CN117653227A - Multi-arm robotic surgical device for single-port laparoscopic surgery - Google Patents

Abstract

A dobby robotic surgical device for single port laparoscopic surgery relates to the technical field of medical instruments. The invention solves the problems of small operation space, high operation difficulty and high manufacturing cost of the existing dobby robotic surgical device. The invention comprises a stamping part (1) and a plurality of surgical instruments (4), wherein the stamping part (1) comprises a base body (1-1) and a plurality of controllable sleeves (2), the base body (1-1) comprises a body and a plurality of insertion tubes, the plurality of insertion tubes are arranged in a ring-shaped array in a clockwise or anticlockwise rotating mode and are inclined, the plurality of insertion tubes are communicated with the body, and the plurality of controllable sleeves (2) are inserted into the plurality of insertion tubes; each steerable sleeve (2) is internally provided with a surgical instrument (4). The arrangement of the insertion tube can ensure that the controllable sleeve and the surgical instrument have larger movable space to the greatest extent after being inserted, thereby avoiding the problems of collision and interference. The invention is used for single-port laparoscopic surgery.

Description

Multi-arm robotic surgical device for single-port laparoscopic surgery

Technical Field

The invention relates to the technical field of medical equipment, in particular to a dobby robotic surgical device for umbilical single-port laparoscopic surgery.

Background

Transumbilical single-port laparoscopic surgery is typically performed using a single-arm single-port robot. The operation utilizes the umbilical scar which is natural to the human body to conceal the postoperative scar, and has the advantages of small postoperative scar, quick postoperative recovery, low pain and the like. But it also suffers from certain drawbacks such as: the defects of small space, narrow visual field and the like are only made, so that the operation difficulty is increased; and single-arm single-hole machines are expensive to man-made, and the single-hole laparoscopic surgery has too high use cost due to less indications. For this reason, dobby robots are presented.

In the single hole operation, the existing dobby robot has serious chopstick effect due to the limitation of the swing space of the operation part on the upper part of the dobby robot. For example: the patent name of the integrated sleeve device for single-port laparoscopic surgery is CN210843341U, the upper end face of the sleeve device is provided with a plurality of connecting pipes which extend outwards and vertically by 2-3cm and are supported by hard materials, and when surgical instruments extend into a surgical channel from the connecting pipes, the connecting pipes can play a role in supporting the surgical instruments. Because the connecting pipe of this patent is vertical arrangement for surgical instruments, when the dobby robot is controlled by the doctor promptly, the dobby robot that is located sleeve pipe upper portion is in the swing in-process, and its operation space is little, the operation degree of difficulty is high, influences the operation security of complicated state of illness moreover.

In addition, the camber of the existing rigid bending instrument for the single-port laparoscopic surgery of the dobby robot is not adjustable, so that the surgery space is limited; the bending apparatus with controllable shape is expensive in cost and limited in use times, so that the cost of single operation is still high, and the bending apparatus needs to be controlled by a special operation robot system, so that the adaptability is low.

In summary, the existing dobby robotic surgical device has the problems of small surgical space, high operation difficulty and high manufacturing cost.

Disclosure of Invention

The invention aims to solve the problems of small operation space, high operation difficulty and high manufacturing cost of the existing multi-arm robotic surgical device, and further provides the multi-arm robotic surgical device for single-hole laparoscopic surgery.

The technical scheme of the invention is as follows:

the dobby robotic surgical device for single-port laparoscopic surgery comprises a poking clamp and a plurality of surgical instruments, wherein the poking clamp comprises a base body and a plurality of controllable cannulas, the base body comprises a body and a plurality of insertion tubes, the plurality of insertion tubes are arranged in a clockwise or anticlockwise rotation mode and are obliquely arranged in an annular array mode, the plurality of insertion tubes are communicated with the body, and the plurality of controllable cannulas are inserted into the plurality of insertion tubes; each steerable cannula is inserted with a surgical instrument.

Further, the plurality of insertion tubes comprise an instrument tube, a cavity mirror tube, an instrument tube and an auxiliary tube, wherein an acute included angle is formed between the instrument tube, the cavity mirror tube, the instrument tube and the auxiliary tube and the upper end face of the base body, and the included angle is 1-89 degrees.

Preferably, the included angle is 10 ° -30 °, or 30 ° -45 °, or 45 ° -60 °, or 60 ° -80 °.

Further, each controllable sleeve comprises a sleeve fixing body, a rigid sleeve, a bending controller, a tail fixing end and a bending tube, wherein the sleeve fixing body is sleeved on the rigid sleeve, the sleeve fixing body is connected with the rigid sleeve in a sliding mode and in a rotatable mode, the rigid sleeve is inserted on one of the insertion tubes, the rigid sleeve is in clearance fit with the insertion tube, one end of the rigid sleeve is connected with the bending tube, and the other end of the rigid sleeve is connected with the tail fixing end after being connected with the bending controller.

Further, the rigid sleeve is only connected with the tail fixed end in a sliding manner in the axial direction.

Further, the bending tube is a flexible and self-locking bending controller.

Further, each steerable sleeve further includes a head-securing end fixedly attached to the end of the curved tube.

Further, the actuating portion of the surgical instrument extends out of the curved tube and is connected to the head-securing end.

Further, the device also comprises a device control end and a device rigid rod, wherein the device control end is connected with the tail fixed end through the device rigid rod.

Preferably, the number of steerable cannulas is 3.

Compared with the prior art, the invention has the following effects:

1. the invention is provided with 3-4 insertion tubes for installing controllable sleeves or auxiliary tools on a disposable substrate 1-1, and the insertion tubes comprise an instrument tube 1-2, a cavity mirror tube 1-3, an instrument tube 1-4 and an auxiliary tube 1-5. The plane arrangement mode and the angle of the insertion tube are specially designed, so that a large movable space can be ensured to the greatest extent after the controllable sleeve 2 and the surgical instrument 4 are inserted, the problems of collision and interference are avoided, sufficient space is provided for the operation, and the operation difficulty of a doctor in the operation process is further reduced.

2. The surgical instrument 4 adopted in the invention is the conventional surgical instrument, so that doctors are skilled in use, the use difficulty is greatly reduced, and the cost of the whole surgical robot is effectively reduced. In addition, it can be widely applied to common multi-arm surgical robots.

3. According to the invention, the angle of the insertion tube is set, so that when a plurality of controllable cannulas 2 are inserted into the insertion tube, the controllable cannulas 2 positioned at the lower part of the body are in a dispersed state, and the dispersed arrangement form of the lower part of the controllable cannulas 2 is adjusted by changing the angle of the insertion tube, so that the controllable cannulas 2 are suitable for different operation conditions. Importantly, a plurality of controllable cannulas 2 arranged on the upper part of the body are also in a dispersed state, a large deployment space is provided for the whole operation, the movable space of each controllable cannula 2 is increased, the chopstick effect existing in the prior art when single-hole operation is carried out is avoided, and structural interference is not easy to occur between each controllable cannula 2.

4. The curvature of the surgical instrument 4 and lens of the present invention in the body is controllable. The bending tube adopts a double-layer bending structure, the first layer is bent into the bending tube 2-5, the bending angle of the bending tube 2-5 can be manually bent by a doctor according to the actual use requirement, and the self-locking can be realized after the bending, namely, the secondary bending can not occur after the manual bending. In addition, the bending degree of the bending tube 2-5 can be automatically controlled by the bending controller 2-3, and the bending is realized in the following way: the bending deformation of the inside of the bending tube 2-5 is controlled by the elastic metal rod and the bending degree thereof is supported. The bending controller 2-3 is connected with an elastic metal rod in the bending tube 2-5, the bending controller 2-3 is of a threaded connection structure, and the elastic metal rod can be pushed and pulled through relative rotation so as to drive the bending tube 2-5 to bend and deform. After the bending controller 2-3 rotates to the target position, the bending controller can be fixed with the rigid sleeve 2-2 through the bayonet so that the bending controller cannot rotate relatively, and therefore the elastic metal rod inside the bending tube 2-5 is fixed in a relative structure, the bending degree of the bending tube 2-5 is fixed, and self-locking is achieved.

The second layer is bent to manipulate the surgical instrument 4 inside the cannula 2, the end effector of the surgical instrument 4 being controlled in a manner controlled by this prior art structure. The stability of the whole robot in the operation process is guaranteed, and the operation precision is further guaranteed.

5. The surgical instrument 4 of the present invention has three degrees of freedom, yaw, pitch and roll, which can meet the needs of most procedures.

6. The invention has larger operation space in operation, is easy to form an operation triangle, and reduces operation difficulty.

7. The main part of the invention, the controllable sleeve 2 can be reused, and the single use cost is low.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention; FIG. 2 is a schematic view of the overall structure of the stamping element; FIG. 3 is a front view of the steerable sleeve; FIG. 4 is a side view of FIG. 3; FIG. 5 is a front view of a surgical instrument; FIG. 6 is a side view of FIG. 5; FIG. 7 is a schematic view of the lower bending tube of the present invention in a bent state, and the end effector of the surgical instrument in a bent state, i.e., a double-layer bent state, in different positions.

Detailed Description

The first embodiment is as follows: describing the present embodiment with reference to fig. 1 and 2, the present embodiment includes a snapper 1 and a plurality of surgical instruments 4, the snapper 1 includes a base 1-1 and a plurality of steerable cannulas 2, the base 1-1 includes a body and a plurality of insertion tubes, the plurality of insertion tubes are arranged in a circular array, rotated clockwise or counterclockwise and inclined, wherein the plurality of insertion tubes are all communicated with the body, and the plurality of steerable cannulas 2 are inserted into the plurality of insertion tubes; each steerable sleeve 2 houses a surgical instrument 4.

The second embodiment is as follows: referring to fig. 2, a plurality of insertion tubes according to the present embodiment include an instrument tube 1-2, a scope tube 1-3, an instrument tube 1-4, and an auxiliary tube 1-5, and the instrument tube 1-2, the scope tube 1-3, the instrument tube 1-4, and the auxiliary tube 1-5 each form an acute angle with an upper end surface of the base body 1-1, the angle being 1 ° to 89 °. So set up, the insertion tube of this embodiment is not coplanar setting on the whole, and wherein, the plane arrangement mode and the angle of insertion tube pass through special design, can furthest guarantee that sleeve pipe and apparatus insert the back have great free space that can not bump, interfere to provide sufficient operation space. Other compositions and connection relationships are the same as those of the first embodiment.

And a third specific embodiment: the present embodiment is described with reference to fig. 2, in which the included angle is 10 ° -30 °, or 30 ° -45 °, or 45 ° -60 °, or 60 ° -80 °. So set up, be convenient for according to actual operation needs, select the cartridge tube of different angles to the position that a plurality of steerable sleeve pipes 2 spread in the abdominal cavity is convenient for control. Other compositions and connection relationships are the same as those of the first or second embodiment.

The specific embodiment IV is as follows: referring to fig. 3 and 4, each steerable bushing 2 of the present embodiment includes a bushing fixing body 2-1, a rigid bushing 2-2, a bending controller 2-3, a tail fixing end 2-4, and a bending tube 2-5, the bushing fixing body 2-1 is sleeved on the rigid bushing 2-2, the bushing fixing body 2-1 is slidably connected with the rigid bushing 2-2 and rotatably connected therewith, the rigid bushing 2-2 is inserted on one of the insertion tubes, the rigid bushing 2-2 is in clearance fit with the insertion tube, one end of the rigid bushing 2-2 is connected with the bending tube 2-5, and the other end of the rigid bushing 2-2 is connected with the tail fixing end 2-4 after being connected with the bending controller 2-3.

So configured, it is convenient to provide support and adjustment of pose adjustment for the surgical instrument 4. Other compositions and connection relationships are the same as those of the first, second or third embodiments.

The cannula holder 2-1 of the present embodiment can be attached to a robotic surgical arm as with conventional stabbing devices.

The rigid sleeve 2-2 in this embodiment is in a clearance fit with the insertion tube such that the rigid sleeve 2-2 can rotate 360 deg. in the bore of the insertion tube, slide up and down, and tilt about the "dead point" position.

The sleeve fixing body 2-1 and the rigid sleeve 2-2 in the embodiment can be connected in a sliding manner and can be connected in a rotating manner, and the practical implementation mode is that the sleeve fixing body is connected in a cylindrical pair manner and can slide and rotate relatively.

The bending tube 2-5 in the present embodiment has a continuous body structure, and the bending controller 2-3 is operated to control the bending tube 3 to bend in a predetermined direction, the bending amplitude is changed within a predetermined range, and the current bending amplitude can be locked. After locking, the bending tube 3 becomes a similar rigid body and can bear larger external force without deformation.

Fifth embodiment: the present embodiment will be described with reference to fig. 3 to 4, in which the rigid sleeve 2-2 and the tail fixed end 2-4 are slidably connected to each other only in the axial direction. So set up, be convenient for slide according to the in-service use demand, use more nimble, convenient. Other compositions and connection relationships are the same as those of the first, second, third or fourth embodiments.

The rigid sleeve 2-2 and the tail fixed end 2-4 of the embodiment are connected by a moving pair, and can relatively slide and can not relatively rotate.

The main body of the rigid sleeve 2-2 of the embodiment is a rigid long tube, the rigid sleeve 2-2 is provided with a bending controller structure, the bending amplitude of the bending tube 3 can be manually controlled and locked, the device is provided with a sealing structure which is used for sealing with the instrument rigid rod 6 (specifically, sealing is realized through a silica gel sealing cap which is arranged at the upper end of the insertion tube, sealing is realized through elastic contact between the silica gel sealing cap and the instrument rigid rod 6), and meanwhile, the device can be matched with a hole on the insertion tube for sealing and relatively rotate and move.

Specific embodiment six: the present embodiment will be described with reference to fig. 3 and 4, in which the bending tube 2-5 is a flexible and self-locking bending controller. So set up, through set up multiunit test piece connecting screw hole at test piece mounting base 9 upper surface, conveniently adjust the position of test assembly 10, improved test system's commonality. Other compositions and connection relationships are the same as those of the first, second, third, fourth or fifth embodiments.

Seventh embodiment: the present embodiment is described with reference to fig. 3 to 4, in which each steerable sleeve 2 further includes a head fixing end 3, and the head fixing end 3 is fixedly connected to the end of the curved tube 2-5. So configured, the head-securing end 3 in this embodiment is rigidly connected to the bending tube 2-5, and the head-securing end 3 is controllably secured to the head of the surgical instrument 4. Under normal use, when the control mechanism is operated to deform the bending tube 2-5, the corresponding structure of the head fixing end 3 is automatically locked and fixed with the head of the matched surgical instrument 4, and then the bending tube 3 is deformed again. Other compositions and connection relationships are the same as those of the first, second, third, fourth, fifth or sixth embodiments.

Eighth embodiment: the present embodiment will be described with reference to fig. 1, in which the actuator portion of the surgical instrument 4 of the present embodiment is extended from the bending tube 2-5 and connected to the head fixing end 3. So set up, firm in connection just can dismantle. Other compositions and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth or seventh embodiments.

Detailed description nine: the present embodiment is described with reference to fig. 1, and further includes an instrument control end 5 and an instrument rigid rod 6, the instrument control end 5 being connected to the tail fixing ends 2 to 4 through the instrument rigid rod 6.

So set up, the afterbody stiff end can adopt fixed connection between with instrument rigid rod 6 for the transmission moment of torsion. Other compositions and connection relationships are the same as those in any one of the first to eighth embodiments.

Detailed description ten: the present embodiment will be described with reference to fig. 1, and further includes an instrument control end 5 and an instrument rigid rod 6, the instrument control end 5 being connected to the tail fixing ends 2 to 4 through the instrument rigid rod 6.

The structure and control method of the surgical instrument 4 described in this embodiment are the same as those of a general laparoscopic robot system, and the instrument control end 5 of the surgical instrument 4 is used to be fastened to a surgical robot instrument seat and control the movement of the instrument. The instrument rigid rod 6 of the surgical instrument 4 is adapted to support and cooperatively secure and seal with the rigid cannula of the steerable cannula.

The instrument rigid rod 6 can be rotated in a controlled manner relative to the control end while simultaneously rotating the following flexible rod 7 and instrument head 9 about the axis of the instrument rigid rod 6.

The flexible rod 7 of the surgical instrument 4 can be bent and deformed under the action of an external force above a critical value, and can be kept in the current state under the action of an external force below the critical value.

The head of the surgical instrument 4 has a pitch joint that is controllable to rotate about a pitch axis.

The head of the surgical instrument 4 is also provided with a deflection joint, the clamping head part of the deflection joint is a left clamping body and a right clamping body, and the left clamping body and the right clamping body can respectively rotate around a deflection shaft under control. The left and right clamping bodies show overall deflection movement of the clamping head when rotated in the same direction, and show opening and closing of the clamping head when rotated in opposite directions. Other compositions and connection relationships are the same as in any one of the first to ninth embodiments.

The working principle of the present invention is explained with reference to fig. 1 to 7:

step one: the controllable sleeve 2 of the poking clamp 1 is arranged on the base body 1-1;

step two: installing the stamping part 1 at the hole opening position of the patient according to the normal operation flow, and completing other related preparation works;

step three: placing the arm of the surgical robot at a proper position, and mounting the sleeve fixing body 2-1 of the controllable sleeve 2 on the surgical arm of the robot;

step four: the flexible laparoscope lens 8 is inserted into the corresponding controllable sleeve 2, the installation of the flexible laparoscope lens on a robot operation arm is completed, the controllable sleeve 2 is rotated to a proper angle direction, a lens rod is fixed with the rigid sleeve 2-2 of the controllable sleeve 2, a control mechanism is operated to fix the head of the controllable sleeve 2 with the head of the lens, and the bending tube 3 of the controllable sleeve 2 is controlled to drive the flexible lens to bend to a proper bending angle and lock.

Step five: inserting a handle of surgical instrument 4 into a corresponding controllable sleeve 2, completing the installation of the surgical instrument in a robotic surgical arm, rotating a rigid sleeve 2-2 of the controllable sleeve 2 to a proper angle direction, fixing an instrument rigid rod 6 with the rigid sleeve 2-2 of the controllable sleeve 2, operating a control mechanism to fix the head of the controllable sleeve 2 and the head of the surgical instrument 4, and controlling a bending tube 3 of the controllable sleeve 2 to drive a flexible rod of the surgical instrument 4 to bend to a proper bending angle and lock;

step six: repeating the fifth step for other surgical instruments to finish the installation of the surgical instruments;

step seven: during surgery, the laparoscopic lens has the freedom to rotate about the axis of the rigid cannula 2-2 of the steerable cannula 2; the surgical instrument 4 has the freedom to yaw, pitch and rotate the head as a whole about its rigid rod axis.

Step eight: the surgical instrument 4 or lens is withdrawn by first restoring the curved tube 3 of the steerable cannula 2 to a straight state and automatically releasing the fixation of the head, then releasing the fixation of the rigid cannula 2-2, and then being removed and withdrawn.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A dobby robotic surgical device for single port laparoscopic surgery, characterized by: it comprises a stamping part (1) and a plurality of surgical instruments (4),

the poking clamp (1) comprises a base body (1-1) and a plurality of controllable sleeves (2), wherein the base body (1-1) comprises a body and a plurality of inserting tubes, the plurality of inserting tubes are arranged in a ring-shaped array mode in a clockwise or anticlockwise rotating mode and are obliquely arranged, the plurality of inserting tubes are communicated with the body, and the plurality of controllable sleeves (2) are inserted into the plurality of inserting tubes; each steerable sleeve (2) is internally provided with a surgical instrument (4).

2. A dobby robotic surgical device for single port laparoscopic surgery according to claim 1, wherein: the plurality of insertion tubes comprise an instrument tube (1-2), a cavity mirror tube (1-3), an instrument tube (1-4) and an auxiliary tube (1-5), wherein an acute included angle is formed between the instrument tube (1-2), the cavity mirror tube (1-3), the instrument tube (1-4) and the auxiliary tube (1-5) and the upper end face of the base body (1-1), and the included angle is 1-89 degrees.

3. A dobby robotic surgical device for single port laparoscopic surgery according to claim 2, wherein: the included angle is 10 degrees to 30 degrees or 30 degrees to 45 degrees or 45 degrees to 60 degrees or 60 degrees to 80 degrees.

4. A dobby robotic surgical device for single port laparoscopic surgery according to claim 1 or 3, wherein: each controllable sleeve (2) comprises a sleeve fixing body (2-1), a rigid sleeve (2-2), a bending controller (2-3), a tail fixing end (2-4) and a bending pipe (2-5),

the sleeve fixing body (2-1) is sleeved on the rigid sleeve (2-2), the sleeve fixing body (2-1) is connected with the rigid sleeve (2-2) in a sliding mode and is connected with the rigid sleeve in a rotatable mode, the rigid sleeve (2-2) is inserted on one of the insertion tubes, the rigid sleeve (2-2) is in clearance fit with the insertion tube, one end of the rigid sleeve (2-2) is connected with the bending tube (2-5), and the other end of the rigid sleeve (2-2) is connected with the bending controller (2-3) and then is connected with the tail fixing end (2-4).

5. A dobby robotic surgical device for single port laparoscopic surgery according to claim 4, wherein: the rigid sleeve (2-2) is only in sliding connection with the tail fixed end (2-4) in the axial direction.

6. A dobby robotic surgical device for single port laparoscopic surgery according to claim 5, wherein: the bending tube (2-5) is a flexible and self-locking bending controller.

7. A dobby robotic surgical device for single port laparoscopic surgery according to claim 6, wherein: each controllable sleeve (2) further comprises a head fixing end (3), and the head fixing ends (3) are fixedly connected to the tail ends of the bending tubes (2-5).

8. A dobby robotic surgical device for single port laparoscopic surgery according to claim 1 or 6, wherein: the actuating part of the surgical instrument (4) extends out of the bending tube (2-5) and is connected with the head fixing end (3).

9. A dobby robotic surgical device for single port laparoscopic surgery according to claim 8, wherein: the device also comprises an instrument control end (5) and an instrument rigid rod (6), wherein the instrument control end (5) is connected with the tail fixing end (2-4) through the instrument rigid rod (6).

10. A dobby robotic surgical device for single port laparoscopic surgery according to claim 1, wherein: the number of steerable bushings (2) is 3.