CN117257469A - Endoscope robot consulting room - Google Patents
Endoscope robot consulting room Download PDFInfo
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- CN117257469A CN117257469A CN202311561949.4A CN202311561949A CN117257469A CN 117257469 A CN117257469 A CN 117257469A CN 202311561949 A CN202311561949 A CN 202311561949A CN 117257469 A CN117257469 A CN 117257469A
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- endoscope
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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
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/02—Stretchers with wheels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G1/00—Stretchers
- A61G1/04—Parts, details or accessories, e.g. head-, foot-, or like rests specially adapted for stretchers
-
- 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
Abstract
The invention discloses an endoscope robot diagnosis room which comprises an endoscope robot system, an automatic transfer sickbed, an automatic instrument transfer trolley, an intelligent mechanical suspension arm and a control console. In the application process of the endoscope robot consulting room, a nurse only needs to install or detach the soft endoscope on the endoscope robot system, so that the working intensity of the nurse is reduced; the soft endoscope is conveyed and the operation of the instruments is realized by controlling the endoscope robot system through the doctor operation console, so that the cooperation requirement of doctors and nurses is reduced, and the working strength of the doctors is reduced. Above-mentioned endoscope robot system, automatic transportation sick bed, automatic transportation dolly of apparatus and intelligent mechanical davit collaborative operation under the control of control cabinet, promoted the intelligent degree of endoscope consulting room by a wide margin, reduced endoscopy and operation preparation time by a wide margin, can inspect and treat more patients in the same time.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to an endoscope robot consulting room.
Background
The natural cavity tracts such as the digestive tract, the respiratory tract, the urethra and the like are the parts easy to cause common diseases of human beings, and the focus is positioned in the natural cavity tracts of the human body, so that the examination and the treatment are required to be carried out through a soft endoscope. When a doctor operates the soft endoscope, the doctor needs to hold the handle of the endoscope by one hand, and the rotation of the snake bone at the front end of the soft endoscope is realized by controlling the size of the impeller, so that the observation is convenient; the other hand needs to hold the soft endoscope insertion part and insert the soft endoscope insertion part into the patient body, so that the front end of the endoscope insertion part reaches the lesion part for observation, treatment and operation. In addition, in endoscopic surgery, it is necessary to insert an operating instrument such as a biopsy forceps or a snare through an instrument channel of an endoscope so that a distal end effector of the operating instrument can perform various examination and operation devices on a lesion.
Before the endoscope examination, a doctor needs to push the patient to a designated position by a sickbed for a nurse, then the nurse needs to take out the washed soft endoscope from the endoscope decontamination chamber and install the soft endoscope on an endoscope workstation, at the moment, the doctor needs to control the endoscope by both hands to examine, when the pathological change place needs to be sampled and biopsied or interventional therapy is found, the nurse needs to take out the corresponding interventional therapy instrument according to the actual clinical condition, the aseptic package is removed, and the doctor and the nurse can be mutually matched to complete the corresponding operation. In actual conditions, problems of unsmooth matching, inconvenient operation and the like often occur, the operation difficulty is increased, and the operation precision and the operation stability of the endoscopic surgery are further affected.
Therefore, how to improve the operation precision and the operation stability under the premise of reducing the matching requirement is a technical problem to be solved by the technicians in the field.
Disclosure of Invention
The invention provides an endoscope robot diagnosis room, which improves the operation precision and the operation stability on the premise of reducing the matching requirement.
In order to achieve the above object, the present invention provides the following technical solutions:
the invention provides an endoscope robot diagnosis room, which comprises an endoscope robot system, an automatic transfer sickbed, an automatic instrument transfer trolley, an intelligent mechanical suspension arm and a control console, wherein:
The endoscope robot system is arranged adjacent to the automatic transfer sickbed to convey the soft endoscope to a patient positioned on the automatic transfer sickbed and operate the instrument;
the automatic transfer sickbed can automatically move between the observation area and the operation area;
the intelligent mechanical suspension arm is positioned above the endoscope robot system so as to mount the instrument stored in the automatic instrument transferring trolley on the endoscope robot system;
the automatic transferring trolley of the apparatus can automatically move to the operation range of the intelligent mechanical boom, and is used for storing the apparatus, conveying the apparatus to a position to be grasped and breaking aseptic packages of the apparatus;
the control console performs information interaction with the endoscope robot system, the automatic transfer sickbed, the automatic transfer trolley of the instrument and the intelligent mechanical suspension arm, and controls corresponding actions of the endoscope robot system, the automatic transfer sickbed, the automatic transfer trolley of the instrument and the intelligent mechanical suspension arm according to the operation of doctors.
Optionally, in the endoscope robot consulting room of the present invention, the endoscope robot system includes an endoscope robot trolley and an endoscope workstation, wherein: the endoscope robot trolley can convey the soft endoscope and the operation instrument according to the operation information; and the endoscope workstation performs information interaction with the console.
Optionally, in the endoscope robot consulting room of the present invention, the endoscope robot trolley includes a first vehicle body, a linear guide rail module, a first mechanical arm, an endoscope conveying device, a second mechanical arm, an instrument operating device, an endoscope operating device and a first optical navigation module, wherein: the linear guide rail module is arranged on the first vehicle body along the vertical direction; the first mechanical arm and the second mechanical arm are arranged on the linear guide rail module to move in the vertical direction; the endoscope conveying device is positioned at the tail end of the first mechanical arm so as to convey the soft endoscope; the instrument operation device and the endoscope operation device are positioned on the second mechanical arm to operate the soft endoscope and the instrument; the first optical navigation module is positioned on the linear guide rail module to acquire image navigation information; the first car body can bear the linear guide rail module, the first mechanical arm, the endoscope conveying device, the second mechanical arm, the instrument operating device, the endoscope operating device and the first optical navigation module to move.
Optionally, in the endoscope robot diagnosis room of the present invention, the linear guide rail module includes a first linear guide rail module and a second linear guide rail module, wherein the first mechanical arm is disposed on the first linear guide rail module, and the second mechanical arm is disposed on the second linear guide rail module, so as to respectively drive the first mechanical arm and the second mechanical arm to move in a vertical direction.
Optionally, in the endoscope robot diagnosis room of the present invention, the endoscope conveying device includes an endoscope actuating mechanism and an endoscope driving mechanism, and the endoscope actuating mechanism is detachably mounted on the endoscope driving mechanism, so as to implement the clamping and conveying actions of the soft endoscope, and the endoscope driving mechanism can drive the endoscope actuating mechanism to rotate, so as to implement the rotating action of the soft endoscope.
Optionally, in the endoscope robot diagnosis room, the endoscope operation device comprises a pulsator operation mechanism, a button operation mechanism and a rotation mechanism, wherein the pulsator operation mechanism can drive a big pulsator and a small pulsator of an endoscope handle to rotate; the button operating mechanism can drive the water and air buttons of the endoscope handle to act, and the rotating mechanism can realize the rotation of the endoscope handle.
Optionally, in the endoscope robot consulting room, the instrument operation device comprises an instrument conveying driving mechanism and an instrument guide wire driving mechanism, wherein the instrument conveying driving mechanism drives the conveying action of the instrument, and the instrument guide wire driving mechanism drives the instrument guide wire to move back and forth so as to execute the operation action.
Optionally, in the endoscope robot consulting room of the present invention, the automatic transfer sickbed includes a second car body, a bed board and a first lifting device, wherein: the first lifting device is connected with the bed board and the second car body so as to drive the bed board and the first lifting device to move according to navigation.
Optionally, in the endoscope robot diagnosis room of the present invention, the endoscope robot diagnosis room further includes an endoscope automatic transfer system disposed between the diagnosis room and the endoscope decontamination room to transfer the soft endoscope.
Optionally, in the endoscope robot diagnosis room, the endoscope automatic transfer system comprises a transfer rail and a transfer trolley, wherein the transfer rail is paved in the endoscope decontamination room and the diagnosis room, and the transfer trolley runs on the transfer rail so as to transfer the endoscope and/or the instrument from the diagnosis room to the endoscope decontamination room.
Optionally, in the endoscope robot consulting room of the invention, the endoscope automatic transfer system is arranged at the top of the endoscope decontamination room and the consulting room.
Optionally, in the endoscope robot consulting room of the present invention, the endoscope automatic transfer system may further include a vehicle body frame, a second lifting device, and a lifting box, wherein: the car body frame is installed on the transfer car, and second elevating gear installs between lift box and car body frame to order about lift box to carry out elevating movement in vertical direction.
Optionally, in the endoscope robot consulting room of the present invention, the transfer trolley includes a third vehicle body, casters, a transfer trolley motor, a first fixed block and a differential, wherein: four casters are arranged on the transfer rail to run on the transfer rail, wherein the four casters are used as front wheels of the transfer vehicle, the two casters are used as rear wheels of the transfer vehicle; two casters serving as front wheels are in transmission connection with a motor of the transfer trolley through a differential mechanism, and two casters serving as rear wheels are in transmission connection with the motor of the transfer trolley through the differential mechanism; the transfer car (buggy) motor passes through first fixed block and is connected with the third automobile body.
Optionally, in the endoscope robot consulting room of the present invention, the second lifting device includes a lifting frame, a lifting motor, a second fixed block, a first pulley, a second pulley and a belt, wherein: the lifting frame is arranged on the vehicle body frame; the first pulley is rotatably arranged on the lifting frame around the axis of the first pulley and is in transmission connection with the lifting motor, and the lifting motor is fixed on the lifting frame through the second fixed block; the second pulley is rotatably arranged on the vehicle body frame around the axis of the second pulley; one end of the belt is fixed on the lifting box and wound on the first pulley after bypassing the second pulley.
Optionally, in the endoscope robot diagnosis room of the invention, two second lifting devices are respectively positioned at two sides of the lifting box and the vehicle body frame.
Optionally, in the endoscope robot consulting room of the present invention, the instrument automatic transfer trolley includes a fourth vehicle body and an instrument storage device, wherein: the apparatus storage device is arranged on a fourth vehicle body, and the fourth vehicle body drives the apparatus storage device to move into the operation range of the intelligent mechanical suspension arm.
Optionally, in the endoscope robot consulting room of the present invention, the instrument storage device includes a storage housing, an instrument transfer mechanism, and an instrument package breaking mechanism, wherein: the device comprises a storage shell, a device transmission mechanism, a device package breaking mechanism and a device storage mechanism, wherein the storage shell is provided with a storage position and a device package breaking mechanism; the instrument package breaking mechanism is used for breaking aseptic packages on the instrument.
Optionally, in the endoscope robot diagnosis room, the instrument transfer mechanism comprises a screw guide rail module, a supporting table, a weighing sensor and a chassis, wherein the screw guide rail module is arranged inside the storage shell along the vertical direction; the supporting platform is arranged at the lifting end of the lead screw guide rail module; the chassis is arranged on the supporting table, and forms a storage position for storing the instruments with the storage shell, and the instruments are stacked in the storage position along the vertical direction; the weighing sensor is arranged between the chassis and the supporting table to acquire weight information on the chassis.
Optionally, in the endoscope robot consulting room of the present invention, the instrument package breaking mechanism includes a breaking driving component, a transmission component, a bearing, a breaking knife and a rotating part, wherein: the breaking driving assembly is arranged on the storage shell and is in transmission connection with the transmission assembly; the transmission assembly is in transmission connection with the rotating part to drive the rotating part to rotate; the bearing is fixed on the storage shell; the rotating part is rotatably connected with the bearing so as to drive the instrument to rotate; the breaking knife is arranged on the bearing so as to be matched with the breaking knife to break the sterile package when the instrument rotates along with the rotating part.
Optionally, in the endoscope robot diagnosis room, the rotating part comprises a shaft sleeve, an adapter plate, an instrument supporting plate, a micro switch and a pressure spring, wherein the shaft sleeve is positioned in a bearing and is in transmission connection with the transmission component; the adapter plate is arranged on the shaft sleeve and rotates along with the shaft sleeve; the instrument supporting plate is arranged on the adapter plate through a pressure spring; the micro switch is arranged between the instrument supporting plate and the adapter plate, and is turned on after an instrument is placed on the instrument supporting plate.
Optionally, in the endoscope robot consulting room of the present invention, the instrument storage device may further include an inhalation mechanism, the inhalation mechanism being disposed adjacent to the instrument package breaking mechanism, the inhalation mechanism being operated to inhale the broken sterile package into the inhalation mechanism in a process of breaking the sterile package by the instrument package breaking mechanism.
Optionally, in the endoscope robot consulting room of the present invention, the suction mechanism may include a suction motor, a fourth fixed block, a packaging storage box, a bellows, a propeller, and a filter plate, wherein: the propeller is arranged on an output shaft of the suction motor, and the suction motor is fixed on the storage shell through a fourth fixed block; the suction inlet of the packaging storage box is communicated with the instrument packaging breaking mechanism through a corrugated pipe; the propeller is arranged at the suction port of the packaging storage box; the filter is located between the storage cavity of the packaging storage box and the suction port.
According to the technical scheme, in the specific application process of the endoscope robot diagnosis room, a doctor operates a control console, and the control console controls an automatic transfer sickbed for bearing a patient to move to an operation area; the nurse installs the soft endoscope at the corresponding position of the endoscope robot system in advance; the control console controls the endoscope robot system to convey the soft endoscope to be a focus of a patient; according to the condition of the focus, the console controls the automatic transfer trolley of the instrument to move into the operation range of the intelligent mechanical boom, and transmits the corresponding instrument to the position to be grabbed; the intelligent mechanical suspension arm is used for grabbing an instrument positioned at a position to be grabbed and is arranged on the endoscope robot system; the control console controls the endoscope robot system to perform corresponding operation, and after the operation is completed, the control console controls the intelligent mechanical suspension arm to detach the instrument of the endoscope robot system; the nurse removes the soft endoscope from the endoscope robot system; the automatic transfer sickbed automatically transfers the patient to the observation area, and the control console controls the endoscope robot system to automatically perform initialization operation.
Therefore, in the specific application process of the endoscope robot consulting room, a nurse only needs to install the soft endoscope on the endoscope robot system and detach the soft endoscope from the endoscope robot system after the operation is finished, so that the working intensity of the nurse is reduced; the soft endoscope is conveyed and the operation of the instruments is realized by controlling the endoscope robot system through the doctor operation console, so that the cooperation requirement of doctors and nurses is reduced, and the working strength of the doctors is reduced. Above-mentioned endoscope robot system, automatic transportation sick bed, automatic transportation dolly of apparatus and intelligent mechanical davit collaborative operation under the control of control cabinet, promoted the intelligent degree of endoscope consulting room by a wide margin, reduced endoscopy and operation preparation time by a wide margin, can inspect and treat more patients in the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present invention, and it is possible for those of ordinary skill in the art to obtain other drawings from the provided drawings without inventive effort, and to apply the present invention to other similar situations from the provided drawings. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.
FIG. 1 is a schematic view of an endoscopic robot room according to an embodiment of the present invention;
FIG. 2 is an overall schematic diagram of an endoscopic robot system of an endoscopic robot room provided in an embodiment of the present invention;
fig. 3 is a schematic diagram of the overall structure of an endoscope robot trolley of an endoscope robot consulting room provided by the embodiment of the invention;
fig. 4 is an exploded schematic view of an endoscope conveying device of an endoscope robot trolley of an endoscope robot consulting room provided by an embodiment of the present invention;
FIG. 5 is an overall schematic diagram of an endoscope operation device and an instrument operation device of an endoscope robot trolley of an endoscope robot consulting room provided by an embodiment of the present invention;
FIG. 6 is an exploded view of an endoscope operating device and an instrument operating device of an endoscope robot trolley for an endoscope robot room according to an embodiment of the present invention;
fig. 7 is an overall schematic diagram of an automatic transfer hospital bed of an endoscope robot clinic provided by an embodiment of the present invention;
FIG. 8 is an overall schematic diagram of an automatic endoscope transfer system for an endoscope robot consulting room provided by an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a transfer vehicle of an endoscope automatic transfer system of an endoscope robot diagnosis room according to an embodiment of the present invention;
Fig. 10 is a schematic structural view of a transfer cart body of an endoscope automatic transfer system of an endoscope robot diagnosis room according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a transfer trolley lifting device of an endoscope automatic transfer system of an endoscope robot diagnosis room according to an embodiment of the present invention;
fig. 12 is a schematic diagram of the overall structure of an automatic instrument transfer trolley of an endoscope robot diagnosis room according to an embodiment of the present invention;
FIG. 13 is a front view of an instrument auto transfer cart for an endoscopic robotic office provided in an embodiment of the present invention;
FIG. 14 is a rear view of an instrument auto-transfer cart for an endoscopic robotic office provided in an embodiment of the present invention;
fig. 15 is a schematic structural view of an apparatus transfer mechanism of an apparatus automatic transfer trolley of an endoscope robot diagnosis room according to an embodiment of the present invention;
fig. 16 is a schematic structural view of an apparatus breaking and packaging mechanism of an apparatus automatic transfer trolley of an endoscope robot diagnosis room according to an embodiment of the present invention;
FIG. 17 is an exploded view of an inhalation device for an automated instrument transfer cart for an endoscopic robotic office in accordance with an embodiment of the present invention;
FIG. 18 is a schematic diagram of the overall structure of an intelligent mechanical boom of an endoscope robot room according to an embodiment of the present invention;
FIG. 19 is a schematic diagram of a console according to an embodiment of the present invention;
in the figure: 100-endoscope robot system, 200-automatic transfer sickbed, 300-endoscope automatic transfer system, 400-instrument automatic transfer trolley, 500-intelligent mechanical boom, 600-control console, 700-patient, 800-doctor;
110-an endoscope robot trolley; 120-endoscope workstation; 130-soft endoscope,
111-a first vehicle body, 112-a linear guide rail module, 112 a-a first linear guide rail module, 112 b-a second linear guide rail module, 113-a first mechanical arm, 114-an endoscope conveying device, 115-a second mechanical arm, 116-an instrument operating device, 117-an endoscope operating device, and 118-a first optical navigation module; 1141-an endoscope driving mechanism and 1142-an endoscope executing mechanism; 1161-an instrument guide wire driving mechanism, 1162-an instrument conveying driving mechanism; 1171-rotation mechanism, 1172-pulsator operation mechanism, 1173-button operation mechanism; 131-endoscope handle;
210-a second car body, 220-a bed board and 230-a first lifting device;
310-a transfer track; 320-a transfer vehicle; 330-a body frame; 340-a second lifting device; 350-lifting box; 321-a third vehicle body, 322-a wheel train; 3221-casters, 3222-transporter motors, 3223-first fixed blocks, 3224-differentials; 341-lifting frame, 342-lifting motor, 343-second fixed block, 344-first pulley, 345-second pulley, 346-belt;
410-fourth vehicle body, 420-instrument receiving device; 421-of a storage shell, 422-of an instrument transmission mechanism, 423-of an instrument package breaking mechanism, 424-of an inhalation mechanism, 425-of an instrument; 4221-a lead screw guide rail module, 4222-a supporting table, 4223-a weighing sensor and 4244-a chassis; 4221 a-lead screw bracket, 4221 b-lead screw motor, 4221 c-synchronous belt, 4221 d-lead screw, 4221 e-slider;
4231-breaking drive assembly, 4231 a-breaking motor, 4231 b-third fixed block; 4232-transmission components, 4233-bearings, 4234-breaking knives, 4235-rotating parts, 4235 a-shaft sleeves, 4235 b-adapter plates, 4235 c-instrument support plates, 4235 d-micro switches and 4235 e-pressure springs; 4241-an inhalation motor, 4242-a fourth fixed block, 4243-a packaging storage box, 4244-a corrugated pipe, 4245-a propeller and 4256-a filter plate;
510-third robotic arm, 520-end effector jaw, 530-second optical navigation module.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. The described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an endoscope robot consulting room in an embodiment of the present invention may include an endoscope robot system 100, an automatic transfer hospital bed 200, an instrument automatic transfer trolley 400, an intelligent mechanical boom 500, and a console 600, wherein:
the endoscope robotic system 100 is disposed adjacent to the automated transfer couch 200 to deliver the soft endoscope 130 and operate the instrument 425 to the patient 700 positioned on the automated transfer couch 200;
the automated transport patient bed 200 is automatically movable between an observation area and an operation area;
the intelligent mechanical boom 500 is located above the endoscope robot system 100 to mount the instrument 425 stored by the instrument auto transfer cart 400 to the endoscope robot system 100;
the instrument auto-transfer trolley 400 is automatically movable into the operating range of the intelligent mechanical boom 500 for storing the instrument 425, transporting the instrument 425 to the site to be grasped and breaking the sterile packaging of the instrument 425;
the console 600 performs information interaction with the endoscope robot system 100, the automatic transfer sickbed 200, the instrument automatic transfer dolly 400, and the intelligent mechanical boom 500, and controls the execution of corresponding actions of the endoscope robot system 100, the automatic transfer sickbed 200, the instrument automatic transfer dolly 400, and the intelligent mechanical boom 500 according to the operation of the doctor 800.
In the specific application process of the endoscope robot consulting room, a doctor 800 operates a control console 600 to control an automatic transfer sickbed 200 carrying a patient 700 to move to an operation area; a nurse installs the soft endoscope 130 at a corresponding position of the endoscope robot system 100 in advance; the console 600 controls the endoscopic robotic system 100 to deliver the soft endoscope 130 to the lesion that is the patient 700; the control console 600 controls the automatic instrument transferring trolley 400 to move into the operation range of the intelligent mechanical boom 500 according to the condition of the lesion, and conveys the corresponding instrument 425 to the position to be grasped and breaks the aseptic package of the instrument 425; the intelligent mechanical boom 500 grips the instrument 425 in the position to be gripped and is mounted to the endoscopic robotic system 100; the console 600 controls the endoscope robot system 100 to perform corresponding operations, and after the operations are completed, the console 600 controls the intelligent mechanical boom 500 to detach the instrument 425 of the endoscope robot system 100; the nurse removes the soft endoscope 130 from the endoscope robotic system 100; the automated transfer patient table 200 automatically transfers the patient 700 to the viewing area and the console 600 controls the endoscope robotic system 100 to automatically perform an initialization operation.
Therefore, in the specific application process of the endoscope robot consulting room adopting the embodiment of the invention, a nurse only needs to install the soft endoscope 130 on the endoscope robot system 100 and detach the soft endoscope 130 from the endoscope robot system 100 after the operation is finished, so that the working intensity of the nurse is reduced; the delivery of the soft endoscope 130 and the manipulation of the instrument 425 are all accomplished by the doctor 800 manipulating the console 600 to control the endoscope robotic system 100, reducing the coordination requirements of the doctor 800 and the nurse, and reducing the working strength of the doctor 800. The endoscope robot system 100, the automatic transfer sickbed 200, the automatic transfer trolley 400 for instruments and the intelligent mechanical suspension arm 500 cooperatively operate under the control of the control console 600, so that the degree of intellectualization of an endoscope robot diagnosis room is greatly improved, the preparation time for endoscope examination and operation is greatly shortened, and more patients can be examined and treated in the same time.
The endoscope robotic system 100 of the present invention functions as a second, first to deliver the soft endoscope 130 to the lesion in accordance with the operational information, and a second to operate the instrument 425 in accordance with the operational information. The following description is made with reference to the accompanying drawings:
referring to fig. 2 in conjunction with fig. 1, an endoscope robotic system 100 of an embodiment of the present invention may include an endoscope robotic cart 110 and an endoscope workstation 120, wherein: the endoscope robot trolley 110 can convey the soft endoscope 130 and the manipulator 425 according to the operation information; the endoscope workstation 120 interacts with the console 600.
The endoscope robotic trolley 110 may be in the following modes: an alignment mode, an endoscope delivery mode, an instrument 425 operation mode, an instrument 425 exit mode, and an endoscope exit mode, wherein:
alignment mode: the endoscope robotic cart 110 is adjusted in accordance with the operational information received by the endoscope workstation 120 and in accordance with the optical navigation to align the implement portion of the endoscope robotic cart 110 with a feature of the patient 700, wherein the feature may include the oral cavity or anus.
Endoscope delivery mode: the endoscope robotic cart 110 delivers the soft endoscope 130 to the lesion of the patient 700 in accordance with the first operational information and the optical navigation received by the endoscope workstation 120.
Instrument 425 delivery mode: the endoscope robotic cart 110 delivers the instrument 425 to the lesion of the patient 700 in accordance with the second operational information received by the endoscope workstation 120.
Instrument 425 mode of operation: the endoscope robotic trolley 110 operates the instrument 425 in accordance with the third operating information received by the endoscope workstation 120.
Instrument 425 exits mode: the endoscope robotic trolley 110 exits the instrument 425 in accordance with the fourth operational information received by the endoscope workstation 120.
Endoscope exit mode: the endoscope robot cart 110 exits the soft endoscope 130 in accordance with the fifth operation information received by the endoscope workstation 120.
Referring to fig. 3 in combination with fig. 2, the endoscope robot cart 110 of the embodiment of the present invention may include a first cart body 111, a linear guide rail module 112, a first robot arm 113, an endoscope conveying device 114, a second robot arm 115, an instrument operating device 116, an endoscope operating device 117, and a first optical navigation module 118, wherein: the linear guide rail module 112 is disposed in the first vehicle body 111 in the vertical direction; the first mechanical arm 113 and the second mechanical arm 115 are disposed on the linear guide rail module 112 to move in a vertical direction; the endoscope conveying device 114 is positioned at the end of the first mechanical arm 113 to convey the soft endoscope 130; the instrument manipulator 116 and the endoscope manipulator 117 are located on the second robotic arm 115 to manipulate the soft endoscope 130 and the instrument 425; the first optical navigation module 118 is located on the linear guide rail module 112 to obtain image navigation information; the first body 111 may carry a linear guide module 112, a first mechanical arm 113, an endoscope transporting device 114, a second mechanical arm 115, an instrument operating device 116, an endoscope operating device 117, and a first optical navigation module 118 for movement.
Taking an example of an examination of the alimentary canal, the patient 700 is laid on the automated transport patient bed 200 in a sideways or lying-down manner, as required by the surgical procedure of the patient 700.
The soft endoscope 130 is mounted on the trolley, and after the preoperative preparation work is completed, the head end of the soft endoscope 130 is mounted on the endoscope conveying device 114 of the first mechanical arm 113, and the head end is held tightly by the endoscope conveying device 114; the endoscope handle 131 of the soft endoscope 130 is mounted on the endoscope operating device 117 of the second mechanical arm 115 and interfaces with the interface of the endoscope workstation 120 through an endoscope interface thereon; the linear guide rail module 112 drives the first mechanical arm 113 and the second mechanical arm 115 to adjust in the height direction, and enables the first mechanical arm 113 to drag the endoscope conveying device 114 to the oral cavity of the patient 700, and align the output port of the endoscope conveying device 114 with the oral cavity, so that the doctor 800 can perform the digestive tract examination work through the console 600.
The endoscope robotic cart 110 may perform the following modes:
alignment mode: the endoscope robotic cart 110 moves the first and second robotic arms 113, 115 and the linear guide rail module 112 in accordance with the operational information received by the endoscope workstation 120 and in accordance with the optical navigation of the first optical navigation module 118 to align the endoscope delivery device 114, the instrument manipulator 116, the endoscope manipulator 117 with a feature of the patient 700, wherein the feature may include an oral cavity or an anus.
Endoscope delivery mode: the endoscope robotic cart 110 operates to deliver the soft endoscope 130 to the lesion of the patient 700 in accordance with the first operational information and the optical navigation received by the endoscope workstation 120, the endoscope delivery device 114 and the endoscope operation device 117.
Instrument 425 delivery mode: the endoscope robotic cart 110 delivers the instrument 425 to the lesion of the patient 700 in accordance with the second operational information received by the endoscope workstation 120 by the instrument manipulator 116.
Instrument 425 mode of operation: the endoscope robotic trolley 110 operates the instrument 425 in accordance with the third operation information received by the endoscope workstation 120.
Instrument 425 exits the procedure: the endoscope robotic trolley 110 withdraws the instrument 425 from the instrument manipulator 116 in accordance with the fourth operational information received by the endoscope workstation 120.
Endoscope exit mode: the endoscope robot cart 110 withdraws the soft endoscope 130 according to the fifth operation information received by the endoscope workstation 120, and the endoscope conveying device 114 withdraws from the soft endoscope 130.
In some embodiments of the present invention, the first vehicle body 111 may include a truck main body, a truck chassis, and a truck column, wherein the truck chassis supports and walks the truck main body; the trolley column extends in the height direction from the trolley body, and the linear guide rail module 112 and the first optical navigation module 118 are fixed to the trolley column.
The trolley body includes a handle located at the rear of the trolley column to push the trolley body, a trolley control button to control the switching of the functional parts on the endoscope robot trolley 110, and a trolley display trolley to display the trolley work information. The control buttons may include an on/off system button for controlling power on/off of the dolly, a post switch button for controlling on/off of the dolly post, an electric power switch button for providing electric power for the operation of the endoscope robot dolly 110, and the like.
The bottom of the trolley main body is also preloaded with various functional interfaces, which can comprise a power interface, a data interface and the like. The power interface is used to connect an external power source to provide operating power for the endoscope robot cart 110. The data interface is used for deriving information stored in the endoscope robot trolley 110, and may include image information transmitted from the endoscope workstation 120, operation information transmitted from a main control end of the console 600, processed image information output from the endoscope robot trolley 110, and the like.
The trolley chassis may include a trolley floor below which the battery backup is mounted. When the endoscope robot trolley 110 operates, the standby battery is in a full-power state, and when the external power supply is disconnected, the standby battery provides standby power, so that the system is ensured to safely exit. The bottom of the trolley chassis is provided with universal wheels and telescopic support columns, the telescopic support columns can be driven by an electric pushing device to stretch up and down, the endoscope robot trolley 110 is jacked up or put down, after the endoscope robot trolley 110 is pushed to a designated position through the trolley chassis, an extension instruction is sent out through a support column instruction switch, the support columns are driven to extend downwards until the support columns are in contact with the ground and jack up the endoscope robot trolley 110, the universal wheels are separated from the ground, and therefore the positioning of the endoscope robot trolley 110 at the operation position is achieved. The electric pushing device can vertically drive the support column in a telescopic manner by adopting linear power equipment such as an electric pushing cylinder, a linear motor or a hydraulic cylinder.
A graphics processor (graphics processing unit, abbreviated as GPU) is integrated in the trolley body, and can rapidly process the image information collected by the first optical navigation module 118, specifically, the GPU can generate system image information for the image information sent by the endoscope workstation 120 and received by the endoscope robot trolley 110, and fuse the position information of the second mechanical arm 115, the image information collected by the endoscope robot trolley 110, the conveying length of the soft endoscope 130 and other information obtained by the first optical navigation module 118, and output the system image information to the console 600, or output the system image information to other display devices. Meanwhile, the GPU may transmit the working state information of the endoscope robot trolley 110 back to the console 600, which may include the position information of the second mechanical arm 115, the current transport length information of the soft endoscope 130, the rotation angle information of the soft endoscope 130, and the system safety operation information.
In order to facilitate patient acquisition of prompt messages, the endoscope robot cart 110 of the present embodiment may further include a cart display for displaying the under-the-scope view of the soft endoscope 130, the information of the operator 800 sent by the console 600, and system information such as system safety prompts. The trolley display is used for displaying the imaging of the soft endoscope 130, is also provided with a touch screen for setting and displaying parameters in the operation process, is also provided with a control button, a foot switch and the like on the console 600, is used for operating the position adjustment, the switch control and the like of the console 600, and is also provided with a console interface for being connected with the endoscope workstation 120.
In the embodiment of the present invention, the first mechanical arm 113 and the second mechanical arm 115 are all multi-degree-of-freedom mechanical arms, the first mechanical arm 113 is provided with an endoscope conveying device 114 for conveying the handle of the soft endoscope 130, the second mechanical arm 115 is provided with an endoscope operating device 117 for controlling the endoscope handle 131 of the soft endoscope 130, and the first mechanical arm 113 and the second mechanical arm 115 can execute conveying actions of the soft endoscope 130 into the patient 700 in the operation process of the patient 700 and execute operations of cleaning, aspiration, imaging and operation executed on the operating part when the head end of the soft endoscope 130 reaches a focus or biopsy position.
In some embodiments of the present invention, the first mechanical arm 113 and the second mechanical arm 115 are further sleeved with a mechanical arm isolation cover for isolating and protecting the first mechanical arm and the second mechanical arm respectively, and the endoscope robot trolley 110 is further sleeved with a trolley isolation cover for protecting the trolley main body. The mechanical arm isolation cover and the trolley isolation cover can be made of plastic materials or other materials for preventing dust and liquid from passing through.
Before performing an operation on the patient 700, the second mechanical arm 115 first pulls the delivery device to a position where the surgical consumable is convenient to install, installs the delivery device consumable, the soft endoscope 130, the adapter, and the surgical operation instrument 425, and pulls the delivery device to a designated surgical position after installing the isolation cover on the mechanical arm and the endoscope robot cart 110. The protection of different components is realized by installing related consumable materials, instruments 425, isolation covers and the like, and different isolation requirements of mucus, body fluid and a sterile environment are met.
The first mechanical arm 113 and the second mechanical arm 115 are multiple-free mechanical arms with multiple revolute pairs, and a module motor for driving arm members to act is distributed in each revolute pair. The first mechanical arm 113 and the second mechanical arm 115 can translate in the height direction on the guide of the trolley column, and five degrees of freedom of movement of the first mechanical arm 113 and the second mechanical arm 115 are realized through the degrees of freedom of movement of the revolute pairs of the first mechanical arm 113 and the second mechanical arm 115 and the degrees of freedom of translation in the height direction.
In some embodiments of the present invention, the linear guide module 112 drives the first robot 113 and the second robot 115 to move in the vertical direction. For convenience of adjustment, the linear guide module 112 may include a first linear guide module 112a and a second linear guide module 112b. The first mechanical arm 113 is disposed on the first linear guide rail module 112a, and the second mechanical arm 115 is disposed on the second linear guide rail module 112b, so as to respectively drive the first mechanical arm 113 and the second mechanical arm 115 to move in the vertical direction.
Referring to fig. 4 to 6 in combination with fig. 3, the endoscope conveying device 114 may include an endoscope actuating mechanism 1142 and an endoscope driving mechanism 1141, where the endoscope actuating mechanism 1142 is detachably mounted on the endoscope driving mechanism 1141, so as to implement the clamping and conveying actions of the soft endoscope 130, and the endoscope driving mechanism 1141 may drive the endoscope actuating mechanism 1142 to rotate, thereby implementing the rotating actions of the soft endoscope 130.
In this embodiment, the endoscope conveying device 114 is further provided with a model identifying module for identifying a model of the conveying soft endoscope 130, so as to determine whether the installed soft endoscope 130 is a consumable material corresponding to a surgical operation. The side of the endoscope conveying device 114 facing the patient 700 is further provided with an image acquisition module, and the acquisition position of the image acquisition module is opposite to the input position of the soft endoscope 130, so as to observe the conveying condition of the soft endoscope 130 and the condition of the patient 700.
Further, the endoscope conveying device 114 is further provided with a voice interaction module connected with the console 600, so that the doctor 800 can communicate with the patient 700 through the voice interaction module to complete the communication between the doctor and the patient.
The head end of the soft endoscope 130 is provided with a mucus scraping structure and a lubricating liquid injection module, the lubricating liquid injection module is conveyed along with the soft endoscope 130 in the conveying process of the soft endoscope 130, and lubricating liquid is uniformly smeared on the outer surface of the soft endoscope 130 through a lubricating liquid pipeline, so that the conveying resistance of the soft endoscope 130 is reduced; after the operation is completed, the soft endoscope 130 needs to be withdrawn from the patient 700, and the mucus on the surface of the soft endoscope 130 is scraped by the mucus scraping structure, so that the inside of the soft endoscope 130 is ensured to be dry.
The endoscope operation device 117 may include a pulsator operation mechanism 1172, a button operation mechanism 1173, and a rotation mechanism 1171, wherein the pulsator operation mechanism 1172 may drive a pulsator of the endoscope handle 131 to rotate, thereby realizing the front end bending portion steering of the soft endoscope 130, the button operation mechanism 1173 may drive the water and air buttons of the endoscope handle 131 to act, and the rotation mechanism 1171 may realize the rotation of the endoscope handle 131.
The instrument manipulator 116 may include an instrument guidewire drive mechanism 1161 and an instrument delivery drive mechanism 1162, the instrument delivery drive mechanism 1162 effecting delivery of the instrument 425, the instrument guidewire drive mechanism 1161 effecting back and forth movement of the instrument guidewire to thereby drive the instrument 425 to perform the surgical action.
The instrument manipulator 116 is connected to the instrument channel entrance of the soft endoscope 130, and a hollow tube may be provided therebetween as an instrument 425 introduction channel, or the hollow tube may be directly fixed to the instrument manipulator 116, and the hollow tube is connected to the instrument channel entrance of the soft endoscope 130 during preparation before operation.
Actuation of the instrument manipulator 116 may include, but is not limited to, delivery of the instrument 425, opening and closing of the actuator, rotation of the actuator, bending of the instrument output nose bendable section, and nested delivery. Nested delivery is to deliver the outside of the instrument 425 to the lesion and then push the internal structure of the instrument 425, which may include a complete set of instruments, an injection needle, etc.
In some embodiments of the present invention, the instrument operation device 116 may further be provided with a model identification module, and the instrument 425 is provided with a chip for storing model information, so as to identify whether the installed instrument 425 meets the operation requirement through a radio frequency identification technology.
In some embodiments of the present invention, the first optical navigation module 118 is disposed on top of the pillar of the trolley, specifically, a monitoring camera, etc. may be used, and the monitoring direction of the monitoring device faces the automatic transfer sickbed 200, so as to record the intra-operative state of the operator; the monitoring second mechanical arm 115 performs identification and position tracking of mechanical arm feature points in the soft endoscope 130 conveying process, so as to monitor the conveying state of the second mechanical arm 115 in real time, and ensure the system safety.
An endoscope workstation 120 for connecting an endoscope interface of the soft endoscope 130 and a console interface of the console 600 for signal transmission; a high frequency electric endoscope workstation may also be included to provide power for operation and power control of the instrument 425. The endoscope workstation 120 may also have a water pump, a carbon dioxide air pump, an endoscope cold light source and an endoscope image processor to cooperate with the different operation of the soft endoscope 130.
Referring to fig. 7 in conjunction with fig. 1, the illustrated automated transport hospital bed 200 may include a second car body 210, a bed plate 220, and a first lifting device 230, the bed plate 220 and the first lifting device 230 being mounted on the second car body 210, the bed plate 220 being mounted on the first lifting device 230. The first elevating device 230 operates to adjust the height of the bed plate 220.
The first lifting device 230 is used for adjusting the height of the bed plate 220 in the vertical direction, so as to facilitate the operation of the endoscopic robot system 100 by adjusting the height of the patient 700. There are many structures capable of adjusting the height in the vertical direction, and in some embodiments of the present invention, the first lifting device 230 may be a screw mechanism, a piston cylinder structure, or a linear motor structure. As the first elevating means 230, any structure capable of achieving linear reciprocation may be used.
The second body 210 may include a body chassis 4244 for supporting and walking movement and a navigation module for automatic movement. Under the action of the navigation module, the second vehicle body 210 drives the bed plate 220 to move between the operation area and the observation area.
To further reduce the intensity of the nurse's work, the endoscope robotic office in some embodiments of the present invention may further include an endoscope automated transfer system 300 for carrying the soft endoscope 130 between the endoscope decontamination chamber and the office, wherein the office is for providing spatial support for the endoscope robotic system 100, automated transfer hospital bed 200, automated transfer system 300, automated transfer trolley 400, and intelligent mechanical boom 500; the endoscope decontamination chamber is used to clean and disinfect the soft endoscope 130. Wherein the endoscope decontamination chamber and the clinic chamber may be disposed adjacent or not. Taking an adjacent arrangement as an example, the endoscope automated transport system 300 can be disposed on the floor of or on top of the endoscope decontamination chamber and the consulting chamber.
Referring to fig. 8-11 in conjunction with fig. 1, an endoscope automated transport system 300 is used to transport a post-operative instrument 425 and a soft endoscope 130 to an endoscope decontamination chamber for sterilization. The illustrated endoscope automatic transfer system 300 can include a transfer rail 310 and a transfer trolley 320, wherein the transfer rail 310 is layered over the endoscope decontamination chamber and the consulting chamber, and the transfer trolley 320 travels over the transfer rail 310 to transfer the soft endoscope 130 and/or the instrument 425 from the consulting chamber to the endoscope decontamination chamber.
In order to reduce the spatial interference of the endoscope automatic transfer system 300 with other systems, the endoscope automatic transfer system 300 in embodiments of the present invention is disposed at the top of the endoscope decontamination chamber and the clinic, i.e., the endoscope and/or the instrument 425 is transferred from the air. In particular, a transfer rail 310 is disposed on top of the endoscope and the clinic, and a transfer truck 320 runs on the transfer rail 310.
In some embodiments of the present invention, the endoscope automatic transfer system 300 may further include a body frame 330, a second elevating device 340, and an elevating box 350, wherein: the body frame 330 is mounted on the transfer vehicle 320, and the second lifting device 340 is mounted between the lifting box 350 and the body frame 330, so as to facilitate the taking and placing of the soft endoscope 130 by driving the lifting box 350 to perform lifting motion in the vertical direction.
The transfer car 320 may include a third car body 321, casters 3221, a transfer car motor 3222, a first fixed block 3223, and a differential 3224, wherein: four casters 3221, two casters 3221 as front wheels of the transfer truck 320, two casters 3221 as rear wheels of the transfer truck 320, the four casters 3221 being arranged on the transfer rail 310 to travel on the transfer rail 310; two casters 3221 serving as front wheels are in transmission connection with a transfer vehicle motor 3222 through a differential mechanism 3224, and two casters 3221 serving as rear wheels are in transmission connection with the transfer vehicle motor 3222 through the differential mechanism 3224; the transfer car motor 3222 is connected to the third car body 321 through a first fixed block 3223. The transfer car motor 3222 operates to drive the casters 3221 to rotate through the differential 3224, thereby realizing that the transfer car 320 runs on the transfer track 310.
There are many structures capable of achieving vertical lifting, and in some embodiments of the present invention, the second lifting device 340 may be a screw mechanism, a piston cylinder structure, or a linear motor structure. As the second elevating means 340, any structure capable of achieving linear reciprocation may be used.
In some embodiments of the present invention, the second elevating device 340 may include an elevating frame 341, an elevating motor 342, a second fixing block 343, a first pulley 344, a second pulley 345, and a belt 346, wherein: the lifting frame 341 is provided on the body frame 330; the first pulley 344 is rotatably arranged on the lifting frame 341 around the axis thereof and is in transmission connection with the lifting motor 342, and the lifting motor 342 is fixed on the lifting frame 341 through the second fixed block 343; the second pulley 345 is rotatably provided on the body frame 330 about its own axis; one end of the belt 346 is fixed to the lift box 350 and wound around the first pulley 344 after passing around the second pulley 345.
The lifting motor 342 drives the first pulley 344 to rotate along the winding direction, the belt 346 passes through the second pulley 345 to be wound on the first pulley 344, the belt 346 between the second pulley 345 and the lifting box 350 is shortened, and the lifting box 350 is driven to move upwards; the lifting first pulley 344 rotates in the releasing direction, the belt 346 passes through the second pulley 345, and the belt 346 between the second pulley 345 and the lifting box 350 lengthens, driving the lifting box 350 to move downward.
In order to improve the stability of the lifting and lowering process of the lifting and lowering box 350, in the embodiment of the present invention, there are two sets of the second lifting devices 340 respectively located at two sides of the top of the lifting and lowering box 350 and two sides of the vehicle body frame 330. In a second lifting device 340, two first pulleys 344 are respectively located at two ends of a lifting motor 342 and located on a lifting frame 341; two second pulleys 345 are provided at one side of the body frame 330, respectively; the belt 346 has two, wherein one end of one belt 346 is fixed to one end of one side of the elevation box 350, and the other end of the belt 346 is wound around one of the two second pulleys 345 and one of the two first pulleys 344; one end of the other belt 346 is fixed to the other end of one side of the elevation box 350, and the other end of the belt 346 is wound around the other of the two second pulleys 345 and the other of the two first pulleys 344.
Referring to fig. 12-17 in conjunction with fig. 1, the implement automatic transfer cart 400 according to an embodiment of the present invention may be automatically moved into the operating range of the smart mechanical boom 500 for the smart mechanical boom 500 to take the implement 425. The instrument auto-transfer cart 400 according to some embodiments of the present invention may include a fourth cart body 410 and an instrument receiving device 420, wherein: the device storage device 420 is disposed on the fourth vehicle body 410, and the fourth vehicle body 410 drives the device storage device 420 to move into the operation range of the intelligent mechanical arm 500.
The fourth body 410 may include a body chassis 4244 for supporting and walking movement and a second navigation module for implementing automatic movement. Under the action of the second navigation module, the fourth vehicle body 410 drives the apparatus accommodating device 420 to move into the operation range of the intelligent mechanical boom 500.
In some embodiments of the present invention, instrument storage device 420 may include a storage housing 421, an instrument transfer mechanism 422, and an instrument package breach mechanism 423, wherein: an instrument transfer mechanism 422 and an instrument package breach mechanism 423 are disposed within the housing 421, the instrument transfer mechanism 422 being configured to transfer an instrument 425 from a storage location to a location to be grasped; the instrument package breaching mechanism 423 is for breaching the sterile package on the instrument 425. The instrument transfer mechanism 422 transfers the instrument 425 from the storage site to the site to be grasped according to the instruction of the console 600; the instrument package breaching mechanism 423 breaches the sterile package of the instrument 425 thereat for use. Therefore, the device containing device 420 provided by the embodiment of the invention can automatically convey the device 425 and break the sterile package of the device 425, so that the operation of nurses can be further reduced, and the working strength of the nurses is reduced. In addition, the risk of contamination of the instrument 425 may also be reduced.
In the embodiment of the present invention, the number of the instrument transfer mechanisms 422 is at least one, and in the case that the number of the instrument transfer mechanisms 422 is plural, the plurality of instrument transfer mechanisms 422 are arranged side by side and in the vertical direction; the instrument transfer mechanism 422 in some embodiments of the present invention may include a lead screw rail module 4221, a gantry 4222, a load cell 4223, and a chassis 4244, wherein the lead screw rail module 4221 is disposed inside the housing shell 421 in a vertical direction; the supporting table 4222 is arranged at the lifting end of the lead screw guide rail module 4221; the chassis 4244 is provided on the tray table 4222, and the chassis 4244 and the storage case 421 form a storage position where the instruments 425 are stored, the instruments 425 being stacked in the vertical direction; a load cell 4223 is disposed between the chassis 4244 and the gantry 4222 to obtain weight information on the chassis.
The lead screw guide rail module 4221 receives the operation information of the console 600 for conveying the instrument 425, and the moving end of the lead screw guide rail module 4221 drives the chassis 4244 to move towards the top of the storage shell 421 until the instrument 425 is exposed out of the storage shell 421, namely, the instrument 425 is conveyed to a position to be grasped.
The lead screw guide rail module 4221 can drive the chassis 4244 to reciprocate in a vertical direction, specifically, the lead screw guide rail module 4221 of the embodiment of the present invention may include a lead screw bracket 4221a, a lead screw motor 4221b, a synchronous belt 4221c, a lead screw 4221d and a slider 4221e, wherein: the screw support 4221a extends in the vertical direction, the screw 4221d is arranged on the screw support 4221a in the vertical direction, the sliding block 4221e is arranged on the screw 4221d as a moving end and is matched with threads, and the screw motor 4221b is fixed on the screw support 4221a and drives the screw 4221d to rotate through the synchronous belt 4221 c.
The instrument package breach mechanism 423 may include a breach drive assembly 4231, a transmission assembly 4232, a bearing 4233, a breach blade 4234, and a rotation portion 4235, wherein: the breaking driving assembly 4231 is arranged on the storage shell 421 and is in transmission connection with the transmission assembly 4232; the transmission assembly 4232 is in transmission connection with the rotation part 4235 to drive the rotation part 4235 to rotate; the bearing 4233 is fixed to the storage case 421; the rotating part 4235 is rotatably connected with the bearing 4233 to drive the instrument 425 to rotate; the rupturing knife 4234 is disposed on the bearing 4233 to cooperate with the rupturing knife 4234 to rupture the sterile package as the instrument 425 rotates following the rotation portion 4235.
The break driving assembly 4231 may include a break motor 4231a and a third fixed block 4231b, the break motor 4231a being mounted on the storage case 421 through the third fixed block 4231 b. The break motor 4231a is in driving connection with the drive assembly 4232.
The transmission assembly 4232 may include a gear assembly, a belt transmission assembly, a chain transmission assembly, etc., and the transmission assembly 4232 may be understood as a structure capable of transmitting power of the breaking motor 4231a to the rotation portion 4235.
Further, the rotating portion 4235 in the embodiment of the present invention can rotate the instrument 425 thereon. In some embodiments of the present invention, the rotating portion 4235 may comprise a shaft sleeve 4235a, an adapter plate 4235b, an instrument support plate 4235c, a micro switch 4235d, and a compression spring 4235e, wherein the shaft sleeve 4235a is located in the bearing 4233 and is in driving connection with the transmission assembly 4232; the adapter plate 4235b is arranged on the shaft sleeve 4235a and rotates along with the shaft sleeve 4235 a; the instrument support plate 4235c is provided on the adapter plate 4235b by a compression spring 4235 e; the micro switch 4235d is disposed between the instrument support plate 4235c and the adapter plate 4235b, and after the instrument 425 is placed on the instrument support plate 4235c, the micro switch 4235d is turned on, and the breaking motor 4231a operates, so as to drive the shaft sleeve 4235a, the adapter plate 4235b and the instrument support plate 4235c to rotate, and the instrument 425 on the instrument support plate 4235c is matched with the breaking knife 4234, so as to break the aseptic package.
Further, to timely recover the sterile package broken by the apparatus 425, the apparatus storage device 420 may further include an inhalation mechanism 424, where the inhalation mechanism 424 is disposed adjacent to the apparatus package breaking mechanism 423, and the inhalation mechanism 424 operates during the process of breaking the sterile package by the apparatus package breaking mechanism 423, so as to inhale the broken sterile package into the inhalation mechanism 424.
In some embodiments of the invention, the suction mechanism 424 may include a suction motor 4241, a fourth fixed block 4242, a package housing 4243, a bellows 4244, and a propeller 4245, wherein: the propeller 4245 is provided on the output shaft of the suction motor 4241, and the suction motor 4241 is fixed to the storage case 421 by a fourth fixing block 4242; the suction inlet of the package receiving box 4243 is communicated with the instrument package breaking mechanism 423 through a corrugated pipe 4244; the propeller 4245 is provided at the suction port of the package housing 4243. The suction motor 4241 operates to drive the propeller 4245 to rotate, so that air at the suction port is in a negative pressure state, and sterile packages broken by the instrument package breaking mechanism 423 enter the package storage box 4243 through the corrugated pipe 4244 and the suction port, so that storage of the sterile packages is completed. The risk of contamination of the diagnostic room instruments 425 by the sterile packaging is reduced.
Further, in order to more quickly recover the sterile package, in the embodiment of the present invention, a clearance hole is provided at the middle of the instrument 425 breaking mechanism to avoid the bellows 4244, and the bellows 4244 is connected to the middle receiving hole of the adapter plate 4235 b. Specifically, one gear of the transmission assembly 4232 is a ring gear, and a clearance hole opposite to the receiving hole is formed in the middle of the shaft sleeve 4235 a.
Further, in order to extend the service life of the suction mechanism 424, in the embodiment of the present invention, the suction mechanism 424 may further include a filter plate 4246, and the filter plate 4246 is located between the accommodating cavity of the package accommodating box 4243 and the suction port, so as to prevent the aseptic package from being blocked into the propeller 4245 to affect the service life of the suction motor 4241.
Referring to fig. 18 in conjunction with fig. 1, the function of the intelligent mechanical boom 500 of an embodiment of the present invention is to mount an instrument 425 on the instrument robotic transfer cart 400 to the endoscopic robotic system 100. Specifically, the intelligent mechanical boom 500 may include a third mechanical arm 510, an end effector jaw 520, and a second optical navigation module 530, the third mechanical arm 510 being hoisted on top of the consulting room or supported within the consulting room, the end effector jaw 520 being mounted at the end of the third mechanical arm 510 to mount and dismount the instrument 425; the second optical navigation module 530 is mounted on the third mechanical arm 510.
The second optical navigation module 530 may specifically adopt a monitoring camera or a monitoring camera, and the monitoring direction of the monitoring device is towards the endoscope robot system 100, so as to be in an intra-operation state of the intelligent mechanical boom 500; identification and position tracking of the characteristic points of the third mechanical arm 510 during the installation and removal of the instrument 425 of the intelligent mechanical boom 500 are monitored to monitor the conveying state of the intelligent mechanical boom 500 in real time so as to ensure the safety of the system.
Referring to fig. 18 in conjunction with fig. 1, a control console 600 according to an embodiment of the present invention may directly issue control commands to the endoscope robot system 100, the automatic transfer hospital bed 200, the endoscope automatic transfer system 300, the instrument automatic transfer trolley 400, and the intelligent mechanical boom 500, so that the endoscope robot system 100 may complete tasks such as the soft endoscope 130 conveying, rotating, and operating; causing the automated transfer couch 200 to move to the surgical field; causing the instrument auto transfer trolley 400 to move within the operating range of the intelligent mechanical boom 500; so that the intelligent mechanical boom 500 completes the installation and removal of the instrument 425 in the endoscopic robotic system 100.
In some embodiments of the present invention, a handle, a physician 800 identification module, a foot switch, a display device, and a voice interaction module are provided on the console 600. A force feedback system is also provided on console 600 that maps and feeds back the contact force of the curved section of the intraoperative endoscope with the tissue, the force feedback system being connected to the handle to allow physician 800 to obtain the contact force of the instrument 425 during the surgical procedure.
For the operation control of the general soft endoscope 130, the endoscope robot system 100, the automatic transfer sickbed 200, the endoscope automatic transfer system 300, the instrument automatic transfer trolley 400, the intelligent mechanical boom 500 and the console 600 can be arranged under the same control environment, and during remote control, the remote display of the operation environment and the teaching environment is specifically referred to, and the environments of the cooperative operation or the guiding operation of the doctor 800 between different regions are set as the remote control center of the doctor 800 end by the console 600 at the remote end.
For remote control of the soft endoscope 130 in different space environments, a communication system is required to be arranged to connect a doctor 800 end remote control center with the endoscope robot system 100, the automatic transfer sickbed 200, the endoscope automatic transfer system 300, the instrument automatic transfer trolley 400 and the intelligent mechanical boom 500. Specifically, the communication system is used as a bridge for connecting the two, and the doctor 800-end remote control center can be arranged at the same place or in different rooms at the same place or in different places. The endoscope robotic system 100, the automated transfer hospital bed 200, the endoscope automated transfer system 300, the instrument automated transfer trolley 400, and the intelligent mechanical boom 500 may be installed in remote city mountainous areas, frontier posts, ocean going vessels, space pods, or the like. The doctor 800-end remote control center can be arranged in a city with developed medical conditions to finish the remote operation task.
The working process of the endoscope robot consulting room in the embodiment of the invention is specifically described as follows:
the patient 700 intelligently navigates to the designated position of the doctor room through the automatic transfer patient table 200, and adjusts the height of the patient table according to the instruction of the doctor 800; the endoscope robot trolley 110 starts to automatically move according to the oral cavity or anus position information of the patient 700 provided by the first optical navigation module 118 until the endoscope conveying device 114 is aligned with the oral cavity or anus position of the patient 700, and sends a message prompt to the doctor 800 after the alignment is finished; after receiving the prompt message, the doctor 800 sends out a command to automatically transfer the soft endoscope 130 from the endoscope decontamination chamber by the endoscope automatic transfer system 300, the transfer trolley 320 starts to drop the lifting box 350 provided with the soft endoscope 130 after walking to a proper position, the nurse takes out the soft endoscope 130, and installs the soft endoscope 130 on the endoscope robot trolley 110, and the transfer trolley 320 lifts the lifting box 350; at this time, the preparation before the endoscopy is completed, and the doctor 800 sits in front of the console 600, controls the movement of the endoscope conveying device 114 and the endoscope operating device 117 through the handle, thereby realizing the endoscopy; when the examination process finds that the lesion needs to be subjected to interventional therapy, a doctor 800 sends out an instruction, an instrument automatic transfer trolley 400 automatically navigates to move to a designated position, and transmits a designated instrument 425 according to the instruction requirement of the doctor 800, an intelligent mechanical boom 500 moves to the instrument position according to the instrument position information provided by an optical navigation module of the intelligent mechanical boom 500, an end execution clamping jaw 520 grabs the instrument 425 and then moves to an instrument package breaking mechanism 423, the instrument 425 is broken in a sterile manner by the instrument package breaking mechanism 423, then the intelligent mechanical boom 500 installs the instrument 425 on an instrument operation device 116 of an endoscope robot trolley 110, and the doctor 800 controls an instrument rotating mechanism 1171 and an instrument guide wire driving mechanism 1161 through a handle of a control console 600 to realize the endoscope interventional therapy; after the end of the endoscopy and the treatment, the intelligent mechanical boom 500 removes the instrument 425, places the instrument 425 into the instrument 425 recovery box, the nurse removes the soft endoscope 130 from the endoscope robot trolley 110, places the soft endoscope 130 into the lifting box 350, starts the transfer trolley 320 to move again, transfers the soft endoscope 130 into the endoscope decontamination chamber, starts the automatic transfer of the patient 700 to the observation area by the automatic transfer sickbed 200, and the endoscope robot system 100 automatically performs the initialization operation.
The above description is only illustrative of the preferred embodiments of the present invention and the technical principles applied, and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. The scope of the invention is not limited to the specific combination of the above technical features, but also covers other technical features formed by any combination of the above technical features or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.
Claims (22)
1. An endoscope robot consulting room, which is characterized by comprising an endoscope robot system, an automatic transfer sickbed, an automatic transfer trolley for instruments, an intelligent mechanical suspension arm and a control console, wherein:
the endoscope robotic system is disposed adjacent to the automated transfer couch to deliver a soft endoscope to a patient positioned on the automated transfer couch and operate an instrument;
the automatic transfer sickbed can automatically move between an observation area and an operation area;
the intelligent mechanical suspension arm is positioned above the endoscope robot system so as to mount the instrument stored by the instrument automatic transfer trolley to the endoscope robot system;
The automatic instrument transferring trolley can automatically move into the operation range of the intelligent mechanical boom and is used for storing the instrument, conveying the instrument to a position to be grasped and breaking aseptic packages of the instrument;
the control console performs information interaction with the endoscope robot system, the automatic instrument transferring trolley and the intelligent mechanical suspension arm, and controls the endoscope robot system, the automatic transferring sickbed, the automatic instrument transferring trolley and the intelligent mechanical suspension arm to execute corresponding actions according to the operation of doctors.
2. The endo-robotic room of claim 1, wherein the endo-robotic system comprises an endo-robotic trolley and an endo-workstation, wherein: the endoscope robot trolley can convey the soft endoscope and the operation instrument according to the operation information; and the endoscope workstation performs information interaction with the console.
3. The endo-robotic room of claim 2, wherein the endo-robotic trolley comprises a first car body, a linear guide rail module, a first robotic arm, an endo-delivery device, a second robotic arm, an instrument manipulation device, an endo-manipulation device, and a first optical navigation module, wherein: the linear guide rail module is arranged on the first vehicle body along the vertical direction; the first mechanical arm and the second mechanical arm are arranged on the linear guide rail module to move in the vertical direction; the endoscope conveying device is positioned at the tail end of the first mechanical arm so as to convey the soft endoscope; the instrument manipulation device and the endoscope manipulation device are positioned on the second mechanical arm to manipulate the soft endoscope and the instrument; the first optical navigation module is positioned on the linear guide rail module to acquire image navigation information; the first car body can bear the linear guide rail module, the first mechanical arm, the endoscope conveying device, the second mechanical arm, the instrument operation device, the endoscope operation device and the first optical navigation module to move.
4. The endo-robotic room of claim 3, wherein the linear guide rail module comprises a first linear guide rail module and a second linear guide rail module, wherein the first mechanical arm is disposed on the first linear guide rail module and the second mechanical arm is disposed on the second linear guide rail module to respectively drive the first mechanical arm and the second mechanical arm to move in a vertical direction.
5. The endoscope robotic room of claim 3 wherein the endoscope delivery device comprises an endoscope actuator and an endoscope drive mechanism, the endoscope actuator being removably mounted to the endoscope drive mechanism to effect gripping and delivery of the soft endoscope, the endoscope drive mechanism being operable to drive rotation of the endoscope actuator to effect rotation of the soft endoscope.
6. The endo-robotic room of claim 3, wherein the endo-operative device comprises a pulsator-operative mechanism, a button-operative mechanism, and a rotating mechanism, wherein the pulsator-operative mechanism is configured to drive a large pulsator of an endo-handle to rotate; the button operating mechanism drives the water and air buttons of the endoscope handle to act, and the rotating mechanism can realize the rotation of the endoscope handle.
7. The endo-robotic room of claim 3, wherein the instrument manipulator comprises an instrument delivery drive mechanism and an instrument guidewire drive mechanism, wherein the instrument delivery drive mechanism drives the delivery motion of the instrument, and wherein the instrument guidewire drive mechanism performs the surgical motion by driving the instrument guidewire back and forth.
8. The endo-robotic room of claim 1, wherein the automated transport hospital bed comprises a second car body, a bed deck, and a first lifting device, wherein: the first lifting device is connected with the bed plate and the second car body so as to drive the bed plate and the first lifting device to move according to navigation.
9. The endoscope robotic office of claim 1 further comprising an endoscope automated transfer system disposed between the office and the endoscope decontamination chamber for transferring the soft endoscope.
10. The endoscope robotic office of claim 9 wherein the endoscope automated transfer system comprises a transfer rail and a transfer cart, wherein the transfer rail is layered between an endoscope decontamination chamber and an office, and wherein the transfer cart travels on the transfer rail to transfer the soft endoscope and/or the instrument from the office to the endoscope decontamination chamber.
11. The endo-robotic consulting room of claim 10, wherein the endo-robotic transfer system is disposed on top of the endo-decontamination room and the consulting room.
12. The endo-robotic office of claim 11, wherein said endo-robotic transfer system further comprises a body frame, a second lift device, and a lift box, wherein: the car body frame is installed on the transfer car, the second elevating gear install in the lift box with between the car body frame, in order to order about the lift box carries out elevating movement in vertical direction.
13. The endo-robotic room of claim 12, wherein the transporter comprises a third body, casters, a transporter motor, a first fixed block, and a differential, wherein: the four casters are arranged on the transfer rail so as to run on the transfer rail, and the four casters are used as front wheels of the transfer trolley, the two casters are used as rear wheels of the transfer trolley; the two casters serving as front wheels are in transmission connection with the motor of the transfer trolley through the differential mechanism, and the two casters serving as rear wheels are in transmission connection with the motor of the transfer trolley through the differential mechanism; and the transfer trolley motor is connected with the third trolley body through the first fixed block.
14. The endo-robotic consulting room of claim 12, wherein said second lifting means comprises a lifting frame, a lifting motor, a second fixed block, a first pulley, a second pulley, and a belt, wherein: the lifting frame is arranged on the vehicle body frame; the first pulley is rotatably arranged on the lifting frame around the axis of the first pulley and is in transmission connection with the lifting motor, and the lifting motor is fixed on the lifting frame through the second fixing block; the second pulley is rotatably arranged on the vehicle body frame around the axis of the second pulley; one end of the belt is fixed on the lifting box, and is wound on the first pulley after bypassing the second pulley.
15. The endo-robotic consulting room of claim 14, wherein there are two second lifting means located on either side of the lifting box and the body frame.
16. The endo-robotic room of claim 1, wherein the instrument automated transfer cart comprises a fourth cart body and an instrument receiving device, wherein: the apparatus storage device is arranged on the fourth vehicle body, and the fourth vehicle body drives the apparatus storage device to move into the operation range of the intelligent mechanical suspension arm.
17. The endo-robotic consulting room of claim 16, wherein the instrument receiving means comprises a receiving housing, an instrument transfer mechanism, and an instrument package breach mechanism, wherein: the instrument transmission mechanism and the instrument package breaking mechanism are arranged in the storage shell, and the instrument transmission mechanism is used for transmitting the instrument from a storage position to a position to be grasped; the instrument package breaking mechanism is used for breaking the sterile package on the instrument.
18. The endo-robotic consulting room of claim 17, wherein said instrument transfer mechanism comprises a lead screw guide rail module, a pallet, a load cell, and a chassis, wherein said lead screw guide rail module is disposed within said housing in a vertical direction; the support table is arranged at the lifting end of the lead screw guide rail module; the chassis is arranged on the tray table, and forms a storage position for storing the instruments with the storage shell, and the instruments are stacked in the storage position along the vertical direction; the weighing sensor is arranged between the chassis and the supporting table to acquire weight information on the chassis.
19. The endo-robotic consulting room of claim 17, wherein said instrument package breach mechanism comprises a breach drive assembly, a transmission assembly, a bearing, a breach blade, and a rotating portion, wherein: the breaking driving assembly is arranged on the storage shell and is in transmission connection with the transmission assembly; the transmission assembly is in transmission connection with the rotating part to drive the rotating part to rotate; the bearing is fixed on the storage shell; the rotating part is rotatably connected with the bearing so as to drive the instrument to rotate; the breaking knife is arranged on the bearing and is matched with the breaking knife to break the sterile package when the instrument rotates along with the rotating part.
20. The endo-robotic consulting room of claim 19, wherein said rotating portion includes a sleeve, an adapter plate, an instrument support plate, a micro-switch and a compression spring, wherein said sleeve is positioned within said bearing and is drivingly connected to said drive assembly; the adapter plate is arranged on the shaft sleeve and rotates along with the shaft sleeve; the instrument supporting plate is arranged on the adapter plate through the pressure spring; the micro switch is arranged between the instrument support plate and the adapter plate, and is turned on after the instrument is placed on the instrument support plate.
21. The endo-robotic room of claim 17, wherein the instrument storage device further includes an inhalation mechanism disposed adjacent to the instrument package breach mechanism, the inhalation mechanism operative to inhale the breached sterile package into the inhalation mechanism during breach of the sterile package by the instrument package breach mechanism.
22. The endo-robotic consulting room of claim 21, wherein said suction mechanism comprises a suction motor, a fourth fixed block, a packaging receiver, a bellows, a propeller, and a filter plate, wherein: the propeller is arranged on an output shaft of the suction motor, and the suction motor is fixed on the storage shell through the fourth fixed block; the suction inlet of the packaging storage box is communicated with the instrument packaging breaking mechanism through the corrugated pipe; the propeller is arranged at the suction port of the packaging storage box; the filter board is located between the storage cavity of the package storage box and the suction port.
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Cited By (1)
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