly further comprises a guide slider bracket coupled to the guide slider and the spindle of the lead screw motor, the guide slider bracket having a support portion adapted to the guide slider and a linkage portion extending from the support portion, the support portion and the guide slider being slidably disposed on the guide shaft, the spindle of the lead screw motor being coupled to the linkage portion.
3. The stiffness-controllable sheath of claim 2, wherein there are two of the support seats, the two support seats being supported at respective ends of the guide shaft; the length adjustment assembly further includes a motor bracket for supporting the lead screw motor.
4. The stiffness controllable sheath of claim 1,
the measuring wire is copper wire, gold wire or silver wire;
and/or the heating wire adopts an enamelled copper wire with the diameter of 0.04-0.06 mm, and the measuring wire adopts an enamelled copper wire with the exposed head end and the diameter of 0.08-0.1 mm.
5. A surgical robot, characterized in that the surgical robot is a three-stage surgical robot comprising a robot body, a stiffness controllable sheath according to any one of claims 1 to 4 arranged on the robot body and a biopsy instrument tool arranged on the stiffness controllable sheath, wherein the robot body comprises an endoscope, a bending device of the stiffness controllable sheath is arranged on the robot body, and the sheath of the stiffness controllable sheath is inserted in a working channel of the endoscope, and a biopsy instrument tool is inserted in a hollow channel of the sheath.
6. The surgical robot of claim 5, wherein the endoscope is a bronchoscope having an outside diameter ranging from: 5.1-5.2 mm, and the working channel size range of the bronchoscope is as follows: 2.5-2.6 mm, the external diameter size range of the sheath tube is as follows: 2.4-2.5 mm, wherein the size range of the hollow channel of the sheath tube is as follows: 1.1-1.2 mm, the outside diameter dimension of the biopsy instrument tool ranges from: 1.0 to 1.1mm.
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| US9439723B2 (en) * | 2013-06-20 | 2016-09-13 | Abhimanyu Beri | Variable stiffness catheter |
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| CN111050835A (en) * | 2017-09-05 | 2020-04-21 | 苏黎世联邦理工学院 | Steerable catheter with sections of different stiffness |
| CN114681755A (en) * | 2021-08-18 | 2022-07-01 | 瀚芯医疗科技(深圳)有限公司 | Adjustable bent conduit and adjustable bending device |
| CN114224269A (en) * | 2021-12-13 | 2022-03-25 | 复旦大学 | Automatically controlled drive integration electron soft mirror device of trachea cannula robot |
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