CN209474796U - Surgical assistant system suitable for soft lens - Google Patents
Surgical assistant system suitable for soft lens Download PDFInfo
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- CN209474796U CN209474796U CN201822051231.1U CN201822051231U CN209474796U CN 209474796 U CN209474796 U CN 209474796U CN 201822051231 U CN201822051231 U CN 201822051231U CN 209474796 U CN209474796 U CN 209474796U
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- soft lens
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Abstract
The utility model discloses a kind of surgical assistant systems suitable for soft lens, it is characterised in that: the auxiliary device suitable for software operation includes: auxiliary device, for operating the soft lens equipment；Control device, for controlling the auxiliary device for user's operation；Wherein, the control device and the support device and the auxiliary device, which respectively constitute, communicates to connect so that the control device is completed to perform the operation in the control auxiliary device to realize the remote control to soft lens.The utility model is achieved the utility model has the advantages that providing a kind of Flexible ureteroscope operation auxiliary mechanical arm system for having and remotely accurately controlling.
Description
Technical field
The utility model relates to a kind of surgical assistant systems suitable for soft lens.
Background technique
Upper urinary stone is one of multiple disease of urinary system, accounts for about the 40% of urological surgery.Percutaneous nephrolithotomy
(PCNL) it with the characteristics of minimally invasive by its, calculus clearance rate height, has always been considered as being treatment maximum size, Calculus or inferior calyx calculus
Goldstandard.But cause the complexity of Reno-colic fistula lesion in view of renal anatomy structure and calculus, and adjoin the otherness of internal organs,
PCNL is there are still many unpredictable, wherein most critical and what is be most difficult to is accurate Needle localization, and the complication thus caused is just
It is bleeding and infection.It according to statistics, is about 13.7% with postoperative hemorrhage probability in PCNL art, injury of pleura about 4.5~16%, surrounding
Adjoin visceral organ injury about 0.4%.In addition, generally requiring multichannel and multistage lithotripsy in treatment, Geng Huizeng for complexity calculus
Add the risk of operative hemorrhage and infection.
Flexible ureteroscope (Flexible ureteroscopy, FURS) was quickly grown at the past 10 years, cooperated Bladder stone
Have become a new generation that alternative extracorporeal shock wave lithotripsy (ESWL) and percutaneous nephrolithy in upper urinary stone treatment take stone (PCNL)
Therapeutic modality.FURS is the atraumatic technique operated through human body natural channel, so as to avoid PCNL kidney hemorrhagic disease and infection
Risk, safety is higher.The design of mirror body flexible structure enables soft lens to reach entirely upper urinary tract renal plevis kidney calices system, is greatly improved
Diagnosis and treatment range, decreases the damage to tissues such as human urethra and ureters.However, FURS operationally faces the challenge
Property, it is mainly shown as the more difficult control of the complexity of urinary tract aggregation system, learning curve is long；Used Flexible ureteroscope price
Valuableness, mirror body is easy to damage, and medical treatment cost is high；Operate Flexible ureteroscope can not people's complete independently, need several assistants complete
At perfusion, optical fiber and calculus catching net-like means etc. are placed, harmony is poor；Operation posture does not meet base of principle of human engineering, and patient's operation is tired
Lao Dugao influences stability and surgical quality；When needing x-ray to position in art, accumulative radiation injury can be caused to patient；These
Factor limits its further genralrlization application.
On the other hand, robot assisted treatment technology plays an important role in Urology Surgery therapeutic laparoscopy field.It reaches
Fragrant surprise operating robot has been widely used in gynaecology, Urology Surgery, general since 2001 are approved by the fda in the United States for clinic
The field of surgery such as surgery.Since advantage is significant in terms of the ergonomic for improving minimally invasive/non-invasive procedures for operating robot, in recent years
Have been used for solving the problems, such as FURS in clinical manipulation.
U.S. Desai in 2008 etc. implements the operation of robot assisted Flexible ureteroscope, test in animal experiment for the first time
The operation posture of patient in traditional soft videoendoscopic surgery can be changed in auxiliary robot technology as the result is shown, and extends the detection model of soft lens
It encloses, increases soft lens operation precision and stability.The team reported Preliminay clinical trials again as a result, 18 patients in 2011
Receive robot assisted Flexible ureteroscope lithotrity, mean operative time 91min, wherein robot-operating time 41.4min,
Do not occur complication with postoperative in art.The researcher of similar same time, Germany and Turkey also starts to be dedicated to researching and developing
Dedicated for the robotic system of Flexible ureteroscope operation.2014, they devised a kind of Flexible ureteroscope auxiliary machine
Device people system (AvicennaRoboflex), and report Preliminay clinical trials result.81 kidney knots are included in the clinical test altogether
Stone patient, mean operative time 74min, average rubble time 46min, only an example has larger residual stones, an example soft lens shank
Damage, remaining patients surgery smoothly complete, and 3 months after operation check, 80% patient is without residual stones.Preliminay clinical trials prove,
Flexible ureteroscope robotic system is a kind of valuable, safer soft lens Surgery Platform.
Utility model content
A kind of surgical assistant system suitable for soft lens, comprising:
Operating device, for operating soft lens；
It is characterized by:
Surgical assistant system suitable for soft lens includes:
Feedback device, for feeding back the real-time reaction force of soft lens soft tissue suffered in motion process in human body,
And reaction force is passed into operating device；
Wherein, operating device and feedback device are communicated to connect by wirelessly or non-wirelessly constituting so that feedback device is according to its behaviour
Make device feedback information and generates the signal that user can be made to perceive or movement.
Further, feedback device includes:
Force snesor, for the pressure being subject to or pulling force to be converted to electric signal；
Operating device includes:
Operating stick, for for user's operation to control surgical assistant system；
Force application apparatus, for applying active force to operating stick according to the feedback of force snesor.
Further, suitable for the surgical assistant system of soft lens further include:
Elastic device, the impact for buffer operation device to soft lens；
Elastic device is set between two components of operating device or is set between operating device and soft lens.
Further, suitable for the surgical assistant system of soft lens further include:
Driving motor, for driving soft lens；
Operating stick controls the rotation of driving motor according to force snesor.
Further, operating device further include:
Horizontally moving device, for adjusting the linear motion of soft lens；
Rotating device, for adjusting the axial rotation motion of soft lens；
Soft lens bending apparatus, for adjusting the curvature of soft lens.
Further, soft lens bending apparatus includes:
Shifting part, for stirring the knob on soft lens；
Driving device, for driving shifting part；
Elastic device is set between shifting part and driving device.
Further, suitable for the surgical assistant system of soft lens further include:
Information collection portion for acquiring the visual pattern of soft lens leading portion, and is transferred to user to carry out respective operations；
The image information of soft lens front-end collection is passed to information collection for being connected with information collection portion by docking section
Portion；
Wherein, information collection portion, operating device and feedback device are by wirelessly or non-wirelessly constituting communication connection；
Further, FRID label, data information of the FRID label to contain soft lens are provided in docking section.
Further, include: in information collection portion
Reading unit for reading the FRID label information in docking section, and feeds back to user.
Further, reading unit and operating device are communicated to connect by wirelessly or non-wirelessly constituting.
Further, the auxiliary mechanical arm system suitable for soft lens operation, comprising:
Operating console is the man-machine interactive system that patient manipulates that mechanical arm completes soft lens operation.
Auxiliary mechanical arm, four freedom degrees for completing operation requirement by operational order clamping soft lens head end move.
Further, the operating console includes:
Master control electrical apparatus, including handle, button etc., for receiving the control command of patient；
Touch display screen, for showing each freedom degree motion state of auxiliary mechanical arm and manipulator motion parameter setting；
Central controller for patient's operational order to be switched to electric signal, and combines force feedback signal, and control auxiliary is mechanical
Speed, the angle of each freedom degree movement of arm；
Device for force feedback is operated, for by soft lens mirror body resistance feedback suffered in upper urinary tract motion process to patient
On control crank.
Further, operation device for force feedback includes:
Force sensors act on the force value of soft lens for measuring mechanical arm executing agency；
Force application apparatus, including control stick, linear guides, horizontally slidable force feedback effect block, feedback force snesor and
Horizontal electric push rod, the force value measured according to force sensors act on equivalent force feedback to patient's control crank.
Further, auxiliary mechanical arm includes:
Mechanical arm pedestal: it is used for installing holder actuating arm and optical fiber transmission device, and can be by being mounted on pedestal bottom
Idler wheel realize auxiliary mechanical arm overall movement；
Soft lens clamper for clamping on the robotic arm soft lens, and can realize the quick handling of soft lens；
Clamper actuating arm is located on the mechanical arm pedestal, for driving soft lens clamper, and then soft lens is driven to realize
The movement of three degree of freedom；
Soft lens is sent to sheath fixed frame, is sent to sheath for fixing soft lens, drives when preventing soft lens from retreating and is sent to sheath movement；One end
It is connect with mechanical arm pedestal, the other end is connected with soft lens.
Optical fiber transmission device, the microfeed for optical fiber in performing the operation.
Further, clamper actuating arm includes:
Clamper horizontally moving device drives the slide block movement of screw pair, by servo motor for realizing clamping
The translation of device and soft lens along soft lens axis direction；
Clamper pivoting device, for realizing clamper and soft lens around the rotation of soft lens axis direction；
Soft lens is bent plectrum rotating device, including driving motor and plectrum folder, drives plectrum folder rotation by driving motor,
And then soft lens bending plectrum rotation is driven, realize the bending to soft lens camera lens part.
Further, laser fiber transmission device includes:
Optical fiber transmission wheel group, including optical fiber transmission driving wheel and follower, optical fiber pass under master, by wheel friction and Extrusion
It send；
Optical fiber transport motor, driving optical fiber transmission driving wheel determine angle rotation, realize the quantitative feeding of optical fiber；
Follower center adjusting device, including adjustment screw, locking nut and follower mounting bracket, it is passive for adjusting
Center is taken turns, and then adjusts the gap between main follower, realizes the adjustment to optical fiber transmit process frictional force.
The utility model it is achieved the utility model has the advantages that provide it is a kind of have remotely accurately control and have memory function
Suitable for the surgical assistant system of soft lens, accurate manipulation is realized.
Detailed description of the invention
Fig. 1 is the general construction schematic diagram of this programme；
Fig. 2 is the partial structural diagram of Fig. 1；
Fig. 3 is the control logic figure of this programme；
Fig. 4 is the hardware control logic figure of this programme；
Fig. 5 is the interface schematic diagram of console；
Fig. 6 is the structural schematic diagram of device for force feedback；
Fig. 7 is the three-view diagram of optical fiber transmission device；
Fig. 8 is the schematic diagram of the section structure of soft lens clamper；
Fig. 9 is the structural schematic diagram of shock absorption coupler；
Figure 10 is the schematic diagram of the section structure of hard coupling tunnel；
Figure 11 is the schematic diagram of the section structure of soft rubber pad；
Figure 12 is the schematic diagram of the section structure of shaft coupling bail；
Figure 13 is the longitudinal profile schematic diagram of hard coupling tunnel, soft rubber pad and shaft coupling bail.
The meaning of appended drawing reference in figure:
1- auxiliary mechanical arm pedestal, 2- translation servo-motors, 3- translation servo-motors mounting bracket, 3.1- servo motor
Output shaft, 4- shock absorption coupler, 4.1- shaft coupling bail, 4.2- soft rubber pad, 4.3- hard coupling tunnel, 5- feed screw nut
Pair, 5.1- lead screw, 5.2- nut, 6- rotary drive motor, 7- turning moment sensor, 8- mounting bracket, 9- power action sensing
Device, 10- optical fiber transmission device, 10.1- optical fiber transmit driving motor, and 10.2- optical fiber transmits driving wheel, the transmission of 10.3- optical fiber
Follower, 10.4- optical fiber transmission device cabinet, 10.5- driven wheel adjusting screw rod, 10.6- driven wheel locking nut, 10.7- light
Fine pilot hole, 11- soft lens, 12- plectrum clamping device, 13- soft lens clamper, 14- plectrum rotating electric machine, 15- soft lens are sent to sheath
Fixed frame, 16- mechanical arm mounting base, 17- castor, 18- operation handle, 18.1- operation handle 1,18.2- operation handle 2,
Trigger switch before 19-, trigger switch after 20-, 21- force feedback sensor, 22- electric pushrod, 22.1- electric pushrod motor, 23-
Electric pushrod mounting base, 24- feedback force act on block, 25- linear guides sliding block, and 26- soft lens is sent to sheath, and 27- operates control cabinet,
28- patient's seat.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.Following embodiment is only used for clearly illustrating this
The technical solution of utility model, and cannot be used as a limitation the limitation protection scope of the utility model.
As shown in figures 1-13:
In the present embodiment, support device uses patient's chair type structure, and auxiliary device uses auxiliary mechanical arm, control device
Using console, to realize long-range operation.
In the present embodiment, the master & slave control system of console and auxiliary mechanical arm composition, picture system is by primary
Property the included CCD miniature webcam of ureter electron flexible cystoscope and digital signal transmission system constitute, cost is only reuse type
The 1% of soft lens.Disposable feature, which avoids, reuses scope bring cross-infection/pollution potential risk, exempts from
In addition to cleaning/processing cost, maintenance cost is also thoroughly eliminated.
This programme replaces traditional man-hour manually hand-held formula manipulation soft lens to complete the mode of operation, change clamped by auxiliary mechanical arm it is soft
Mirror, patient are remotely controlled operation to soft lens operation by operating console with sitting posture, and the operation for not only substantially improving patient is tired
Lao Du eliminates many human factor bring uncertain factors, improves procedure efficiency, and X is used in operation moreover, alleviating
Line positions the accumulative radiation injury to patient.
The control logic figure of operating console as shown in Fig. 2, set central controller in operating console, respectively with each sensing
Device, steering engine and motor etc. are connected, and are jointly controlled.
As a specific embodiment, central controller is responsible for the reception, control and output of control signal, i.e. reception mould
Block is responsible for receiving the operational order issued by patient in operation bench, and is translated into electric signal, is transmitted to control module.Control
Module decodes operation signal, and the control program pre-entered is combined to be modified operation, is transferred to output module；Output
Module receives the decoded signal from controller, and movement instruction is finally transmitted to mechanical arm, completes corresponding four freedom degrees
The operating process of movement.
As a specific embodiment, information collection portion is provided on auxiliary mechanical arm, for acquiring soft lens leading portion
Visual pattern, and be transferred to user to carry out respective operations.The case where using disposable ureter electron flexible cystoscope for soft lens
Under, docking section is set on each soft lens, for being connected with information collection portion, the image information of soft lens front-end collection is transmitted
Give information collection portion.In use, by by the docking section of disposable ureter electron flexible cystoscope and information collection portion by wired or
It wirelessly connects, reading unit can read the information of the FRID label inside docking section, to obtain current soft lens
Information, including size, length, manufacturer etc. information can be conducive to the concrete operations mode that operator grasps the soft lens, and with
Situations such as patient performs the operation records on the regular payroll together, consults, traces, recalls so as to subsequent.If soft lens is to can be used repeatedly
, mode of operation is identical.
This programme replaces traditional man-hour manually hand-held formula manipulation soft lens to complete the mode of operation, change seized on both sides by the arms by auxiliary mechanical arm it is soft
Mirror, patient manipulate soft lens by console with sitting posture, not only substantially improve the surgical fatigue of patient, remove from
Many human factor bring uncertain factors, improve procedure efficiency, moreover, significantly reducing x-ray positioning to patient's
Accumulative radiation injury.
Console includes controller module and operating console, and control logic figure is as shown in Fig. 2, controller module packet
Central controller is included, is connected respectively with each sensor, motor etc., and jointly controlled.
As a specific embodiment, central controller is mechanical arm system " maincenter ", the reception of responsible control signal,
Control and output, that is, receiving module is responsible for receiving the operational order issued by patient in operation bench, and is translated into telecommunications
Number, it is transmitted to control module.
Control module decodes operation signal, and the control program pre-entered is combined to modify operation, is transferred to
Output module；Output module receives the decoded signal from controller, and movement instruction is finally transmitted to mechanical arm, completes corresponding
The operating process of movement.
As a specific embodiment, as shown in Figure 1, being arranged whole device on auxiliary mechanical arm pedestal with advantageous
In moving for integral position.Patient is by manipulation operations control cabinet to realize the operation for entire auxiliary system.
Rotary drive motor is connected with turning moment sensor, to control the rotation of whole soft lens, is in the present embodiment
Directly control the integral-rotation of power acting sensor.The power acting sensor other end is connected with bracket, to pass for placing optical fiber
Device is sent, optical fiber transmission device is right since the precision of optical fiber transmission device is relatively high for finely tuning moving forward and backward for entire soft lens
It can be adapted in this kind operation.
As a specific embodiment, as shown in Figure 1, clamper actuating arm includes:
Clamper horizontally moving device drives the slide block movement of screw pair, by servo motor for realizing clamping
The translation of device and soft lens along soft lens axis direction.
Specific structure includes the translation servo-motors 2 of successively necklace, shifting servo motor mounting bracket 3, shock absorption coupler 4,
Screw pair 5 changes soft lens front-rear position by movement of the nut 5.2 on lead screw 5.1.
Clamper pivoting device, for realizing clamper and soft lens around the rotation of soft lens axis direction.
Such as Fig. 2, specific structure includes the rotary drive motor 6 being sequentially connected, turning moment sensor 7, mounting bracket 8,
Power acting sensor 9.By changing inotropic action sensor 9 along the rotation perpendicular to paper direction to driving rotary drive motor 6
Turn.
Soft lens is bent plectrum rotating device, including driving motor and plectrum folder, drives plectrum folder rotation by driving motor,
And then soft lens bending plectrum rotation is driven, realize the bending to soft lens camera lens part.
As a specific embodiment, laser fiber transmission device 10 includes:
Optical fiber transmission wheel group, including optical fiber transmission driving wheel and driven wheel, optical fiber pass under master, by wheel friction and Extrusion
It send；
Optical fiber transport motor, driving optical fiber transmission driving wheel determine angle rotation, realize the quantitative feeding of optical fiber；
Driven wheel center adjusting device, including adjustment screw, locking nut and driven wheel mounting bracket, it is driven for adjusting
Center is taken turns, and then adjusts the gap between principal and subordinate wheel, realizes the adjustment to optical fiber transmit process frictional force.
Feedback device, for feeding back the real-time reaction force of soft lens soft tissue suffered in motion process in human body,
And reaction force is passed into operating device, it can be surveyed by force snesor that soft lens therein is arranged and torque sensor
Resistance is measured, and is fed directly to central controller.
As a specific embodiment, relative to existing similar product, such as Fig. 4, in this programme on manipulation and control platform
The feedback device used including control stick 18, can be made to manipulate device for force feedback along the force feedback of the horizontal sliding of linear guides 25
With block 24, the pull pressure sensor 21 and horizontal electric push rod 22 of the S type being sequentially connected with force feedback effect block 24, and it is horizontal
Electric pushrod mounting base 23, control stick 18 are controlled as force application apparatus by doctor.It is equipped at left and right sides of force feedback effect block 24
For feeling the travel switch 19 of stick position.
This structure is mainly for mechanical arm anterior-posterior translation and rotary motion, by the way that force snesor and torque are arranged on soft lens
The actual resistance of sensor measurement soft lens movement feeds back the force value measured to manipulation device for force feedback by central controller
On, pull pressure sensor 21 is driven and then driving to horizontal electric push rod, and pass through after feeding back to force feedback effect block 24
Control stick 18 enables the clinician to soft lens motion state in more acurrate perception slave, manipulates more accurately so as to realize.
As a specific embodiment, auxiliary mechanical arm in this programme by four motor drivers, four motors with
And corresponding travel switch is constituted, and four freedom degree movements may be implemented, and is respectively as follows: 1) along the forward/backward straight of mirror body axis
Line movement；2) rotary motion of mirror body axis is surrounded, rotation angle is ± 180 ° in the present embodiment；3) mirror body front end bending angle
Degree, is determined by the front end bending angle of the disposable ureter electron flexible cystoscope configured；4) laser fiber is two-way along own axes
(entrance/release) linear motion.
For soft lens mirror body along the forward/backward linear motion of axis, the rotary motion and mirror body front end around mirror body axis be curved
Qu Yundong is directly driven by steering engine.Compared with existing system, the advantages of this power mechanism, is, improves rotation angle
Precision is controlled, the volume of mirror body rotation drive module is reduced, layout is also more compact reasonable.
As a specific embodiment, soft lens clamper is made by plate aluminum alloy materials, and using crab claw folder and V-arrangement
Fixture block, the fixture of more existing plastic material 3D printing manufacture and the clamper of buckle structure, clamping degree more meet system fortune
Row requires, and stability is good, easy to disassemble.
As a specific embodiment, optical fiber transmission device is by the driving wheel 10.2 that is installed in cabinet 10.4 and driven
10.3 composition of wheel, wherein driving wheel is rotated by 10.1 Driven by Coaxial of servo motor, while angular transducer is coaxially pacified with driving wheel
Dress calculates optical fiber feeding length for measuring driving wheel rotation angle.Driven wheel, which is then mounted on, to be adjusted by adjustment screw 10.5
Follower shaft on.By adjusting follower shaft position, the size of frictional force between two-wheeled can adjust, and then control optical fiber feeding
When thrust size can be fixed locked by adjustment screw by locking nut 10.6 after the adjustment of adjustment screw position is complete, simultaneously
Cabinet is equipped with optical fiber pilot hole 10.7.By controlling the positive and negative rotation direction of driving wheel, protruding into and retracting for optical fiber is realized.Pass through
The accurate precision and reliability to guarantee optical fiber transmission of driving motor angle, it is uncertain caused by avoiding because of artificial transmission.
As a specific embodiment, compared with the prior art, soft lens rotation and bending in this programme use rudder
Machine driving.For traditional servo motor driving, steering engine structure is more compact, small in volume, fast response time,
Output torque is big, easy to control, is more suitable for the accurate control of discontinuous rotation angle.In addition, under the premise of using steering engine,
Soft lens plectrum is controlled by steering engine, for example plectrum movement angle ± 60 ° can be mapped to steering engine ± 120 °, so that
When being manipulated, can control to soft lens bending angle it is finer, sensitivity is higher, and 240 ° of steering engine of angular range is corresponding
120 ° of angular range is moved to plectrum.If necessary to finer control, under technology allowed band, can continue to expand rudder
The range of machine.
As a specific embodiment, in the prior art, in control process, servo motor frequently rises operation bench
Impact shake brought by stopping can pass to patient, this is not conducive to surgical procedure for the patient in art, and
This influence is greatly reduced by increasing elastic connecting device in this programme, specifically, the elasticity used in the present embodiment
Attachment device is shock absorption coupler, by the shaft coupling bail of the left and right sides, the soft rubber pad and vulcanie of buffering energy-absorbing
Pad composition, as long as the feeling that other technical solution can reduce impact shake can all be replaced.
As a specific embodiment, need to be adjusted mechanical arm and patient's seat position in the course of surgery,
Although can be realized the remote control of mechanical arm and patient's seat by control platform, wasted not in the upper still needs of calibration
Few time by the way that angular transducer is arranged at the pitch regulation of mechanical arm and patient's seat in the present embodiment, leads to this
The controller module being transferred to corresponding pitch angle data in console is crossed, realizes long-range monitoring, to realize
The gradient of vertical direction soft lens and the gradient of operating bed are almost the same, once the data difference of the two is more than to realize setting
Threshold value can show tool using can also directly be provided with special display module on a display screen in acousto-optic alerting pattern
The angle difference of body.
As a specific embodiment, for the convenience of the users, patient's seat has position angle memory function, specifically
By angular transducer and the storage module realization in rotating part, the structure content of memory is constituted.Storage module can be remembered
The rotation angle of patient's seat each time under record, and form a unique data flow with the time, controller module was according to should
In data flow and the information matches of patient, to form corresponding data, when operation receiveing person needs to check, directly manipulating
The data are found on console angle is adjusted, and can be greatly facilitated the use with doctor in this way, can also be mentioned
High whole working efficiency.
In addition, alternatively, the angle of the surgery location of patient and seat can be formed one group by storage module
Corresponding data is recorded, and to count chair angle corresponding to different surgery locations, is facilitated required for later operation
Chair angle adjust data.
As another specific embodiment, by setting information acquisition portion with the vision figure for acquiring soft lens leading portion
Picture, and be transferred to user to carry out respective operations, and be provided with the docking section to match simultaneously on soft lens, is used for and information
Acquisition portion is connected, and the image information of soft lens front-end collection is passed to information collection portion.FRID label is provided in docking section,
FRID label is additionally provided with reading unit to contain the data information of soft lens, for reading the letter of the FRID label in docking section
Breath, and feed back to user.
The relevant information performed the operation every time can be formed unique data and stored by such mode, meanwhile, can also have
It is referred to conducive to the operation under other same situation.
It include 1 touch display screen, 2 manipulation hands on console control panel as a specific embodiment
Handle and several buttons and indicator light.Wherein control crank can carry out the manipulation of front and rear, left and right both direction, while there is crawl on top
Reset button.
Button includes starting/stop button, and scram button moves horizontally reset button.
Indicator light includes powering on indicator light, run indicator and malfunction indicator lamp etc..As a specific embodiment, originally
Auxiliary system is mainly used for urology procedure, and whole system is in addition to carrying out soft lens under the angle of adjustment patient and mechanical arm
It says, it is only necessary to which control is advanced and the bending of soft lens distal end, and the process of operation can be realized, and specifically implementation control is divided into following
Several steps:
1) after powering on, start-stop button is allocated to start bit, soft lens robot preparation, i.e. other buttons or handle phase
Pass movement is effective；
2) start-stop button is allocated to stop position, soft lens periods of robot operation stop, i.e., other buttons or handle on control panel
Relevant action failure；
3) scram button is pressed, holds each driving motor power loss of mirror mechanical arm, latched position, patient can be square after locking
Just it manually takes over and operates soft lens；
4) handle 1 is stirred forward, and translation motor rotates forward, soft lens Forward；Handle 1, translation motor reversion, soft lens are stirred backward
It moves back；Handle 1 is stirred to the left, and shank rotate steering wheel rotates forward；Handle 1, shank rotate steering wheel reversion, by lower handle 1 are stirred to the right
The button of top side, shank rotate steering wheel are reset to zero-bit；Each freedom degree movement is designed with the control of limit position；
5) handle 2 is stirred forward, and bending steering engine rotates forward, and soft lens mirror body front end is bent upwards；Handle 2 is stirred backward, is bent
Steering engine reversion, soft lens mirror body front end is bent downwardly；Handle 2 is stirred to the left, and optical fiber transmission wheel rotates forward, and optical fiber is quantitatively fed；To the right
Handle 2, the reversion of optical fiber transmission wheel are stirred, optical fiber is quantitatively retracted；The button of 2 top side of lower handle is pressed, shank bending steering engine is reset to
Zero-bit；
6) parameters such as the revolving speed of all motors, start stop mode and optical fiber single motion amount can be all arranged by touch screen；
7) system mode can be checked by panel leds and touch-screen display interface.Display screen can also show and hold
The soft lens spatial attitude of mirror mechanical arm, such as the height of soft lens, horizontal displacement, shank angle and hold mirror manipulator motion ginseng
Number, such as movement velocity.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these change
It also should be regarded as the protection scope of the utility model into deformation.
Claims (10)
1. a kind of surgical assistant system suitable for soft lens, comprising:
Operating device, for operating soft lens；
It is characterized by:
The surgical assistant system suitable for soft lens includes:
Feedback device, for feeding back the real-time reaction force of soft lens soft tissue suffered in motion process in human body；
Wherein, the operating device and feedback device by wirelessly or non-wirelessly constitute communicate to connect so that the feedback device according to
Its operating device feedback information generates the signal that user can be made to perceive or movement.
2. the surgical assistant system according to claim 1 suitable for soft lens, it is characterised in that:
The feedback device includes:
Force snesor, for the pressure being subject to or pulling force to be converted to electric signal；
The operating device includes:
Operating stick, for controlling the surgical assistant system for user's operation；
Force application apparatus, for applying active force to the operating stick according to the feedback of the force snesor.
3. the surgical assistant system according to claim 1 suitable for soft lens, it is characterised in that:
The surgical assistant system suitable for soft lens further include:
Elastic device, the impact for buffer operation device to soft lens；
The elastic device is set between two components of the operating device or is set to the operating device and soft lens
Between.
4. the surgical assistant system according to claim 2 suitable for soft lens, it is characterised in that:
The surgical assistant system suitable for soft lens further include:
Driving motor, for driving soft lens；
The operating stick controls the rotation of driving motor according to the force snesor.
5. the surgical assistant system according to claim 3 suitable for soft lens, it is characterised in that:
The operating device further include:
Horizontally moving device, for adjusting the linear motion of soft lens；
Rotating device, for adjusting the axial rotation motion of soft lens；
Soft lens bending apparatus, for adjusting the curvature of soft lens.
6. the surgical assistant system according to claim 5 suitable for soft lens, it is characterised in that:
The soft lens bending apparatus includes:
Shifting part, for stirring the knob on soft lens；
Driving device, for driving the shifting part；
The elastic device is set between the shifting part and the driving device.
7. the surgical assistant system according to claim 1 suitable for soft lens, it is characterised in that:
The surgical assistant system suitable for soft lens further include:
Information collection portion for acquiring the visual pattern of soft lens leading portion, and is transferred to user to carry out respective operations；
The image information of soft lens front-end collection is passed to information collection for being connected with the information collection portion by docking section
Portion；
Wherein, the information collection portion, operating device and feedback device are by wirelessly or non-wirelessly constituting communication connection.
8. the surgical assistant system according to claim 7 suitable for soft lens, it is characterised in that:
FRID label, data information of the FRID label to contain soft lens are provided in the docking section.
9. the surgical assistant system according to claim 8 suitable for soft lens, it is characterised in that:
Include: in the information collection portion
Reading unit for reading the FRID label information in docking section, and feeds back to user.
10. the surgical assistant system according to claim 9 suitable for soft lens, it is characterised in that:
The reading unit and operating device are communicated to connect by wirelessly or non-wirelessly constituting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822051231.1U CN209474796U (en) | 2018-12-07 | 2018-12-07 | Surgical assistant system suitable for soft lens |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822051231.1U CN209474796U (en) | 2018-12-07 | 2018-12-07 | Surgical assistant system suitable for soft lens |
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| CN209474796U true CN209474796U (en) | 2019-10-11 |
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| CN201822051231.1U Expired - Fee Related CN209474796U (en) | 2018-12-07 | 2018-12-07 | Surgical assistant system suitable for soft lens |
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| CN (1) | CN209474796U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109452975A (en) * | 2018-12-07 | 2019-03-12 | 杭州法博激光科技有限公司 | Surgical assistant system suitable for soft lens |
| CN111449754A (en) * | 2020-01-02 | 2020-07-28 | 杭州法博激光科技有限公司 | Auxiliary device suitable for ureter lithotripsy operation |
| CN111772797A (en) * | 2020-07-13 | 2020-10-16 | 安徽航天生物科技股份有限公司 | Unpowered handle of flexible endoscope surgical robot system |
| CN111772796A (en) * | 2020-07-13 | 2020-10-16 | 安徽航天生物科技股份有限公司 | Flexible endoscope surgical robot system and powered handle |
| CN111887994A (en) * | 2020-07-16 | 2020-11-06 | 安徽航天生物科技股份有限公司 | Flexible endoscope operation robot system based on closed loop feedback and control method thereof |
| CN112689067A (en) * | 2020-10-28 | 2021-04-20 | 泰州国安医疗用品有限公司 | Adaptive mirror opening amplitude adjusting system and method |
| CN113262046A (en) * | 2021-05-14 | 2021-08-17 | 北京美迪云机器人科技有限公司 | Soft lens lithotripsy system based on magnetic force induction remote positioning |
| WO2021208869A1 (en) * | 2020-04-13 | 2021-10-21 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot system |
| CN115813564A (en) * | 2023-02-23 | 2023-03-21 | 之江实验室 | Bending mechanism and surgical robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109452975A (en) * | 2018-12-07 | 2019-03-12 | 杭州法博激光科技有限公司 | Surgical assistant system suitable for soft lens |
| CN111449754A (en) * | 2020-01-02 | 2020-07-28 | 杭州法博激光科技有限公司 | Auxiliary device suitable for ureter lithotripsy operation |
| WO2021208869A1 (en) * | 2020-04-13 | 2021-10-21 | 上海微创医疗机器人（集团）股份有限公司 | Surgical robot system |
| CN111772797A (en) * | 2020-07-13 | 2020-10-16 | 安徽航天生物科技股份有限公司 | Unpowered handle of flexible endoscope surgical robot system |
| CN111772796A (en) * | 2020-07-13 | 2020-10-16 | 安徽航天生物科技股份有限公司 | Flexible endoscope surgical robot system and powered handle |
| CN111887994A (en) * | 2020-07-16 | 2020-11-06 | 安徽航天生物科技股份有限公司 | Flexible endoscope operation robot system based on closed loop feedback and control method thereof |
| CN112689067A (en) * | 2020-10-28 | 2021-04-20 | 泰州国安医疗用品有限公司 | Adaptive mirror opening amplitude adjusting system and method |
| CN113262046A (en) * | 2021-05-14 | 2021-08-17 | 北京美迪云机器人科技有限公司 | Soft lens lithotripsy system based on magnetic force induction remote positioning |
| CN115813564A (en) * | 2023-02-23 | 2023-03-21 | 之江实验室 | Bending mechanism and surgical robot |
| CN115813564B (en) * | 2023-02-23 | 2024-01-09 | 之江实验室 | Bending mechanism and surgical robot |
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