CN117562673A

CN117562673A - Interventional operation robot

Info

Publication number: CN117562673A
Application number: CN202311768405.5A
Authority: CN
Inventors: 王澄; 陈世佳; 陈麟
Original assignee: Zhuhai Hengle Medical Technology Co ltd
Current assignee: Zhuhai Hengle Medical Technology Co ltd
Priority date: 2023-12-21
Filing date: 2023-12-21
Publication date: 2024-02-20

Abstract

The invention discloses an interventional operation robot which comprises a robot main body, a mechanical arm, an actuating mechanism and a visual component, wherein the actuating mechanism and the visual component are arranged on the mechanical arm and used for executing operation, the robot main body comprises a flat automatic guide seat, a vertical support body and a mechanical arm fixing frame, the flat automatic guide seat, the vertical support body, the mechanical arm fixing frame and the visual component are sequentially arranged from bottom to top, and projections of the four components on a horizontal plane are sequentially decreased. Through the structural optimization of the robot main body, the whole operation of the robot is more stable, the action range of the mechanical arm and the flexibility of the executing mechanism are improved, medical staff can be truly separated from an operating room, and all operations before and during the operation can be completed on the control terminal.

Description

Interventional operation robot

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to an interventional operation robot.

Background

The interventional therapy is to introduce special surgical instruments into a human body under the guidance of medical imaging equipment to diagnose and treat the in-vivo pathological condition locally. Existing interventional surgical robots are typically pushed to the vicinity of an operating table by a medical staff. Some robots have pulleys at the bottoms, some robots only have supports, and the robots can only be manually placed at the required positions by medical staff, so that the workload of the medical staff is increased. In order to reduce the radiation hazard of X-rays exposed in the growing period of the traditional Chinese medicine in the interventional operation, a remote-operated master-slave interventional operation robot is developed for the engineering. The slave end equipment of the master-slave interventional operation robot can work in a radiation environment, and a doctor controls the slave end equipment through the master end outside the radiation environment. However, the existing master-slave interventional operation robot is not flexible enough, medical staff still needs to enter an operating room to perform cooperative operation beside an operating table at certain stages before or during operation, and the medical staff in the operating room is not needed before or during operation.

Disclosure of Invention

The invention aims to provide an interventional operation robot, which ensures that the whole operation of the robot is more stable through the structural optimization of a robot main body, and improves the action range of a mechanical arm and the flexibility of an executing mechanism, so that medical staff can really leave an operating room, and all operations before and during the operation can be completed on a control terminal.

In order to solve the technical problems, the invention adopts the following technical scheme: the interventional operation robot comprises a robot main body, a mechanical arm, an actuating mechanism and a visual component, wherein the actuating mechanism and the visual component are arranged on the mechanical arm and used for executing operation, the robot main body comprises a flat automatic guide seat, a vertical support body and a mechanical arm fixing frame, the flat automatic guide seat, the vertical support body, the mechanical arm fixing frame and the visual component are sequentially arranged from bottom to top, the projection area of the vertical support body on a horizontal plane is smaller than that of the flat automatic guide seat, the projection area of the bottom of the mechanical arm fixing frame on the horizontal plane is smaller than that of the vertical support body on the horizontal plane and that of the top of the mechanical arm fixing frame on the horizontal plane, and the projection area of the visual component on the horizontal plane is smaller than that of the top of the mechanical arm fixing frame and that of the vertical support body on the horizontal plane; the mechanical arm comprises a first arm and a second arm which are respectively arranged at two opposite sides of the mechanical arm fixing frame, and the projection ratio of the first arm and the second arm on the horizontal plane exceeds 1/2 and falls into the horizontal projection of the flat automatic guide seat; the actuator includes a first actuator member disposed on the first arm and having a first actuator function and a second actuator member disposed on the second arm and having a second actuator function, the first and second actuator members being configured to cooperate with one another to perform a surgical operation.

In another embodiment, the first performing function includes a function of controlling movement of the surgical instrument relative to a target site of the human body, the movement including linear movement; the second performing function includes controlling a state of at least a portion of a surgical instrument, the at least a portion including a distal portion of the surgical instrument.

In another embodiment, the second actuating member includes a second movable portion movably disposed relative to the second arm for applying a force to the surgical instrument to control the state thereof.

In another embodiment, the surgical instrument is an endoscope coupled to a first implement comprising a linear movement and a rotational movement about its own axis.

In another embodiment, the first executing component includes a fixed seat, a first movable portion rotatably connected to the fixed seat, and a left rotating portion disposed on the fixed seat and used for driving the first movable portion to rotate, and when the endoscope is mounted on the first movable portion and the endoscope body of the endoscope is in a straight line state, an axis of the endoscope body coincides with a rotation axis of the first movable portion.

In another embodiment, the left rotating part comprises a vertical plate fixed on the fixed floor, a left rotating shaft rotationally connected to the vertical plate, a first left rotating gear and a left rotating plate which are respectively and fixedly connected to two end parts of the left rotating shaft and coaxially arranged with the left rotating shaft, a first motor installed on the fixed floor, a second left rotating gear connected to the first motor and meshed with the first left rotating gear, and the left rotating plate is fixedly connected with the first movable part.

In another embodiment, the first movable part comprises a movable plate fixedly connected with the left rotary plate and a movable bending part arranged on the movable plate and used for driving the endoscope to move and bend.

In another embodiment, the movable bending portion includes a guide rail installed on the movable plate, a sliding block slidingly connected to the guide rail, a flat automatic guide seat fixed on the sliding block, a screw rod rotatably connected to the movable plate, a screw rod nut in threaded connection with the screw rod and fixedly connected with the flat automatic guide seat, a second motor for driving the screw rod to rotate, and a synchronous belt assembly connected between the second motor and the screw rod, and the endoscope is installed on the flat automatic guide seat.

In another embodiment, the flat automatic guide seat is provided with a first installation side plate, a second installation side plate, a third installation side plate and a fourth installation side plate which are perpendicular to the movable plate, the second installation side plate and the third installation side plate are arranged in parallel and are perpendicular to the first installation side plate, an installation station for installing an endoscope is formed among the second installation side plate, the third installation side plate, the fourth installation side plate and the first installation side plate, and an opening for extending a scope body of the endoscope is formed in the fourth installation side plate.

In another embodiment, the mounting station is located at the rear side of the fourth mounting side plate, spring buckles capable of swinging in the left-right direction are mounted on the rear side of the fourth mounting side plate and located at the left side and the right side of the opening, when the spring buckles are opened at the left side and the right side, the lens body of the endoscope can be clamped between the spring buckles, when the spring buckles rotate towards the middle and are closed, and the spring buckles are pressed on the lens body of the endoscope.

In another embodiment, when the spring catch is rotated towards the middle, the rear side of the spring catch presses against the front end of the body of the endoscope.

In another embodiment, the mounting station is located at a front side of the first mounting side plate, and the first movable portion includes a third motor and a fourth motor mounted at a rear side of the first mounting side plate and used for driving the endoscope to bend.

In another embodiment, a control button is arranged on the endoscope body, a swing rod and a swing driving part for driving the swing rod to swing are rotatably connected on the movable plate, the swing rod is provided with at least two working positions of opening and closing, when the swing rod is in the opening working position, the swing rod presses the trigger control button, and when the swing rod is in the closing working position, the swing rod is separated from the control button.

In another embodiment, the swing driving part includes a swing frame vertical rod fixed on the flat automatic guide seat, a swing frame cross rod perpendicular to the swing frame vertical rod, a swing rotating shaft parallel to the swing frame vertical rod and rotationally connected to the swing frame cross rod, a fifth motor for driving the swing rotating shaft to rotate, and a bevel gear pair connected between the fifth motor and the swing rotating shaft and meshed with each other, the swing rotating shaft penetrates through the swing frame cross rod and then is connected with one end of the swing rod, the end is a proximal end of the swing rod, the other end is a distal end of the swing rod, and the fifth motor drives the swing rotating shaft to rotate through the bevel gear pair so as to drive the swing rod to switch between the open working position and the closed working position.

In another embodiment, the body of the endoscope is provided with an air inlet pipe and an air outlet pipe for sucking body fluid, the control button comprises a first button for controlling the body fluid to be sucked and opened and closed, and a connecting port of the air inlet pipe and the air outlet pipe on the body of the endoscope is positioned on the swing path of the swing rod.

In another embodiment, the distal end portion of the swing lever has the following state: simultaneously, the liquid suction device is tightly pressed on an air inlet pipe and an air outlet pipe for sucking body fluid, is only tightly pressed on the air inlet pipe or the air outlet pipe, or is not tightly pressed on the air inlet pipe and the air outlet pipe for sucking body fluid.

In another embodiment, the first executing component comprises a left mounting seat, a plurality of limiting columns and a left clamping part, wherein the limiting columns and the left clamping part are mounted on the left mounting seat, a shape matched with the proximal end of the endoscope is formed between the limiting columns, and the left clamping part clamps the endoscope body at the proximal end of the endoscope.

In another embodiment, the left clamping portion includes a clamping cylinder.

In another embodiment, the second executing component includes a right mounting seat, a first right clamping portion and a second right clamping portion which are mounted on the right mounting seat and can move relatively.

In another embodiment, the vertical support has a cavity for receiving an electrical component.

In another embodiment, the ratio of more than 2/3 of the projections of the first arm and the second arm on the horizontal plane falls into the horizontal projection of the flat automatic guiding seat.

In another embodiment, the length extension direction of the first arm and the second arm is consistent with the length direction of the flat automatic guide seat.

In another embodiment, the flat automatic guiding seat comprises a vehicle body capable of automatically guiding the vehicle body, a laser radar installed at the front end part of the vehicle body, a bracket installed above the vehicle body, and a wide-angle camera installed on the upper end surface of the vehicle body and located below the bracket, and the vertical support is installed on the bracket.

In another embodiment, the front roller set and the rear roller set are arranged on the vehicle body, one of the front roller set and the rear roller set is a universal wheel, the other set is a driving wheel interventional operation robot, and rubber is coated on the front roller set and the rear roller set.

In another embodiment, the interventional operation robot includes a control terminal, a first line planning module capable of actively avoiding an obstacle is arranged in the vehicle body and is in communication connection with the vision component, the laser radar and the wide-angle camera, the first line planning module analyzes the obstacle condition on the road according to the acquired images of the vision component, the laser radar and the wide-angle camera to plan the moving path of the vehicle body, and the acquired images can be transmitted to the control terminal in real time.

In another embodiment, the vision assembly comprises a vision camera, a steering engine mounted on the vertical support body and used for adjusting the view angle of the vision camera, and a mounting rack steering engine connected between the vision camera and the steering engine.

In another embodiment, the vision component comprises a second line planning module for preventing interference of the first arm and the second arm, and the second line planning module analyzes the obstacle condition on the action routes of the first arm and the second arm according to the real-time action images of the first arm and the second arm acquired by the vision camera and can transmit the acquired images to the control terminal in real time.

The invention has the beneficial effects that: the flat automatic guide seat can replace the legs of medical staff, can receive instructions to drive the whole robot to move to an operation appointed position, can automatically identify obstacles to avoid the obstacle in the moving process, can return to an appointed area after the operation is finished, does not occupy the space of an operating room, and greatly increases the overall flexibility compared with the prior robot; the mechanical arm adopts a double mechanical arm structure, so that synchronous execution of a plurality of operation actions can be performed, the synchronization and the accuracy are greatly improved, fatigue and errors are avoided, and the operation effect is improved; the visual component is provided with a high-definition 3D camera, and can be positioned and monitored before and during operation; the double-eye function of a person is replaced, but the adverse effects such as eye fatigue and eye flowers of the person are avoided, and the camera has a storage function and can be used for the medical staff to review and learn experience after an operation; medical staff can sit at a distance, and the operation robot is remotely controlled through the control terminal to perform the operation, so that the harm of the medical staff to radiation and the like can be greatly reduced, and the fatigue of the medical staff in the operation can also be reduced.

Drawings

FIG. 1 is a schematic structural view of an interventional surgical robot;

FIG. 2 is a schematic view of a flat automatic guide seat;

FIG. 3 is a schematic structural diagram of a first executing component according to the first embodiment;

FIG. 4 is a schematic structural diagram of a second execution unit according to the first embodiment;

FIG. 5 is a schematic structural diagram of a first executing component in the second embodiment;

FIG. 6 is a schematic view of the structure of the first actuator (with the housing removed) in the second embodiment;

fig. 7 is a schematic structural diagram of a left rotating portion of the first executing member in the second embodiment;

fig. 8 is a schematic structural diagram of a first movable portion of a first execution unit in the second embodiment;

FIG. 9 is a schematic view of a connection structure of a component on a flat automatic guiding seat in the second embodiment;

FIG. 10 is a schematic view of a connection structure of a member on a flat automatic guiding seat according to another angle in the second embodiment;

FIG. 11 is a schematic structural diagram of a first executing component in the third embodiment;

FIG. 12 is a flow chart of a first route planning module;

fig. 13 is a flow chart of a second route planning module.

Detailed Description

The invention is described in detail below with reference to the embodiments shown in the drawings:

example 1

As shown in fig. 1, the interventional operation robot comprises a robot main body, a mechanical arm 3, an actuating mechanism arranged on the mechanical arm 3 and used for executing operation, a visual component 4 and a control terminal, wherein the robot main body comprises a flat automatic guide seat 1, a vertical support body 22 and a mechanical arm fixing frame 21, the flat automatic guide seat 1, the vertical support body 22, the mechanical arm fixing frame 21 and the visual component 4 are sequentially arranged from bottom to top, the projection area of the vertical support body 22 on a horizontal plane is smaller than the projection area of the flat automatic guide seat 1 on the horizontal plane, the volume of the robot main body part is reduced, the overall stability of the robot is ensured, the projection area of the bottom of the mechanical arm fixing frame 21 on the horizontal plane is smaller than the projection area of the vertical support body 22 on the horizontal plane and the projection area of the top of the mechanical arm fixing frame 21 on the horizontal plane, the occupation space of the mechanical arm fixing frame 21 is further reduced compared with the vertical support body 22, the occupation space of the robot main body part can be further reduced, and a larger movable space can be provided for the mechanical arm 3, so that the mechanical arm 3 can complete more complex operation, and the projection area of the visual component 4 on the horizontal plane is smaller than the projection area of the vertical support body 21 on the horizontal plane; specifically, the vertical support 22 includes a first riser 221 and a second riser 222 that are disposed opposite to each other, and a plurality of horizontal plates 223 that are disposed horizontally, the first riser 221 and the second riser 222 are disposed vertically, the plurality of horizontal plates 223 are disposed between the first riser 221 and the second riser 222 in sequence in upper and lower positions, a storage space is formed between two adjacent horizontal plates 223, and the electrical components of the mechanical arm 3 and/or the vision component 4 may be mounted in the storage space.

The mechanical arm fixing frame 21 comprises a plurality of vertical rods 211 vertically fixed on the upper end face of the vertical support body 22, and shoulders 212 fixed on the vertical rods 211 and approximately shaped like an inverted trapezoid, wherein two opposite sides of the shoulders 212 are respectively provided with a mounting surface 213 which is inclined downwards.

The mechanical arm comprises a first arm 31 and a second arm 32 which are respectively arranged on two mounting surfaces 213, and the ratio of more than 1/2 of the projection of the first arm 31 and the second arm 32 on the horizontal plane falls into the horizontal projection of the flat automatic guide seat 1; the actuator comprises a first actuator member 33 provided on the first arm 31 and having a first actuator function, and a second actuator member 34 provided on the second arm 32 and having a second actuator function, the first actuator member 33 and the second actuator member 34 being configured to cooperate with each other to perform a surgical operation.

As shown in fig. 2, a flat automatic guiding seat 1 is used for driving a vertical supporting body 2 to move, and the vertical supporting body 2 is fixed on the flat automatic guiding seat 1; the flat automatic guide seat 1 comprises a vehicle body 10, a laser radar 12 arranged at the front end part of the vehicle body 10, a bracket 14 arranged above the vehicle body 10, a wide-angle camera 13 arranged on the upper end surface of the vehicle body 10 and positioned below the bracket 14, and a vertical support body 2 arranged on the bracket 14. The vehicle body 10 is provided with a front roller set 11a, a rear roller set 11c and a middle roller set 11b, wherein one group of the front roller set 11a or the rear roller set 11c is a universal wheel, and the other group is a driving wheel. Rubber is coated on the front roller group 11a, the middle roller group 11b and the rear roller group 11c, and is used for keeping silent when the surgical robot moves. The vehicle body 10 is internally provided with a first line planning module capable of actively avoiding obstacles, which is in communication connection with the vision component 4, the laser radar 12 and the wide-angle camera 13, the first line planning module analyzes the moving path of the vehicle body according to the acquired images acquired by the vision component 4, the laser radar 12 and the wide-angle camera 13, and can transmit the acquired images to the control terminal in real time, specifically, the vehicle body 10 is manually controlled to move, the path is recorded and map reconstruction is performed by combining the images shot by the vision component 4, then a starting point and a target point are set, the moving path is planned according to the starting point and the stopping point, the vehicle body 10 is moved according to the planned path, when the vision component 4 or the laser radar 12 or the wide-angle camera 13 recognizes that an obstacle is on the moving path, the vision component 4 or the wide-angle camera 1 acquires the outline of the obstacle, the vision component 4 processor compares the outline coordinates of the obstacle with the upper limit coordinates, left, right limit coordinates and lower limit coordinates when the robot moves to the obstacle, if the robot moves upwards, the projection is required to reach the target point after the movement of the vehicle body passes through the direction, the projection path is enough to reach the position of the patient before the operation is completed, and the distance between the two arms and the patient is adjusted after the patient is required to reach the position of the patient.

In the present embodiment, the first actuator 33 is used to hold the body 01 of the endoscope and perform the feeding and retracting actions of the endoscope, and the second actuator 34 is used to stabilize the body 02 of the endoscope and guide the endoscope to move in the human body in a desired moving direction; specifically, the first executing component 33 includes a left mounting seat 331, and a plurality of limiting posts 332 and left clamping portions 333 mounted on the left mounting seat 331, wherein the limiting posts 332 are formed into a shape matching with the proximal end of the endoscope, and the left clamping portions 333 clamp the scope body of the proximal end of the endoscope. The left clamping portion 333 is a clamping cylinder. The second actuating member 34 includes a right mounting seat 341, a first right clamping portion 342 and a second right clamping portion 343 mounted on the right mounting seat 341 to be relatively movable. The mirror body passes through the first right clamping part 342 and the second right clamping part 343, the first right clamping part 342 clamps the mirror body at first, the second right clamping part 343 loosens the mirror body, then the first right clamping part 342 moves forward and approaches to the second right clamping part 343, after reaching the set position, the second right clamping part 343 clamps the mirror body, the first right clamping part 342 loosens the mirror body and then moves backward for resetting, the operation is repeated to complete the feeding of the endoscope, and the reverse operation can complete the retraction of the endoscope.

A vision module 4 mounted on the vertical support 2 for positioning and monitoring the travel of the flat automatic guide holder 1 before, during and after the operation, and for positioning and monitoring the movement of the mechanical arm 3; the vision assembly 4 comprises a vision camera 41, a steering engine 43 mounted on the shoulder 212 and used for adjusting the view angle of the vision camera 41, and a mounting frame 42 connected between the vision camera 41 and the steering engine 43, wherein the steering engine 43 is a steering engine, and the view angle of the vision camera 41 can be adjusted. The vision camera 41 is a high-definition 3D camera, which is helpful for accurate positioning of the mechanical arm 3 and the vehicle body. The vision assembly 4 comprises a second path planning module for the path of movement of the robot arm 3 for preventing that the first arm 31 and the second arm 32 and the first actuator 33 and the second actuator 34 can only interfere during operation by inputting the dimensions of the arms to the processor of the vision assembly and performing reproduction of the model of the arms, setting the path of movement of the arms according to the model and thus setting the conditions of the spacing of the arms, thereby preventing interference of the arms.

And the control terminal can know the position relation between the robot and the operating table and the position relation between the mechanical arm 3 and the patient through the image fed back by the vision component 4, and can remotely operate and control the movement of the robot, the action of the mechanical arm and the operation of the surgical instrument.

Taking bronchoscopy as an example, the specific operation steps of the invention are explained.

Before preparing for the bronchoscope operation, the disinfected bronchoscope and the surgical instruments needed to be used are installed on the left hand and the right hand of the manipulator. The remote control end computer sends an instruction to set the standing position of the surgical robot, generally beside an operating table. After the appointed position is set, the flat automatic guide seat receives the instruction and drives the robot to automatically plan the path to move in place, and in the moving process, the radar and the camera on the flat automatic guide seat can identify the obstacle and correct the route to bypass the obstacle and move to the appointed position.

When the robot moves to the appointed position, the vision component at the top of the robot recognizes the calibrated position on the operating table through the camera, simultaneously recognizes the calibration on the manipulator, compares and analyzes the positions of the operating table and the manipulator, and sends pose information to the control console. The console sends instructions to adjust the position of the manipulator so that the manipulator moves to the initial surgical position with the surgical instrument.

After the operation is ready, medical staff sits in a remote control room, the operation is started through remote control of a remote controller, and meanwhile, the cradle head camera feeds back the operation process image on a control desk computer in real time. In the operation process, the robot holds the body (endoscope) of the bronchoscope left hand and holds the endoscope body of the bronchoscope (endoscope) right hand, so that the bronchoscope slowly enters the human body to reach a preset position.

After the operation is finished, the medical staff removes the bronchoscope to take off for disinfection. And sending an instruction through the console to enable the robot to return to the original position. The robot mechanical bronchoscope operation is adopted, so that a doctor can be replaced by direct manual operation, the doctor can be far away from radiation hazard, meanwhile, the robot has no adverse effects such as fatigue, the operation of the mechanical arm is stable, the stability in the operation can be ensured, and the operation effect is improved.

Example two

The point of distinction between the present embodiment and the first embodiment is only the first executing member.

In the present embodiment, the first actuator 33 is used to hold the body 01 of the endoscope and perform the feeding and retracting actions of the endoscope, and the second actuator 34 is used to stabilize the body 02 of the endoscope and guide the endoscope to move in the human body in a desired moving direction.

As shown in fig. 6 to 10, the first executing component includes a housing 5, a fixed seat 51, a first movable portion 52 rotatably connected to the fixed seat 51, and a left rotating portion 53 disposed on the fixed seat 51 and used for driving the first movable portion 52 to rotate, wherein the fixed seat 51, the first movable portion 52 and the rotating portion 53 are installed in the housing 5.

The left rotating unit 53 includes a vertical plate 54 fixed to a fixed floor, a left rotating shaft 55 rotatably connected to the vertical plate 54, a first left rotating gear 56 and a left rotating plate 57 fixedly connected to both end portions of the left rotating shaft 55 and coaxially provided with the left rotating shaft 55, a first motor 58 mounted to the fixed floor, a second left rotating gear 59 connected to the first motor 58 and meshed with the first left rotating gear 56, and the left rotating plate 57 is fixedly connected to the first movable unit 52. The first motor 58 rotates to drive the second left rotating gear 59 to rotate and further drive the first left rotating gear 56 to rotate, so as to drive the left rotating shaft 55 to rotate and finally drive the first movable portion 52 to rotate.

The first movable part 52 includes an endoscope, a movable plate 50 fixedly connected to the left rotary plate 57, and a moving bending part mounted on the movable plate 50 for driving the endoscope to move and bend. The moving bending part comprises a guide rail 510 installed on the movable plate 50, a sliding block 511 slidingly connected to the guide rail 510, a flat automatic guide holder 512 fixed on the sliding block 511, a screw rod 513 rotatably connected to the movable plate 50, a screw rod nut 514 screwed with the screw rod 513 and fixedly connected with the flat automatic guide holder 512, a second motor 515 driving the screw rod 513 to rotate, a telescopic tube 532, and a synchronous belt assembly 516 connected between the second motor 515 and the screw rod 513, and the endoscope is installed on the flat automatic guide holder 512. In order to facilitate the installation of the endoscope body 01, the flat automatic guide holder 512 is provided with a first installation side plate 517, a second installation side plate 518, a third installation side plate 519 and a fourth installation side plate 520 which are perpendicular to the movable plate 50, the second installation side plate 518 and the third installation side plate 519 are arranged in parallel and are perpendicular to the first installation side plate 517, an installation station for installing the endoscope is formed among the second installation side plate 518, the third installation side plate 519, the fourth installation side plate 520 and the first installation side plate 517, and the fourth installation side plate 520 is provided with a notch for extending the endoscope body 02 of the endoscope.

The installation station is positioned at the rear side of the fourth installation side plate 520, in order to improve the installation convenience of the mirror body 02 part of the endoscope, spring buckles 521 capable of swinging in the left-right direction are installed on the rear side surface of the fourth installation side plate 520 and positioned at the left-right sides of the notch, when the spring buckles 521 are opened at the left-right sides, the mirror body 02 of the endoscope can be clamped in between the spring buckles 521, and when the spring buckles 521 rotate towards the middle, the spring buckles 521 are pressed on the mirror body 02 of the endoscope; when the spring buckle 521 rotates toward the middle, the rear side of the spring buckle 521 presses against the front end of the body 01 of the endoscope, and the telescopic tube 532 is sleeved on one end of the endoscope body 02 of the endoscope and fixed with the movable plate 50, and the other end is fixed on the front end of the body 01 of the endoscope.

The mounting station is located at the front side of the first mounting side plate 517, and the first movable portion 52 includes a third motor 522 and a fourth motor 523 mounted at the rear side of the first mounting side plate 517 for driving bending of the endoscope.

The endoscope body 01 is provided with a control button, the flat automatic guide seat 512 is rotatably connected with a swinging rod 528 and a swinging driving part for driving the swinging rod 528 to swing, the swinging rod 528 at least has an opening working position and a closing working position, when the swinging rod 528 is in the opening working position, the swinging rod 528 presses the trigger control button, and when the swinging rod 528 is in the closing working position, the swinging rod 528 leaves the control button. The swing driving part comprises a swing frame vertical rod 525 fixed on the flat automatic guide seat 512, a swing frame cross rod 526 perpendicular to the swing frame vertical rod 525, a swing rotating shaft 527 which is parallel to the swing frame vertical rod 525 and is rotationally connected to the swing frame cross rod 526, a fifth motor 529 for driving the swing rotating shaft 527 to rotate, and a bevel gear pair which is connected between the fifth motor 529 and the swing rotating shaft 527 and is meshed with each other, wherein the swing rotating shaft 527 penetrates through the swing frame cross rod 526 and is connected with one end part of the swing rod 528, the end part is a proximal end part of the swing rod 528, the other end part is a distal end part of the swing rod 528, and the fifth motor 529 drives the swing rotating shaft 527 to rotate through the bevel gear pair 533 so as to drive the swing rod 528 to switch between an opening working position and a closing working position.

The body 01 of the endoscope is provided with the air inlet pipe 530 and the air outlet pipe 531 for sucking body fluid, the control buttons comprise the first button 524 for controlling the body fluid to be sucked and opened and closed, the connecting ports of the air inlet pipe 530 and the air outlet pipe 531 on the body 01 of the endoscope are positioned on the swinging path of the swinging rod 528, the buttons for controlling the body fluid to be sucked are not required to be provided with additional operation ends, the structure of the endoscope is more compact, and the complexity of the robot arm is further reduced.

The distal end portion of the swing lever 528 has the following states: simultaneously, the air inlet pipe 530 and the air outlet pipe 531 for sucking body fluid, the air inlet pipe 530 or the air outlet pipe 531 only, or the air inlet pipe 530 and the air outlet pipe 531 for sucking body fluid are pressed, when the first button 524 fails, the air inlet pipe 530 and/or the air outlet pipe 531 can be controlled to be pressed through the swinging of the swinging rod 528, so that the air inlet pipe 530 and/or the air outlet pipe 531 is closed or opened, and when the electric control fails, the opening and closing states of the air inlet pipe 530 and the air outlet pipe 531 can be controlled in a physical mode.

The second actuating member 34 includes a right mounting seat 341, a first right clamping portion 342 and a second right clamping portion 343 mounted on the right mounting seat 341 to be relatively movable. The mirror body passes through the first right clamping part 342 and the second right clamping part 343, the first right clamping part 342 clamps the mirror body at first, the second right clamping part 343 loosens the mirror body, then the first right clamping part 342 moves forward and approaches to the second right clamping part 343, after reaching the set position, the second right clamping part 343 clamps the mirror body, the first right clamping part 342 loosens the mirror body and then moves backward for resetting, the operation is repeated to complete the feeding of the endoscope, and the reverse operation can complete the retraction of the endoscope.

Example III

As shown in fig. 11, the present embodiment differs from the first embodiment only in that: first execution part, in this embodiment, the first execution part includes the fixed disk 71 that is used for connecting with first arm, install the apparatus support frame 72 on the fixed disk 71, and install biopsy forceps 73, biopsy needle 74 and the camera 75 on the apparatus support frame 72, have the apparatus backup pad 76 on the apparatus support frame 72, be equipped with biopsy forceps 73, biopsy needle 74 and the mounting groove 77 of camera 75 one-to-one on the apparatus backup pad 76, biopsy forceps 73, biopsy needle 74 and camera 75 are installed respectively in each mounting groove 77.

The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.

Claims

1. The utility model provides an intervene operation robot, its includes robot main part, arm, locates actuating mechanism, the vision subassembly that are used for carrying out operation on the arm, its characterized in that: the robot main body comprises a flat automatic guide seat, a vertical support body and a mechanical arm fixing frame, wherein the flat automatic guide seat, the vertical support body, the mechanical arm fixing frame and a visual component are sequentially arranged from bottom to top, the projection area of the vertical support body on a horizontal plane is smaller than that of the flat automatic guide seat, the projection area of the bottom of the mechanical arm fixing frame on the horizontal plane is smaller than that of the vertical support body on the horizontal plane and that of the top of the mechanical arm fixing frame on the horizontal plane, and the projection area of the visual component on the horizontal plane is smaller than that of the top of the mechanical arm fixing frame and that of the vertical support body on the horizontal plane; the mechanical arm comprises a first arm and a second arm which are respectively arranged at two opposite sides of the mechanical arm fixing frame, and the projection ratio of the first arm and the second arm on the horizontal plane exceeds 1/2 and falls into the horizontal projection of the flat automatic guide seat; the actuator includes a first actuator member disposed on the first arm and having a first actuator function and a second actuator member disposed on the second arm and having a second actuator function, the first and second actuator members being configured to cooperate with one another to perform a surgical operation.

2. The interventional procedure robot of claim 1, wherein: the first performing function includes a function of controlling movement of the surgical instrument relative to a target site of the human body, the movement including linear movement; the second performing function includes controlling a state of at least a portion of a surgical instrument, the at least a portion including a distal portion of the surgical instrument.

3. The interventional procedure robot of claim 1, wherein: the second actuating member includes a second movable portion movably disposed relative to the second arm for applying a force to the surgical instrument to control a state thereof.

4. The interventional procedure robot of claim 1, wherein: the surgical instrument is an endoscope that is coupled to a first implement that includes linear movement and rotational movement about its own axis.

5. The interventional procedure robot of claim 4, wherein: the first execution part comprises a fixed seat, a first movable part rotationally connected to the fixed seat, and a left rotary part which is arranged on the fixed seat and used for driving the first movable part to rotate, and when the endoscope is arranged on the first movable part and the endoscope body of the endoscope is in a straight line state, the axis of the endoscope body coincides with the rotation axis of the first movable part.

6. The interventional procedure robot of claim 5, wherein: the left rotating part comprises a vertical plate fixed on the fixed floor, a left rotating shaft rotationally connected to the vertical plate, a first left rotating gear and a left rotating plate which are respectively and fixedly connected to two end parts of the left rotating shaft and coaxially arranged with the left rotating shaft, a first motor installed on the fixed floor, a second left rotating gear connected to the first motor and meshed with the first left rotating gear, and the left rotating plate is fixedly connected with the first movable part.

7. The interventional procedure robot of claim 6, wherein: the first movable part comprises a movable plate fixedly connected with the left rotary plate and a movable bending part which is arranged on the movable plate and used for driving the endoscope to move and bend.

8. The interventional procedure robot of claim 7, wherein: the movable bending part comprises a guide rail arranged on the movable plate, a sliding block connected to the guide rail in a sliding manner, a flat automatic guide seat fixed on the sliding block, a screw rod connected to the movable plate in a rotating manner, a screw rod nut connected with the screw rod in a threaded manner and fixedly connected with the flat automatic guide seat, a second motor for driving the screw rod to rotate, and a synchronous belt assembly connected between the second motor and the screw rod, wherein the endoscope is arranged on the flat automatic guide seat.

9. The interventional procedure robot of claim 8, wherein: the automatic flat guide seat is provided with a first installation side plate, a second installation side plate, a third installation side plate and a fourth installation side plate which are perpendicular to the movable plate, the second installation side plate and the third installation side plate are arranged in parallel and are perpendicular to the first installation side plate, an installation station for installing an endoscope is formed among the second installation side plate, the third installation side plate, the fourth installation side plate and the first installation side plate, and an opening for extending a scope body of the endoscope is formed in the fourth installation side plate.

10. The interventional procedure robot of claim 9, wherein: the installation station is located the rear side of fourth installation curb plate, on the trailing flank of fourth installation curb plate and be located the left and right sides of opening is installed and is gone into at left and right sides wobbling spring buckle, when the spring buckle is opened left and right sides, the mirror body of endoscope can follow between the spring buckle and block into, works as the spring buckle rotates towards the centre and draws close, the spring buckle withhold in on the mirror body of endoscope.

11. The interventional procedure robot of claim 10, wherein: when the spring buckle rotates towards the middle to be close, the rear side face of the spring buckle is pressed on the front end portion of the endoscope body.

12. The interventional procedure robot of claim 9, wherein: the mounting station is located the front side of first installation curb plate, first movable part including install in first installation curb plate rear side and be used for driving the crooked third motor of endoscope and fourth motor.

13. The interventional procedure robot of claim 7, wherein: the endoscope comprises an endoscope body, and is characterized in that a control button is arranged on the endoscope body, a swing rod and a swing driving part for driving the swing rod to swing are rotationally connected on the movable plate, the swing rod at least has an opening working position and a closing working position, when the swing rod is in the opening working position, the swing rod presses the trigger control button, and when the swing rod is in the closing working position, the swing rod is separated from the control button.

14. The interventional procedure robot of claim 13, wherein: the swing driving part comprises a swing frame vertical rod fixed on the flat automatic guide seat, a swing frame cross rod perpendicular to the swing frame vertical rod, a swing rotating shaft which is arranged in parallel with the swing frame vertical rod and rotationally connected to the swing frame cross rod, a fifth motor for driving the swing rotating shaft to rotate, and a bevel gear pair which is connected between the fifth motor and the swing rotating shaft and is meshed with each other, wherein the swing rotating shaft penetrates through the swing frame cross rod and then is connected with one end part of the swing rod, the end part is a near end part of the swing rod, the other end part is a far end part of the swing rod, and the fifth motor drives the swing rotating shaft to rotate through the bevel gear pair so as to drive the swing rod to switch between the opening and closing two working positions.

15. The interventional procedure robot of claim 14, wherein: the body of the endoscope is provided with an air inlet pipe and an air outlet pipe for sucking body fluid, the control button comprises a first button for controlling the body fluid to be sucked, the opening and closing of the body fluid suction are controlled, and a connecting port of the air inlet pipe and the air outlet pipe on the body of the endoscope is positioned on a swinging path of the swinging rod.

16. The interventional procedure robot of claim 15, wherein: the distal end portion of the swing lever has the following state: simultaneously, the liquid suction device is tightly pressed on an air inlet pipe and an air outlet pipe for sucking body fluid, is only tightly pressed on the air inlet pipe or the air outlet pipe, or is not tightly pressed on the air inlet pipe and the air outlet pipe for sucking body fluid.

17. The interventional procedure robot of claim 4, wherein: the first execution part comprises a left mounting seat, a plurality of limiting columns and a left clamping part, wherein the limiting columns and the left clamping part are arranged on the left mounting seat, a shape matched with the proximal end of the endoscope is formed between the limiting columns, and the left clamping part clamps the endoscope body at the proximal end of the endoscope.

18. The interventional procedure robot of claim 17, wherein: the left clamping part comprises a clamping cylinder.

19. The interventional procedure robot of claim 17, wherein: the second execution part comprises a right mounting seat, a first right clamping part and a second right clamping part, wherein the first right clamping part and the second right clamping part are mounted on the right mounting seat and can move relatively.

20. The interventional procedure robot of claim 1, wherein: the vertical support has a cavity for receiving an electrical component.

21. The interventional procedure robot of claim 1, wherein: the ratio of more than 2/3 of the projection of the first arm and the second arm on the horizontal plane falls into the horizontal projection of the flat automatic guide seat.

22. The interventional procedure robot of claim 1, wherein: the length extension direction of the first arm and the second arm is consistent with the length direction of the flat automatic guide seat.

23. The interventional procedure robot of claim 1, wherein: the flat automatic guide seat comprises a vehicle body capable of automatically guiding the vehicle body, a laser radar installed at the front end part of the vehicle body, a support installed above the vehicle body, and a wide-angle camera installed on the upper end surface of the vehicle body and located below the support, wherein the vertical support is installed on the support.

24. The interventional procedure robot of claim 23, wherein: the surgical robot is characterized in that a front roller group and a rear roller group are arranged on the vehicle body, one group of the front roller group or the rear roller group is a universal wheel, the other group of the front roller group or the rear roller group is a driving wheel interventional surgical robot, and rubber is coated on the front roller group and the rear roller group.

25. The interventional procedure robot of claim 23, wherein: the interventional operation robot comprises a control terminal, a first line planning module capable of actively avoiding an obstacle is arranged in the vehicle body and is in communication connection with the vision component, the laser radar and the wide-angle camera, the first line planning module analyzes an obstacle condition on a walking path according to images acquired by the vision component, the laser radar and the wide-angle camera to plan a moving path of the vehicle body, and the acquired images can be transmitted to the control terminal in real time.

26. The interventional procedure robot of claim 1, wherein: the visual assembly comprises a visual camera, a steering engine which is arranged on the vertical support body and used for adjusting the visual field angle of the visual camera, and an installation rack steering engine which is connected between the visual camera and the steering engine.

27. The interventional procedure robot of claim 25, wherein: the vision assembly comprises a second line planning module for preventing interference of the first arm and the second arm, and the second line planning module analyzes obstacle conditions on the action routes of the first arm and the second arm according to the real-time action images of the first arm and the second arm acquired by the vision camera and can transmit the acquired images to the control terminal in real time.