CN116869641A - Ablation needle instrument, surgical robot and control method of surgical robot - Google Patents
Ablation needle instrument, surgical robot and control method of surgical robot Download PDFInfo
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- CN116869641A CN116869641A CN202310861854.8A CN202310861854A CN116869641A CN 116869641 A CN116869641 A CN 116869641A CN 202310861854 A CN202310861854 A CN 202310861854A CN 116869641 A CN116869641 A CN 116869641A
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- 238000002679 ablation Methods 0.000 title claims abstract description 232
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 230000000452 restraining effect Effects 0.000 claims abstract description 3
- 230000000670 limiting effect Effects 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B2017/347—Locking means, e.g. for locking instrument in cannula
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
- A61B2018/0293—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques using an instrument interstitially inserted into the body, e.g. needle
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Otolaryngology (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses an ablation needle instrument, a surgical robot and a control method thereof, wherein the ablation needle instrument comprises: a base; a propulsion platform; a first driving mechanism; the ablation needle fixing seat can be rotatably arranged on the pushing platform around a rotating axis, the rotating axis extends along the X axis, and the ablation needle fixing seat is provided with a fixing groove for accommodating a handle part of the ablation needle; a lock for restraining a handle portion of the ablation needle within a fixed slot; the second driving mechanism is used for driving the ablation needle fixing seat to rotate; an ablation needle positioning element; the ablation needle fixing seat is configured to carry an ablation needle to reciprocate along an X axis relative to the base and rotate around the rotation axis, and the center line of the ablation needle is coincident with the rotation axis. The ablation needle instrument can realize the automatic propulsion and rotation of the ablation needle, improve the puncture quality and realize the rapid replacement of the ablation needle.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to an ablation needle instrument, a surgical robot and a control method thereof.
Background
Ablation needles are a commonly used consumable in ablation procedures, and can be generally used for treating tumors, and the ablation needles are required to be used for puncturing and entering a human body in the operation process. For example, chinese patent CN209826949U discloses a puncture device for a cryoablation needle, comprising a driving member, a limiting member, a slideway and a sliding member. Before an operation, determining the preset needle inserting depth of the ablation needle, moving the limiting piece to a proper position along the length direction of the slideway according to the preset needle inserting depth, driving the sliding piece to slide along the length direction of the slideway by the driving piece, and driving the ablation needle to move along the length direction of the slideway until the needle body of the ablation needle moves to the limiting piece, wherein the needle inserting depth of the ablation needle is the preset needle inserting depth. The ablation needle has some defects, such as simple advancing or retreating of the ablation needle, incapability of realizing a rotary twisting needle advancing method, low puncture quality and the like.
Disclosure of Invention
Aiming at the problems, the invention provides an ablation needle instrument, a surgical robot and a control method thereof, wherein the ablation needle instrument can realize the automatic propulsion and rotation of an ablation needle, improve the puncture quality and enable the ablation needle to be replaced quickly.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an ablation needle instrument comprising:
a base;
a propulsion platform movably arranged on the base along the X axis;
the first driving mechanism is used for driving the propelling platform to move on the base along the X axis;
the ablation needle fixing seat can be rotatably arranged on the pushing platform around a rotating axis, the rotating axis extends along the X axis, and the ablation needle fixing seat is provided with a fixing groove for accommodating a handle part of the ablation needle;
a lock for restraining a handle portion of the ablation needle within the fixation groove, the lock having at least a detachable end detachably connected to the ablation needle mount;
the second driving mechanism is used for driving the ablation needle fixing seat to rotate; and
An ablation needle positioning element disposed on the advancement platform;
the ablation needle fixing seat is configured to carry an ablation needle to reciprocate along an X axis relative to the base and rotate around the rotation axis, and the center line of the ablation needle is coincident with the rotation axis.
In a preferred embodiment, the first driving mechanism comprises a first motor arranged on the base, a first bevel gear connected with an output shaft of the first motor, a second bevel gear meshed with the first bevel gear, a gear coaxially connected with the second bevel gear, and a rack arranged on the propulsion platform, wherein the rack extends along an X axis, and the gear is meshed with the rack.
In a preferred embodiment, the output shaft of the first motor extends along the X-axis, and the first motor and the rack are arranged in parallel.
In a more preferred embodiment, the first driving mechanism further includes a first torque sensor and a first fixing seat, a first mounting plate extending upwards is disposed on the base, the output shaft of the first motor or the first bevel gear sequentially passes through the first mounting plate, the first torque sensor and the first fixing seat, one end portion of the first torque sensor is fixedly connected to the first mounting plate, the other end portion of the first torque sensor is connected to the first fixing seat, and the first motor is fixedly disposed on the first fixing seat.
In a preferred embodiment, the lock catch further has a hinged end portion, and the hinged end portion is hinged with the ablation needle fixing seat;
the lock catch is provided with a closed state and an open state, in the closed state, the hinged end part and the detaching end part are connected with the ablation needle fixing seat, and the lock catch spans the fixing groove so as to limit the ablation needle between the lock catch and the ablation needle fixing seat; when the ablation needle is in the open state, the hinged end part is connected with the ablation needle fixing seat, and the detachable end part is separated from the ablation needle fixing seat so as to form a notch for a handle part of the ablation needle to enter and exit the fixing groove.
More preferably, the detachable end has a catch, the ablation needle mount having an outwardly extending tab, the tab being inserted into the catch when the latch is in the closed state; when the lock catch is in the open state, the lug is separated from the clamping groove; the removal end also has a guide ramp to facilitate entry of the lug into the catch.
In a preferred embodiment, the latch further has a limiting surface between the detachable end and the hinged end, the limiting surface being arcuate outwardly of the fixed slot; the device comprises a pushing platform, a guide plate and a second mounting plate are arranged on the pushing platform along the X axis at intervals, a guide groove penetrating along the X axis is formed in the guide plate, the guide groove extends downwards from the upper surface of the guide plate to form an open top, a through hole penetrating along the X axis is formed in the second mounting plate, one end of an ablation needle fixing seat is contained in the guide groove and can rotate in the guide groove, and the other end of the ablation needle fixing seat is inserted in the through hole.
In a preferred embodiment, the fixing groove is provided with limiting parts for preventing the ablation needle from rotating in the fixing groove, the number of the limiting parts is at least two and the limiting parts are respectively positioned at two opposite sides of the handle part of the ablation needle, and the limiting parts are provided with inner surfaces which are plane; the lock catch and the limiting part are arranged at intervals along the X axis.
In a preferred embodiment, the second driving mechanism comprises a second motor and a synchronous belt transmission mechanism, the synchronous belt transmission mechanism is arranged between the second motor and the ablation needle fixing seat, and an output shaft of the second motor extends along the X axis.
In a preferred embodiment, the second driving mechanism further includes a second torque sensor and a second fixing seat, a third mounting plate is disposed on the propulsion platform, an output shaft of the second motor sequentially passes through the third mounting plate, the second torque sensor and the second fixing seat, one end of the second torque sensor is fixedly connected to the third mounting plate, and the other end of the second torque sensor is connected to the second fixing seat.
In a preferred embodiment, the base is provided with at least two position detection sensors arranged at intervals along the X axis, and the propulsion platform is fixedly provided with detection contacts matched with the position detection sensors; the base is provided with a sliding rail extending along an X axis, and the propelling platform is in sliding fit with the base through a sliding block which can be arranged on the sliding rail in a sliding manner along the X axis.
In a more preferred embodiment, the ablation needle instrument further comprises a quick release flange disposed on an end of the base for releasable connection with a robotic arm of a surgical robot.
The invention also adopts the following technical scheme:
a surgical robot comprising a robotic arm, said surgical robot further comprising an ablation needle instrument as described above, said ablation needle instrument being fittable onto said robotic arm.
In a preferred embodiment, the surgical robot has an ablation mode of operation in which the ablation needle instrument is disposed on the robotic arm and other modes of operation; in the other modes of operation, the ablation needle instrument is disengaged from the robotic arm.
The invention also adopts the following technical scheme:
the control method of the ablation needle instrument comprises one or more of a pushing step, a twisting step and an ablation needle replacement step;
the advancing step includes:
s101, driving the propulsion platform to move back and forth along an X axis through the first driving mechanism;
s102, detecting a first resistance value in the moving process of the ablation needle through a first torque sensor of the first driving mechanism;
s103, detecting the current position of the ablation needle through the ablation needle positioning element;
s104, controlling the first driving mechanism according to the first resistance value and/or the current position so as to enable the ablation needle to advance or retreat according to the expected direction and speed;
the spin twisting step includes:
s201, driving the ablation needle fixing seat to rotate through the second driving mechanism;
s202, detecting a second resistance value in the process of rotating the ablation needle through a second torque sensor of the second driving mechanism;
s203, detecting the current position of the ablation needle through the ablation needle positioning element;
s204, controlling the second driving mechanism according to the second resistance value and/or the current position so as to enable the ablation needle to rotate according to the expected direction and speed;
the ablation needle replacement step includes:
s301, enabling the detached end part of the lock catch to be separated from the ablation needle fixing seat, and taking out the ablation needle from the fixing groove;
s302, clamping the handle part of the new ablation needle into the fixing groove;
s303, connecting the detachable end part of the lock catch to the ablation needle fixing seat, and limiting the handle part of the ablation needle in the fixing groove.
Compared with the prior art, the invention has the following advantages:
according to the ablation needle instrument, the first driving mechanism is used for controllably propelling and backing the ablation needle, the second driving mechanism is used for controllably rotating the ablation needle forwards and backwards, the movement and rotation of the ablation needle in the X-axis direction can be independently operated or simultaneously carried out, the needle insertion by simulating the twisting needle insertion technique of a doctor in the process of puncturing the ablation needle can be realized, the puncturing quality is improved, and the surgical risk is reduced; after the detaching end part of the lock catch is separated from the ablation needle fixing seat, the ablation needle can be quickly detached and replaced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of an ablation needle instrument in accordance with an embodiment of the invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a front view of an ablation needle instrument in accordance with an embodiment of the invention;
FIG. 4 is a top view of an ablation needle instrument in accordance with an embodiment of the invention;
FIG. 5 is a side view of an ablation needle instrument in accordance with an embodiment of the invention;
FIG. 6 is an exploded view of an ablation needle instrument in accordance with an embodiment of the invention;
fig. 7 is a partial schematic view of an ablation needle instrument in accordance with an embodiment of the invention.
Wherein,,
100. an ablation needle; 110. a handle portion;
1. a base; 11. a first mounting plate; 12. a position detection sensor; 13. a slide rail; 131. a slide block;
2. a propulsion platform; 21. detecting a contact;
3. a first driving mechanism; 31. a first motor; 32. a first bevel gear; 33. a second bevel gear; 34. a gear; 35. a rack; 36. a first torque sensor; 37. a first fixing seat; 38. a fixed block; 39. a bearing; 391. a first C-clip; 392. a second C-clip;
4. an ablation needle fixing seat; 41. a fixing groove; 411. a limit part; 42. a lug;
5. locking; 51. disassembling the end part; 511. a clamping groove; 512. a guide slope; 52. a hinged end; 53. a limiting surface;
6. a second driving mechanism; 61. a second motor; 62. a synchronous belt transmission mechanism; 621. a belt; 622. a first pulley; 623. a second pulley; 63. a second torque sensor; 64. the second fixing seat;
8. a guide plate; 81. a guide groove; 9. a second mounting plate; 91. a through hole; 10. a third mounting plate; 101. quick-dismantling the flange; 102. an optical ball holder; 103. an infrared optical ball.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art. The description of these embodiments is provided to assist understanding of the present invention, but is not intended to limit the present invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The embodiment provides a surgical robot and an ablation needle instrument thereof, wherein the surgical robot comprises a mechanical arm, and the ablation needle instrument can be assembled on the mechanical arm. The surgical robot is provided with an ablation working mode and other working modes, and an ablation needle instrument is arranged on the mechanical arm in the ablation working mode; in other modes of operation, the ablation needle instrument is disengaged from the robotic arm. The ablation needle instrument is described in detail below.
Referring to fig. 1-7, the ablation needle instrument comprises: the ablation needle comprises a base 1, a propelling platform 2, a first driving mechanism 3, an ablation needle fixing seat 4, a lock catch 5, a second driving mechanism 6, an ablation needle positioning element and a quick-dismantling flange 101. Wherein, the propulsion platform 2 is movably arranged on the base 1 along the X axis; the first driving mechanism 3 is used for driving the propulsion platform 2 to move on the base 1 along the X axis; the ablation needle positioning element is arranged on the propulsion platform 2; the quick-release flange 101 is disposed at one end of the base 1 and is detachably connected with a mechanical arm of the surgical robot, and the ablation needle instrument can be replaced by a laparoscope, a surgical forceps and the like, i.e. the mechanical arm can carry the ablation needle instrument, the laparoscope, the surgical forceps and the like.
Referring to fig. 6, two position detection sensors 12 are arranged on the base 1 at intervals along the X axis, a detection contact piece 21 matched with the position detection sensors 12 is fixedly arranged on the propulsion platform 2, and the mutual matching of the position detection sensors 12 and the detection contact piece 21 increases the safety of the instrument in use; the base 1 is provided with a sliding rail 13 extending along the X axis, and the pushing platform 2 is slidably matched with the base 1 through a sliding block 131 slidably arranged on the sliding rail 13 along the X axis, specifically, the number of the sliding blocks 131 is three.
Further, a guide plate 8 and a second mounting plate 9 are arranged on the propulsion platform 2 at intervals along the X axis, a guide groove 81 penetrating along the X axis is formed in the guide plate 8, the guide groove 81 extends downwards from the upper surface of the guide plate 8 to form an open top, a through hole 91 penetrating along the X axis is formed in the second mounting plate 9, one end of the ablation needle fixing seat 4 is accommodated in the guide groove 81 and can rotate in the guide groove 81, and the other end of the ablation needle fixing seat 4 is inserted in the through hole 91.
The pushing platform 2 is further provided with an optical bracket 102, and the ablation needle positioning element comprises a plurality of optical balls 103 arranged on the optical bracket 102. More specifically, the number of the optical balls 103 is four, and they are respectively disposed on the upper, lower, left, and right sides of the optical mount 102. The optical bracket 102 moves along with the movement of the pushing platform 2, and can realize a remote operation function in cooperation with an optical positioning device. The optical ball 103 is specifically an infrared reflecting ball. The four infrared reflecting balls are matched with the infrared detection mechanism to accurately position the spatial position of the ablation needle by adopting a spatial four-point positioning principle, and the spatial position comprises X, Y, Z three-axis spatial coordinate positions. The four infrared reflecting balls are positioned on different planes in space, and the centers of any two infrared optical balls are not positioned on the same plane.
The ablation needle holder 4 is configured to be capable of carrying the ablation needle 100 to and fro along the X-axis relative to the base 1 and to be rotatable about a rotational axis, the central axis of the ablation needle 100 and the rotational axis coinciding. The ablation needle fixing seat 4 is rotatably arranged on the propulsion platform 2 around a rotation axis, and the rotation axis extends along the X axis. Further, the ablation needle holder 4 has a fixing groove 41 for receiving the handle portion 110 of the ablation needle 100, and the lock catch 5 serves to restrict the handle portion of the ablation needle 100 within the fixing groove 41.
Referring to fig. 7, the fixing groove 41 has a limiting portion 411 for preventing the ablation needle 100 from rotating in the fixing groove 41, the number of limiting portions 411 is at least two and is respectively located at opposite sides of the handle portion 110 of the ablation needle, and the limiting portion 411 has a planar inner surface. The lock catch 5 and the limiting portion 411 are arranged at intervals along the X axis.
Further, the shackle 5 has a disassembly end 51, a hinge end 52, and a limiting surface 53 between the disassembly end 51 and the hinge end 52. Specifically, the detachable end 51 is detachably connected to the ablation needle holder 4, and the hinge end 52 is hinged to the ablation needle holder 4, and the restricting surface 53 is in an arc shape that is arched outward with respect to the fixing groove 41.
The lock catch 5 has a closed state in which the hinged end 52 and the detachable end 51 are both connected to the ablation needle holder 4, and an open state in which the lock catch 5 spans the fixing groove 41 to restrain the ablation needle 100 between the lock catch 5 and the ablation needle holder 4; in the open state, the hinged end 52 is connected to the needle holder 4 and the detachable end 51 is disengaged from the needle holder 4 to form a gap through which the handle portion 110 of the needle can be moved into and out of the slot 41.
When the ablation needle 100 is replaced, the detaching end 51 of the lock catch 5 is separated from the ablation needle fixing seat 4, the ablation needle 100 is removed from the fixing groove 41, the handle part of a new ablation needle is clamped into the fixing groove 41, and finally the detaching end 51 is connected to the ablation needle fixing seat 4, so that the rapid detachment and replacement of the ablation needle 100 are realized.
As shown in connection with fig. 1 and 7, the detachable end 51 has a catch 511, the ablation needle holder 4 has an outwardly extending tab 42, and the tab 42 is inserted into the catch 511 when the latch 5 is in the closed state; when the lock catch 5 is in the open state, the lugs 42 are disengaged from the clamping grooves 511; the removal end 51 also has a guide ramp 512 that facilitates the entry of the lugs 42 into the detents 511.
The first driving mechanism 3 comprises a first motor 31 arranged on the base 1, a first bevel gear 32 connected with an output shaft of the first motor 31, a second bevel gear 33 meshed with the first bevel gear 32, a gear 34 coaxially connected with the second bevel gear 33, a rack 35 arranged on the propulsion platform 2, a first moment sensor 36, a first fixing seat 37, a fixing block 38 arranged between the gear 34 and the second bevel gear 33, a bearing 39, a first C-shaped fastener 391 and a second C-shaped fastener 392, wherein the rack 35 extends along the X axis, and the gear 34 is meshed with the rack 35, so that the structure is compact.
The output shaft of the first motor 31 extends along the X-axis, and the first motor 31 and the rack 35 are juxtaposed. The base 1 is provided with a first mounting plate 11 extending upwards, the first bevel gear 32 sequentially passes through the first mounting plate 11, a first torque sensor 36 and a first fixing seat 37, one end part of the first torque sensor 36 is fixedly connected with the first mounting plate 11, the other end part of the first torque sensor 36 is connected with the first fixing seat 37, and the first motor 31 is fixedly arranged on the first fixing seat 37.
The second driving mechanism 6 is used for driving the ablation needle fixing seat 4 to rotate. Specifically, the second driving mechanism 6 includes a second motor 61, a synchronous belt transmission mechanism 62, a second torque sensor 63 and a second fixing seat 64, the synchronous belt transmission mechanism 62 is disposed between the second motor 61 and the ablation needle fixing seat 4, and the synchronous belt transmission mechanism 62 specifically includes a belt 621, and a first belt pulley 622 and a second belt pulley 623 disposed in the belt 621. The output shaft of the second motor 61 extends along the X axis. The propulsion platform 2 is provided with a third mounting plate 10, and an output shaft of the second motor 61 sequentially passes through the third mounting plate 10, the second moment sensor 63 and the second fixing seat 64, one end part of the second moment sensor 63 is fixedly connected to the third mounting plate 10, and the other end part of the second moment sensor 63 is connected to the second fixing seat 64.
The ablation needle apparatus of this embodiment realizes the functions of advancing and retracting and rotating forward and backward of the ablation needle 100 through the first driving mechanism 3 and the second driving mechanism 6, wherein the movement and rotation functions of the ablation needle 100 can be independently operated, and can also be operated in a combined manner, that is, the ablation needle can be simultaneously operated to perform forward rotation or reverse rotation in the advancing and retracting process, and similarly, the ablation needle can be simultaneously operated to advance or retract in the forward rotation or reverse rotation process.
The principle of movement of the ablation needle instrument of this embodiment is as follows: when the ablation needle 100 advances or retreats, the first motor 31 drives the first bevel gear 32 to be meshed with the second bevel gear 33 to drive the gear 34 to roll on the rack 35, the rack 35 is arranged on the propulsion platform 2, the propulsion platform 2 is in sliding connection with the base 1 through the sliding block 131 on the sliding rail 13, the propulsion platform 2 linearly reciprocates along the X axis direction, in the process, the first moment sensor 36 can detect and feed back measured data in real time to adjust the moving speed of the ablation needle 100, and the position detection sensor 12 is matched with the detection contact piece 21 to stop the advancing or retreating of the ablation needle 100 at a designated position; when the ablation needle 100 rotates positively and reversely, the second motor 61 drives the first belt pulley 622 to rotate, the belt 621 drives the second belt pulley 623 to rotate, and the ablation needle fixing seat 4 is fixedly connected with the second belt pulley 623, the ablation needle 100 and the lock catch 5, so that the positive and negative rotation function of the ablation needle 100 is realized. During this process, the second torque sensor 63 may detect and feed back the measured data in real time to adjust the rotational speed of the ablation needle 100.
The embodiment also provides a control method of the ablation needle apparatus, which comprises a pushing step, a twisting step and an ablation needle replacing step.
The propelling step comprises the following steps:
s101, driving the propulsion platform 2 to move back and forth along an X axis through the first driving mechanism 3;
s102, detecting a first resistance value in the moving process of the ablation needle 100 through a first torque sensor 36 of the first driving mechanism 3;
s103, detecting the current position of the ablation needle 100 through the ablation needle positioning element;
s104, controlling the first driving mechanism 3 according to the first resistance value and/or the current position so as to enable the ablation needle 100 to advance or retreat according to the expected direction and speed;
the spinning step comprises the following steps:
s201, driving the ablation needle fixing seat 4 to rotate through the second driving mechanism 6;
s202, detecting a second resistance value in the rotating process of the ablation needle 100 through a second torque sensor 63 of the second driving mechanism 6;
s203, detecting the current position of the ablation needle 100 through the ablation needle positioning element;
s204, controlling the second driving mechanism 6 according to the second resistance value and/or the current position so as to enable the ablation needle 100 to rotate according to the expected direction and speed;
the ablation needle replacement step includes:
s301, detaching the detaching end 51 of the lock catch 5 from the ablation needle fixing seat 4, and taking out the ablation needle 100 from the fixing groove 41;
s302, clamping the handle part of the new ablation needle into the fixing groove 41;
s303, connecting the detaching end 51 of the lock catch 5 to the ablation needle fixing seat 4, and limiting the handle part 101 of the ablation needle in the fixing groove 41.
The ablation needle instrument of this embodiment has at least the following advantages:
(1) The ablation needle 100 can be replaced quickly, and is compatible with multiple brands and multiple styles of ablation needles;
(2) The ablation needle 100 can not only advance or retreat, but also rotate forward or reversely, so that the needle can be penetrated by a spiral twisting needle-feeding method imitating a doctor in the process of puncturing the ablation needle, the puncturing quality is improved, and the operation risk is reduced;
(3) The advancing and rotating moment of the ablation needle 100 can be digitized through the first moment sensor 36 and the second moment sensor 63, so that the advancing or rotating speed of the ablation needle 100 can be conveniently adjusted;
(4) By providing the position detection sensor 12 and the detection contact 21, the safety of the ablation needle instrument in use can be increased;
(5) The first driving mechanism 3 and the second driving mechanism 5 are staggered in the front-rear direction of the X axis, the first bevel gear 32 and the second bevel gear 33 of the first driving mechanism 3 are meshed, the gear 34 and the second bevel gear 33 are coaxially connected, the gear 34 is meshed with the rack 35, the rack 35 and the first motor 31 are arranged side by side, the whole structure is compact and lightweight, and the size of the instrument in the X axis direction is reduced.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
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 or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The above-described embodiments are provided for illustrating the technical concept and features of the present invention, and are intended to be preferred embodiments for those skilled in the art to understand the present invention and implement the same according to the present invention, not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (15)
1. An ablation needle instrument, comprising:
a base;
a propulsion platform movably arranged on the base along the X axis;
the first driving mechanism is used for driving the propelling platform to move on the base along the X axis;
the ablation needle fixing seat can be rotatably arranged on the pushing platform around a rotating axis, the rotating axis extends along the X axis, and the ablation needle fixing seat is provided with a fixing groove for accommodating a handle part of the ablation needle;
a lock for restraining a handle portion of the ablation needle within the fixation groove, the lock having at least a detachable end detachably connected to the ablation needle mount;
the second driving mechanism is used for driving the ablation needle fixing seat to rotate; and
An ablation needle positioning element disposed on the advancement platform;
the ablation needle fixing seat is configured to carry an ablation needle to reciprocate along an X axis relative to the base and rotate around the rotation axis, and the center line of the ablation needle is coincident with the rotation axis.
2. The ablation needle instrument of claim 1, wherein the first drive mechanism comprises a first motor disposed on the base, a first bevel gear coupled to an output shaft of the first motor, a second bevel gear engaged with the first bevel gear, a gear coaxially coupled to the second bevel gear, and a rack disposed on the advancement platform, the rack extending along the X-axis, the gear engaged with the rack.
3. The ablation needle instrument of claim 2, wherein the output shaft of the first motor extends along an X-axis, the first motor and the rack being juxtaposed.
4. The ablation needle instrument of claim 2, wherein the first driving mechanism further comprises a first torque sensor and a first fixing seat, a first mounting plate extending upwards is arranged on the base, an output shaft of the first motor or the first bevel gear sequentially penetrates through the first mounting plate, the first torque sensor and the first fixing seat, one end part of the first torque sensor is fixedly connected with the first mounting plate, the other end part of the first torque sensor is connected with the first fixing seat, and the first motor is fixedly arranged on the first fixing seat.
5. The ablation needle instrument of claim 1, wherein the lock further has a hinged end portion, the hinged end portion being hinged to the ablation needle mount;
the lock catch is provided with a closed state and an open state, in the closed state, the hinged end part and the detaching end part are connected with the ablation needle fixing seat, and the lock catch spans the fixing groove so as to limit the ablation needle between the lock catch and the ablation needle fixing seat; when the ablation needle is in the open state, the hinged end part is connected with the ablation needle fixing seat, and the detachable end part is separated from the ablation needle fixing seat so as to form a notch for a handle part of the ablation needle to enter and exit the fixing groove.
6. The ablation needle instrument of claim 5, wherein the detachable end has a detent, the ablation needle mount having an outwardly extending tab, the tab being inserted into the detent when the latch is in the closed state; when the lock catch is in the open state, the lug is separated from the clamping groove; the removal end also has a guide ramp to facilitate entry of the lug into the catch.
7. The ablation needle instrument of claim 5, wherein the lock further has a limiting surface between the detachment end and the articulation end, the limiting surface being arcuate outwardly of the securement slot; the device comprises a pushing platform, a guide plate and a second mounting plate are arranged on the pushing platform along the X axis at intervals, a guide groove penetrating along the X axis is formed in the guide plate, the guide groove extends downwards from the upper surface of the guide plate to form an open top, a through hole penetrating along the X axis is formed in the second mounting plate, one end of an ablation needle fixing seat is contained in the guide groove and can rotate in the guide groove, and the other end of the ablation needle fixing seat is inserted in the through hole.
8. The ablation needle instrument of claim 1, wherein the fixed slot has a limiting portion for preventing the ablation needle from rotating within the fixed slot, the limiting portion being at least two in number and located on opposite sides of a handle portion of the ablation needle, respectively, the limiting portion having a planar inner surface; the lock catch and the limiting part are arranged at intervals along the X axis.
9. The ablation needle instrument of claim 1, wherein the second drive mechanism comprises a second motor and a synchronous belt drive mechanism disposed between the second motor and the ablation needle mount, an output shaft of the second motor extending along an X-axis.
10. The ablation needle instrument of claim 1, wherein the second driving mechanism further comprises a second torque sensor and a second fixing seat, a third mounting plate is arranged on the pushing platform, an output shaft of the second motor sequentially penetrates through the third mounting plate, the second torque sensor and the second fixing seat, one end portion of the second torque sensor is fixedly connected with the third mounting plate, and the other end portion of the second torque sensor is connected with the second fixing seat.
11. The ablation needle instrument of claim 1, wherein the base is provided with at least two position detection sensors arranged at intervals along the X-axis, and the pushing platform is fixedly provided with detection contacts matched with the position detection sensors; the base is provided with a sliding rail extending along an X axis, and the propelling platform is in sliding fit with the base through a sliding block which can be arranged on the sliding rail in a sliding manner along the X axis.
12. The ablation needle instrument of claim 1, further comprising a quick release flange disposed on an end of the base for releasable connection with a robotic arm of a surgical robot.
13. A surgical robot comprising a robotic arm, wherein the surgical robot further comprises an ablation needle instrument as claimed in any one of claims 1 to 12, the ablation needle instrument being fittable onto the robotic arm.
14. The surgical robot of claim 13, wherein the surgical robot has an ablation mode of operation and an additional mode of operation, the ablation needle instrument being disposed on the robotic arm in the ablation mode of operation; in the other modes of operation, the ablation needle instrument is disengaged from the robotic arm.
15. A method of controlling an ablation needle instrument as in any of claims 1-12, comprising one or more of a pushing step, a twisting step, and an ablation needle replacement step;
the advancing step includes:
s101, driving the propulsion platform to move back and forth along an X axis through the first driving mechanism;
s102, detecting a first resistance value in the moving process of the ablation needle through a first torque sensor of the first driving mechanism;
s103, detecting the current position of the ablation needle through the ablation needle positioning element;
s104, controlling the first driving mechanism according to the first resistance value and/or the current position so as to enable the ablation needle to advance or retreat according to the expected direction and speed;
the spin twisting step includes:
s201, driving the ablation needle fixing seat to rotate through the second driving mechanism;
s202, detecting a second resistance value in the process of rotating the ablation needle through a second torque sensor of the second driving mechanism;
s203, detecting the current position of the ablation needle through the ablation needle positioning element;
s204, controlling the second driving mechanism according to the second resistance value and/or the current position so as to enable the ablation needle to rotate according to the expected direction and speed;
the ablation needle replacement step includes:
s301, enabling the detached end part of the lock catch to be separated from the ablation needle fixing seat, and taking out the ablation needle from the fixing groove;
s302, clamping the handle part of the new ablation needle into the fixing groove;
s303, connecting the detachable end part of the lock catch to the ablation needle fixing seat, and limiting the handle part of the ablation needle in the fixing groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310861854.8A CN116869641A (en) | 2023-07-13 | 2023-07-13 | Ablation needle instrument, surgical robot and control method of surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310861854.8A CN116869641A (en) | 2023-07-13 | 2023-07-13 | Ablation needle instrument, surgical robot and control method of surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117481766A (en) * | 2024-01-02 | 2024-02-02 | 北京精准医械科技有限公司 | Quick assembly disassembly clamping structure of ablation needle and piercing depth thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117481766A (en) * | 2024-01-02 | 2024-02-02 | 北京精准医械科技有限公司 | Quick assembly disassembly clamping structure of ablation needle and piercing depth thereof |
| CN117481766B (en) * | 2024-01-02 | 2024-05-10 | 北京精准医械科技有限公司 | Quick assembly disassembly clamping structure of ablation needle and piercing depth thereof |
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