CN203943721U - A kind of in-vivo tissue is directly repaired and the medical system being shaped - Google Patents
A kind of in-vivo tissue is directly repaired and the medical system being shaped Download PDFInfo
- Publication number
- CN203943721U CN203943721U CN201420282946.7U CN201420282946U CN203943721U CN 203943721 U CN203943721 U CN 203943721U CN 201420282946 U CN201420282946 U CN 201420282946U CN 203943721 U CN203943721 U CN 203943721U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- mechanical arms
- endoscope
- medical system
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
In-vivo tissue is directly repaired and the medical system being shaped, and belongs to medical machinery equipment technical field.This medical system comprises brace table, image-generating unit, performance element, forming unit and control unit.Image-generating unit comprises display screen, external photographic head and endoscope; Performance element comprises the execution apparatus of three six-freedom degree mechanical arms and end thereof, mechanical arm by six servomotors as power source; Forming unit comprises high pressurized gas, spray gun and printhead controller.By six servomotors, as power source, the rear end of each servomotor is provided with photoelectric code disk, and photoelectric code disk is connected with control unit by circuit.This utility model can significantly reduce the physical demands of doctor in the time of operation, action accurate stable, and the health wound causing to patient is little, and it is fast that function of organization recovers.
Description
Technical field
This utility model relates to a kind of medical system using in patient body, belongs to armarium technical field.
Background technology
Bulk soft tissue and internal organs (after one's own heart, liver, spleen, lung, kidney etc.), be the important component part of human body, due to disease, wound and the aging associated injury causing and dysfunction, and serious harm health and quality of life.Traditional operation, need to be with cutter, cut, the apparatus such as pin operates at body local, is the primary treatment method of surgery, is commonly called as " operating on ".Object is cure or diagnose the illness, as remove pathological tissues, repair damage, transplant organ, improve the function and morphology etc. of body, be a kind of disorganize integrity (incision), or make tissue that integrity is damaged restore the operation of (stitching).Therefore traditional operation has larger defect:
1) wound is large: the long otch >=10cm of tradition, and cicatrix is long wire, affects attractive in appearance;
2) pain is large: traditional operation need to be opened abdomen, and postoperative wound position is often with pain, swollen, the feeling of numbness of acid;
3) recover slow: traditional operation is because otch is large, and can cause the damage of near muscle otch, blood vessel and corresponding nerve, likely follow some tissue infection complication, therefore patient's resume speed is slow.
4) hospital stays is long: within postoperative 24 hours, leave the bed, within 7-15 days, leave hospital, expense is relatively high.
5) hemorrhage many: traditional operation chorista is extensive, and amount of bleeding is larger.The infection of incisional wound that tradition is operated on or liquefaction of fat, disruption of wound are unavoidable problems always.
In order to overcome the defect of traditional operation, there is Minimally Invasive Surgery, a kind of new technique of performing a surgical operation in human body by the endoscope such as peritoneoscope, thoracoscope.Minimally Invasive Surgery need not be operated on, and only need open at patient the aperture of 1-3 0.5-1 centimetre, patient's preventing from scar, painless, only need just can complete for 3-5 days inspection, treatment, rehabilitation overall process.Reduce the injury of traditional operation to human body, greatly reduced disease inconvenient and painful to what come to patient.Minimally Invasive Surgery has that wound is little, pain is light, recover fast superiority.
Minimally Invasive Surgery is the operation of carrying out high precision within the scope of small scale, and this doctor's that just requires to operate experience and muscle power have very high requirement.If introduce the medical system based on less invasive techniques, can well solve this difficulty, Minimally Invasive Surgery medical system can rely on the high stability of robot system self and high accuracy to keep the accurate of end operation, shows in real time good operation image by the guiding of external CT scan and Ti Nei endoscope.
The patent documentation of application number 201110166848.8 has been announced a kind of minimally invasive medical device.This device comprises tool ends end, operating side, detecting unit, signal processing module, information control module and alarming device.This kind of design can allow doctor perform the operation with reference to signals such as the stress showing on screen, strain and temperature instead of self sensation, thereby makes operation more accurate, safer.But this kind of device also has certain weak point:
1. function is perfect not, and downright bad needs of general lesion tissue, after excision, also needs to carry out cell printing, tissue repair and recover its due function.2. only have an operating side, need the medical apparatus and instruments of using to have the devices such as excision, drain, hemostasis, endoscope in actual operation process, this just at least needs three cover mechanical arms to cooperatively interact.3. degree of freedom is lower, and six degree of freedom operating means is the motion of simulation people's arm effectively, ensures that operation is smooth and easy, completes efficiently.
Utility model content
This utility model is for the weak point of prior art, provide a kind of in-vivo tissue directly to repair and the medical system being shaped, this system is based on Minimally Invasive Surgery and cell printing technology, can directly carry out tissue repair and shaping to diseased region, thereby significantly reduce the physical demands of doctor in the time of operation, action accurate stable, the health wound causing to patient is little, and it is fast that function of organization recovers.
The technical solution of the utility model is as follows:
The first technical scheme of the present utility model: a kind of in-vivo tissue is directly repaired with the medical system being shaped and comprised brace table, image-generating unit, performance element, forming unit and control unit; Image-generating unit comprises display screen, external photographic head and endoscope; Performance element comprises the execution apparatus of three mechanical arms and end thereof; Three described mechanical arms are six degree of freedom mechanical arms, be respectively a mechanical arm, No. two mechanical arms and No. three mechanical arms, the six-freedom degree of mechanical arm by six servomotors as power source, the rear end of each servomotor is provided with photoelectric code disk, photoelectric code disk is connected with control unit by circuit, and mechanical arm end is provided with clamping device; Execution apparatus is operating theater instruments; Forming unit comprises high pressurized gas, spray gun and printhead controller; Three mechanical arms are arranged on brace table, and endoscope is arranged on the end of one of them mechanical arm, and spray gun and operating theater instruments are arranged on respectively all the other two mechanical arm ends; High pressurized gas is by pipeline and printhead controller; Described printhead controller is connected with spray gun by connecting line, and by the control signal of circuit reception control unit; External photographic head is arranged on the apical position of brace table, and shooting picture is transported to display screen by circuit; Control unit is together with display screen integrated installation.
Another technical characterictic of the present utility model is: described execution apparatus also comprises laser irradiating head, and laser irradiating head and endoscope are arranged on the end of same mechanical arm.
The utlity model has following advantage and beneficial effect:
1. the outer photographic head of image-generating unit occlusion body of the present utility model and endoscope, provides position and the outer wide region of the patient body visual field of mechanical arm and end apparatus in real time, facilitates apparatus accurately to locate; The bootable actuating station of endoscope is carried out meticulous operation technique, and being used in conjunction with of two kinds of devices improved precision in operation greatly.What 2. this utility model adopted is six degree of freedom mechanical arm, can simulate accurately doctor's arm action, and have larger working range, relies on the high stability of robot system self and high accuracy to keep the accurate of end operation; Adopt many cover mechanical arms as execution unit, the many cover instrument relevant to operation installed in end at execution unit, the operation copying that can cooperatively interact, has more reduced because operation tool is withdrawn to the operating time changing the outfit and extend, and can significantly reduce patient's the painful time.3. this utility model is based on Minimally Invasive Surgery and cell printing technology, the cutting tissue that first pathological changes need to be excised, and pump out in body, and then repair shaping, the due function of recovery organization in the short period of time.
Brief description of the drawings
Fig. 1 is the three dimensional structure sketch of this utility model direct reparation of a kind of in-vivo tissue providing and the medical system being shaped.
Fig. 2 is mechanical arm and end clamping device schematic diagram thereof.
Fig. 3 a, 3b and 3c are respectively that endoscope and part are carried out apparatus schematic diagram.
Fig. 4 is that in-vivo tissue is repaired schematic diagram.
Fig. 5 is the connection layout of the each parts of this utility model.
In figure: 101-display screen; 102-manipulates button; 103-control handle; 104-control chamber; 105-pedal; 106-operating-table; Mechanical arm of 107-; No. tri-mechanical arms of 108-; The external photographic head of 109-; No. bis-mechanical arms of 110-; 111-brace table; 201-clamping device; 301-endoscope; 302-drainage device; 303-staight scissors; 401-patient; 402-tissue restoration structure body; 403-pathological tissues; 404-carries out apparatus.
Detailed description of the invention
In order further to understand the technical solution of the utility model, referring to the accompanying drawing embodiment that develops simultaneously, this utility model is described in further detail.
Fig. 1 is the three dimensional structure sketch of this utility model direct reparation of a kind of in-vivo tissue providing and the medical system being shaped, and this system comprises brace table 111, image-generating unit, performance element, forming unit and control unit; Image-generating unit comprises display screen 101, external photographic head 109 and endoscope 301; Performance element comprises the execution apparatus of three mechanical arms and end thereof; Three described mechanical arms are six degree of freedom mechanical arms, be respectively mechanical arm 107, No. two mechanical arms 110 and No. three mechanical arms 108, the six-freedom degree of mechanical arm by six servomotors as power source, the rear end of each servomotor is provided with photoelectric code disk, photoelectric code disk is connected with control unit by circuit, and mechanical arm end is provided with clamping device 201; Carry out apparatus and comprise operating theater instruments; Forming unit comprises high pressurized gas, spray gun and printhead controller; Three mechanical arms are arranged on brace table 111, and endoscope 301 and laser irradiating head are arranged on the end of one of them mechanical arm, and spray gun and operating theater instruments are arranged on respectively all the other two mechanical arm ends; High pressurized gas is by pipeline and printhead controller; Described printhead controller is connected with spray gun by connecting line, and is connected with control unit by circuit; External photographic head 109 is arranged on the apical position of brace table 111, and shooting picture is transported to display screen 101 by circuit; Control unit is together with display screen 101 integrated installations.
Display screen 101, manipulation button 102, control handle 103, control chamber 104 and pedal 105 are arranged in same frame, facilitate doctor's sitting posture controlling equipment, reduce the physical demands that prolonged operations causes.
Three six degree of freedom mechanical arms are arranged on brace table 111, and No. three middle mechanical arm 108 ends are provided with endoscopic system, all the other two corresponding operating theater instruments are installed respectively; External photographic head 109 is also arranged on the apical position of brace table 111, can effectively monitor three mechanical arms and enter accurately position in body.It is other that brace table 111 is arranged on operating-table 106, can carry out according to actual needs the adjustment of correlation distance.Between control chamber 104 and mechanical arm, external photographic head 109 and endoscope 301, connect by electric wiring, adding of data wireless sending module and data wireless receiver module supported to carry out tele-medicine, and mechanical arm is carried out to Remote.
Display screen 101 is to show in real time vision class and non-vision category information in operation, and vision category information comprises the in-position of three mechanical arms of external photographic head shooting, operation and the position of the mechanical arm end effector tool that endoscope 301 takes; The six-freedom degree of mechanical arm is by six servomotors as power source, and the rear end of each servomotor is provided with photoelectric code disk, and photoelectric code disk can provide position and velocity information, at the end position of mechanical arm, force transducer is also installed, and the information of power is provided.
Manipulation button 102 can arrange parameters such as the gait of march of servomotor.Control handle 103, two mechanical arms and the executor that can executor be installed to end manipulate in real time.Pedal 105, mechanical arm and the endoscope 301 that can endoscope be installed to end manipulate in real time, the operative region that endoscope's focusing can paid close attention to.
A kind of in-vivo tissue that this utility model provides is directly repaired with the second technical scheme of the medical system being shaped compared with the first technical scheme, in execution apparatus, increase laser irradiating head, laser irradiating head and endoscope are arranged on the end of same mechanical arm, and all the other structures are constant.
Fig. 2 is mechanical arm and end clamping device schematic diagram thereof, and the six-freedom degree of mechanical arm is by six servomotors as power source, and the rear end of each servomotor is provided with photoelectric code disk, photoelectric code disk by circuit to control unit feedback position and velocity information.
The end of mechanical arm is provided with clamping device 201, and with this execution apparatus that clamps and change the outfit, clamping device 201 is taking gases at high pressure as power source, and the signal of accepting control unit clamps and free end apparatus.
Fig. 3 a, 3b and 3c are respectively that endoscope and part are carried out apparatus schematic diagram, wherein endoscope 301 as shown in Figure 3 a, drainage device 302 as shown in Figure 3 b, staight scissors 303 as shown in Figure 3 c, what play excision effect is staight scissors 303, drainage device 302 plays drainage, the pathological tissues of excision is transplanted on external, the apparatus of repairing in a organized way in addition, contain cell macromolecular solution at assigned address by the input of microtubule, the end of No. three mechanical arms 108 is also provided with laser irradiating head except endoscope 301, under the irradiation of laser, celliferous macromolecular solution can rapid solidified forming, spray gun for solution is identical with drainage device 302 structures, but the flow direction of liquid is contrary, it is also taking gases at high pressure as power source.
The high pressurized gas using in this utility model comprises air compressor machine, Pressure gauge, air accumulator, cooler, filter.Air compressor machine produces pressure-air, and then pressure-air is transported to air accumulator storage, and air accumulator not only has the function of stores compression gas, also can reduce the fluctuation of compression pressure.Pressure gauge shows the gas pressure value in air accumulator.The pressure-air that air accumulator is sent has very high temperature, need to its temperature be reduced to through cooler to the temperature value that meets job requirement, and then have filter that the water in pressure-air, oil and other impurity particles are filtered thoroughly.Gases at high pressure are switched on printhead controller, tell controller gases at high pressure connection spray gun out spray liquid from shower nozzle.
Fig. 5 is the connection layout of the each parts of this utility model, control system of the present utility model is to combine based on industrial computer and motion control card PMAC1, DC source provides energy input for whole system, and control handle 103, pedal 105, manipulation button 102, display screen 101, external photographic head 109, endoscope 301 and data wireless sending module arrive the corresponding port of industrial computer by connection.Motion control card PMAC1 inserts industrial computer inside by slot, motion control card PMAC1 by port itself accept module with data wireless, limit switch is connected and accepts the data that they send over, and join by self I/O port and sensor, printhead controller, and then by being sent to make-and-break signal, printhead controller controls the start and stop of spray gun.The power source of three six degree of freedom mechanical arms is servomotor, and each servomotor is connected with the port of motion control card PMAC1 by corresponding driver, receives the signal sending over.
Work process of the present utility model is as follows:
First patient is carried out to CT scan, determine the position of pathological tissues; Operating theater instruments is installed in end at a mechanical arm 107 and No. two mechanical arms 110, by Minimally Invasive Surgery removal lesion tissue, and by external the tissue displacement after excision; The end of a mechanical arm 107 and No. two mechanical arms 110 spray gun that changes the outfit, No. one mechanical arm 107 drives end apparatus arrive desired location and eject the celliferous macromolecular solution preparing in advance, and the spray gun on No. three mechanical arms 108 sprays cross-linking agent and makes material cured formative tissue structure on assigned address; Then utilize No. two mechanical arms 110 to drive end apparatus to arrive desired location; and the not celliferous macromolecular solution of organizational structure formed body outer surface spraying forming; make it form layer protecting film, thereby realize the interior pathological tissues of quick dummy and recover its function of organization (as shown in Figure 4).
Claims (2)
1. in-vivo tissue is directly repaired and the medical system being shaped, and it is characterized in that: described medical system comprises brace table (111), image-generating unit, performance element, forming unit and control unit; Image-generating unit comprises display screen (101), external photographic head (109) and endoscope (301); Performance element comprises the execution apparatus of three mechanical arms and end thereof; Three described mechanical arms are six degree of freedom mechanical arms, be respectively a mechanical arm (107), No. two mechanical arms (110) and No. three mechanical arms (108), the six-freedom degree of mechanical arm by six servomotors as power source, the rear end of each servomotor is provided with photoelectric code disk, photoelectric code disk is connected with control unit by circuit, and mechanical arm end is provided with clamping device (201); Execution apparatus is operating theater instruments; Forming unit comprises high pressurized gas, spray gun and printhead controller; Three mechanical arms are arranged on brace table (111) above, and endoscope (301) is arranged on the end of one of them mechanical arm, and spray gun and operating theater instruments are arranged on respectively all the other two mechanical arm ends; High pressurized gas is by pipeline and printhead controller; Described printhead controller is connected with spray gun by connecting line, and by the control signal of circuit reception control unit; External photographic head (109) is arranged on the apical position of brace table (111), and shooting picture is transported to display screen by circuit; Control unit is together with display screen integrated installation.
2. directly repair and the medical system being shaped according to a kind of in-vivo tissue claimed in claim 1, it is characterized in that: described execution apparatus also comprises laser irradiating head, endoscope (301) and laser irradiating head are arranged on the end of same mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420282946.7U CN203943721U (en) | 2014-05-29 | 2014-05-29 | A kind of in-vivo tissue is directly repaired and the medical system being shaped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420282946.7U CN203943721U (en) | 2014-05-29 | 2014-05-29 | A kind of in-vivo tissue is directly repaired and the medical system being shaped |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203943721U true CN203943721U (en) | 2014-11-19 |
Family
ID=51885790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420282946.7U Expired - Fee Related CN203943721U (en) | 2014-05-29 | 2014-05-29 | A kind of in-vivo tissue is directly repaired and the medical system being shaped |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203943721U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104000637A (en) * | 2014-05-29 | 2014-08-27 | 清华大学 | Medical treatment system for direct repair and formation of in-vivo tissues and repair method of in-vivo tissues |
| WO2018041197A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Method for unfolding, operating and withdrawing imaging tool and surgical instrument of surgical robot |
| CN116808334A (en) * | 2023-08-16 | 2023-09-29 | 中国人民解放军总医院第一医学中心 | Neurosurgery drainage device and method thereof |
-
2014
- 2014-05-29 CN CN201420282946.7U patent/CN203943721U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104000637A (en) * | 2014-05-29 | 2014-08-27 | 清华大学 | Medical treatment system for direct repair and formation of in-vivo tissues and repair method of in-vivo tissues |
| WO2015180234A1 (en) * | 2014-05-29 | 2015-12-03 | 清华大学 | Medical system for directly repairing and forming in vivo tissue and repair method thereof |
| WO2018041197A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Method for unfolding, operating and withdrawing imaging tool and surgical instrument of surgical robot |
| CN116808334A (en) * | 2023-08-16 | 2023-09-29 | 中国人民解放军总医院第一医学中心 | Neurosurgery drainage device and method thereof |
| CN116808334B (en) * | 2023-08-16 | 2024-03-08 | 中国人民解放军总医院第一医学中心 | Neurosurgery drainage device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11583333B2 (en) | Mapping vessels for resecting body tissue | |
| US20200405418A1 (en) | Surgical simulation system using force sensing and optical tracking and robotic surgery system | |
| US20180250086A1 (en) | Telerobotic surgery system using minimally invasive surgical tool with variable force scaling and feedback and relayed communications between remote surgeon and surgery station | |
| US20160314716A1 (en) | Telerobotic surgery system for remote surgeon training using remote surgery station and party conferencing and associated methods | |
| WO2017189317A1 (en) | Telerobotic surgery system for remote surgeon training using robotic surgery station and remote surgeon station and an animating device | |
| US20180338807A1 (en) | Soft surgical tools | |
| CN102197989B (en) | Intelligent electronic cystoscope system | |
| CN203943721U (en) | A kind of in-vivo tissue is directly repaired and the medical system being shaped | |
| CN104000637B (en) | A kind of in-vivo tissue is directly repaired and the medical system shaped | |
| KR20160068922A (en) | System for and method of performing sonasurgery | |
| KR20110094529A (en) | Tubular type manipulator surgical robot system with image guidance for minimal invasive surgery | |
| Culjat et al. | Medical devices: surgical and image-guided technologies | |
| CN202191265U (en) | Intelligent electronic cholecystoscopy system | |
| Shi et al. | A soft tissue scalpel cutting robotic system with sucker fixation | |
| CN107898499A (en) | Orthopaedics 3D region alignment system and method | |
| CN109806001A (en) | Self-service remote service surgical operation robot system | |
| Shahinpoor et al. | Robotic surgery: smart materials, robotic structures, and artificial muscles | |
| CN106377316B (en) | Operation equipment for thyroid minimally invasive surgery | |
| CN202096190U (en) | Intelligent electronic cystoscope system | |
| Deeba et al. | Cardiac robotics: a review and St. Mary's experience | |
| CN211094672U (en) | Minimally invasive surgery robot control system | |
| Hockstein et al. | Transoral robotic surgery | |
| Szaleniec et al. | Robotic surgery in otolaryngology | |
| US11547466B2 (en) | Visualization devices and methods for use in surgical procedures | |
| US20230017321A1 (en) | Real-tissue head and neck surgical training system and associated methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141119 Termination date: 20160529 |