CN210330769U

CN210330769U - Automatic control system for moving laparoscope in minimally invasive surgery

Info

Publication number: CN210330769U
Application number: CN201920202690.7U
Authority: CN
Inventors: 江洪伟; 江晟白
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2019-02-15
Filing date: 2019-02-15
Publication date: 2020-04-17
Anticipated expiration: 2029-02-15

Abstract

An automatic control system for a mobile laparoscope used for minimally invasive surgery belongs to the field of automatic control; most of the existing laparoscope equipment adopts manual support; manpower and material resources are wasted; the device comprises a display, a main operating hand, an optical positioning system, a control unit and an external camera, wherein the display, the main operating hand, the optical positioning system, the control unit and the external camera are arranged on the upper surface of an operating table, the display is opposite to the main operating hand, the external camera is arranged on one side of the main operating hand, the communication ends of the optical positioning system and the external camera are respectively connected with the control unit, the control unit is respectively in bidirectional connection with a first mechanical holding arm and a second mechanical holding arm, the optical positioning system and the display are respectively connected with a mirror holding arm, the first mechanical holding arm is connected with a first surgical instrument, the second mechanical holding arm is connected with a second surgical instrument, and the mirror holding arm is connected; effectively solves the technical problem that the existing laparoscope equipment adopts manual support.

Description

Automatic control system for moving laparoscope in minimally invasive surgery

Technical Field

The utility model belongs to the automatic control field especially relates to a be used for minimal access surgery to remove peritoneoscope automatic control system.

Background

The minimally invasive surgery is to implant a slender laparoscope and a tiny surgical instrument into a patient body through a small incision, and a doctor performs the minimally invasive surgery by means of a monitor image, so that compared with the traditional open surgery, the minimally invasive surgery has the advantages of small wound, patient pain alleviation, postoperative complications reduction, quick postoperative recovery and the like. Most of the existing laparoscope equipment adopts manual support; wasting manpower and material resources.

SUMMERY OF THE UTILITY MODEL

The utility model overcomes above-mentioned prior art's is not enough, provides and is used for the wicresoft's operation to remove peritoneoscope automatic control system, through installing the peritoneoscope on holding the mirror arm to be connected with display, outside camera and the control unit respectively, effectively solved current peritoneoscope equipment and adopted artifical technical problem of supporting.

The technical scheme of the utility model:

an automatic control system for moving a laparoscope in minimally invasive surgery comprises an operation table, a display, a main operation hand, an optical positioning system, a control unit, a laparoscope holding arm, a first mechanical holding arm, a second mechanical holding arm, a first surgical instrument, a second surgical instrument, a laparoscope and an external camera; the upper surface of the operating table is provided with a display, a main operating hand, an optical positioning system, a control unit and an external camera, the display is opposite to the main operating hand, the external camera is arranged on one side of the main operating hand, communication ends of the optical positioning system and the external camera are respectively connected with the control unit, the control unit is respectively bidirectionally connected with a first manipulator and a second manipulator, the optical positioning system and the display are respectively connected with a endoscope holding arm, the first manipulator is connected with a first surgical instrument, the second manipulator is connected with a second surgical instrument, the endoscope holding arm is connected with a laparoscope through a clamping device, and the endoscope holding arm is connected with the control unit;

the laparoscope comprises a trocar;

the endoscope holding arm comprises a ninth joint, a tenth joint, an eleventh joint, a twelfth joint, a thirteenth joint and a fourteenth joint; the ninth joint is a telescopic joint, the tenth joint, the eleventh joint and the twelfth joint are rotary joints, and the thirteenth joint is a pitching joint; the fourteenth joint is a sliding joint, and 6 degrees of freedom can realize the position adjustment of 6 directions.

Furthermore, the number of the clamping devices is 3, and each clamping device is respectively connected with the mirror holding arm, the first mechanical holding arm and the second mechanical holding arm; clamping device includes bolt and fixed casing, the bolt can rotate into inside the fixed casing, the inside two gears that are provided with of fixed casing, the gear is located the bolt both sides, the screw thread can drive two gear operation on the bolt, install the centre gripping arm on the gear, install the profile of tooth rubber piece on the centre gripping arm.

Further, the optical positioning system includes an optical sensor and a laser sensor.

Further, the control unit includes a microcontroller and a motion controller.

The utility model discloses following beneficial effect has for prior art:

the utility model provides a be used for minimal access surgery to remove peritoneoscope automatic control system through holding the installation peritoneoscope on the mirror arm to be connected with display, outside camera and the control unit respectively, can solve current peritoneoscope equipment and adopt artifical technical problem who supports.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a view of the base structure of the present invention;

FIG. 3 is a view of the mirror holding arm;

FIG. 4 is a view of the first arm structure;

fig. 5 is a structural view of the clamping device.

In the figure: the system comprises an operation table 1, a display 2, a main operation hand 3, an optical positioning system 4, a control unit 5, a mirror holding arm 6, a first mechanical holding arm 7, a second mechanical holding arm 8, a first surgical instrument 9, a second surgical instrument 10, a laparoscope 11, an external camera 12, a base 13, a first rotating disk 14, a lifting column 15, a first supporting arm 16, a second supporting arm 17, a second rotating disk 18 and a clamping device 19.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

An automatic control system for moving a laparoscope in minimally invasive surgery, as shown in fig. 1 and 2, comprises an operation table 1, a display 2, a main manipulator 3, an optical positioning system 4, a control unit 5, a mirror holding arm 6, a first mechanical holding arm 7, a second mechanical holding arm 8, a first surgical instrument 9, a second surgical instrument 10, a laparoscope 11 and an external camera 12; a display 2, a main manipulator 3, an optical positioning system 4, a control unit 5 and an external camera 12 are mounted on the upper surface of the operating table, the display 2 is opposite to the main manipulator 3, the external camera 12 is arranged on one side of the main manipulator 3, the communication ends of the optical positioning system 4 and the external camera 12 are respectively connected with the control unit 5, the control unit 5 is respectively connected with a first manipulator 7 and a second manipulator 8 in a bidirectional mode, the optical positioning system 4 and the display 2 are respectively connected with a scope holding arm 6, the first manipulator 7 is connected with a first surgical instrument 9, the second manipulator 8 is connected with a second surgical instrument 10, the scope holding arm 6 is connected with a laparoscope 11 through a clamping device 19, and the scope holding arm 6 is connected with the control unit 5;

the laparoscope 11 includes a trocar.

Specifically, the optical positioning system 4 includes an optical sensor model TCRT1010 and a laser sensor model OP-87770.

In particular, the control unit 5 comprises a microcontroller and a motion controller, of the type MAX32660 and SPC-STW-26a1, respectively.

Specifically, as shown in fig. 2, the lifting device further comprises a base 13, a first rotating disc 14, a lifting column 15, a first supporting arm 16, a second supporting arm 17 and a second rotating disc 18; the base 13 is provided with a first rotating disk 14, the base 13 is used for fixing, the first rotating disk 14 can rotate for 360 degrees, the angle is convenient to select during operation, the first rotating disk 14 is provided with a lifting column 15, for raising and lowering the device, said lifting column 15 being connected to a first support arm 16, and can freely rotate around the lifting column 15, the first supporting arm 16 is connected with the second supporting arm 17, and the second support arm 17 is freely rotatable with respect to the first support arm 16, the second support arm 17 being connected to the second rotary disc 18, and can freely rotate around the second supporting arm 17, the second rotating disk 18 is respectively connected with the mirror holding arm 6, the first mechanical holding arm 7 and the second mechanical holding arm 8, under the driving of the second rotating disc 18, the mirror holding arm 6, the first mechanical holding arm 7 and the second mechanical holding arm 8 can realize position adjustment at different positions.

Specifically, as shown in FIG. 3, the scope holding arm 6 includes a ninth joint 6-1, a tenth joint 6-2, an eleventh joint 6-3, a twelfth joint 6-4, a thirteenth joint 6-5 and a fourteenth joint 6-6; the ninth joint 6-1 is a telescopic joint, the tenth joint 6-2, the eleventh joint 6-3 and the twelfth joint 6-4 are rotary joints, and the thirteenth joint 6-5 is a pitching joint; the fourteenth joint 6-6 is a sliding joint, the fourteenth joint 6-6 is connected with the

clamping device

19, and 6 degrees of freedom can realize the position adjustment of 6 directions.

Specifically, as shown in fig. 4, the first mechanical arm 7 includes a first joint 7-1, a second joint 7-1, a third joint 7-3, a fourth joint 7-4, a fifth joint 7-5, a sixth joint 7-6, a seventh joint 7-7, and an eighth joint 7-8, the first joint 7-1 and the eighth joint 7-8 are sliding joints, the second joint 7-2 is a telescopic joint, the third joint 7-3 and the seventh joint 7-7 are tilting joints, the fourth joint 7-4, the fifth joint 7-5, and the sixth joint 7-6 are rotating joints, the eighth joint 7-8 is connected to a clamping device 19, the eight degrees of freedom can achieve eight-directional position adjustment, the second mechanical arm 8 has the same structure as the first mechanical arm 7, and each is connected to a clamping device 19.

Specifically, as shown in fig. 5, the clamping device 19 comprises a bolt 19-1 and a fixed housing 19-2, the bolt 19-1 can rotate into the fixed housing 19-2, two gears 19-3 are arranged inside the fixed housing 19-2, the gears 19-3 are located on two sides of the bolt 19-1, a thread on the bolt 19-1 can drive the two gears 19-3 to operate, a clamping arm 19-4 is installed on the gear 19-3, and a tooth-shaped rubber block 19-5 is installed on the clamping arm 19-4.

The first rotating disk 14 and the second rotating disk 18 can rotate 360 degrees, so that the angle is convenient to select during operation, the threads on the bolt 19-1 can drive the two gears 19-3 to run, the clamping arm 19-4 can be driven to clamp the laparoscope, and the tooth-shaped rubber block 19-5 is used for increasing friction and has a protection effect.

Specifically, the first surgical instrument 9 and the second surgical instrument 10 are sponge forceps, tissue forceps, mosquito-type hemostatic forceps, needle holding forceps, hemostatic forceps, common dressing forceps, tissue forceps, surgical scissors, surgical knife handle, tissue scissors, suture scissors, handkerchief forceps/tissue forceps or deep draw hook.

In particular, the main manipulator 3 is an operating handle, known in the art, connected to the control unit 5.

The working principle is as follows: the doctor performs the operation through the first surgical instrument 9 and the second surgical instrument 10 inserted with the help of the trocar according to the video image of the display 2; determining the current coordinates of the position of the laparoscope 11 and the scope holding arm 6 by using the optical positioning system 4 and the external camera 12; the positions and the inclination angles of the endoscope holding arm 6 and the laparoscope are determined by the angle of the reflected light of the optical positioning system 4; said coordinates are sent to the control unit 5, which generates control commands for changing the position and orientation of the scope-holding arm 6 or focusing the camera of the laparoscope 11 to ensure optimal visualization of the operating area; the control unit 5 sends the generated control signal to the motion controller, the motion controller commands the actuators of the first manipulator 7 and the second manipulator 8, the feedback result after the movement of the scope holding arm 6, and the data are calculated by the microcontroller in the control unit 5 to obtain a statistical result, are displayed in the external camera 12, are adjusted by the set control parameters, and are transmitted to the motion controller, so that the control unit 5 controls the first surgical instrument 9, the second surgical instrument 10 and the scope holding arm 6. All decisions corresponding to specific input conditions, i.e. the position of the surgical instrument, and output conclusions characterizing the motion of the laparoscope 11 are stored in the statistical data module; the data of all control results are used for comparative analysis work and subsequent adjustment of the control unit parameters.

Specifically, the scope holding arm 6 moves the laparoscope 11 according to the surgical intervention area and the current position of the instrument, transmits the image of the operation area to the display 2 through the communication channel of the laparoscope 11 with the external camera 12 for the surgeon to monitor their movements in real time and continue the surgery.

Claims

1. A mobile laparoscope automatic control system for minimally invasive surgery is characterized by comprising an operation table (1), a display (2), a main operation hand (3), an optical positioning system (4), a control unit (5), a laparoscope holding arm (6), a first mechanical holding arm (7), a second mechanical holding arm (8), a first surgical instrument (9), a second surgical instrument (10), a laparoscope (11) and an external camera (12); the upper surface of the operating table (1) is provided with a display (2), a main operating hand (3), an optical positioning system (4), a control unit (5) and an external camera (12), the display (2) is opposite to the main operating hand (3), the external camera (12) is arranged on one side of the main operating hand (3), the communication ends of the optical positioning system (4) and the external camera (12) are respectively connected with the control unit (5), the control unit (5) is respectively in bidirectional connection with a first manipulator (7) and a second manipulator (8), the optical positioning system (4) and the display (2) are respectively connected with a mirror holding arm (6), the first manipulator (7) is connected with a first surgical instrument (9), the second manipulator (8) is connected with a second surgical instrument (10), and the mirror holding arm (6) is connected with a laparoscope (11) through a clamping device (19), the lens holding arm (6) is connected with the control unit (5);

the laparoscope (11) comprises a trocar;

the endoscope holding arm (6) comprises a ninth joint (6-1), a tenth joint (6-2), an eleventh joint (6-3), a twelfth joint (6-4), a thirteenth joint (6-5) and a fourteenth joint (6-6); the ninth joint (6-1) is a telescopic joint, the tenth joint (6-2), the eleventh joint (6-3) and the twelfth joint (6-4) are rotary joints, and the thirteenth joint (6-5) is a pitching joint; the fourteenth joint (6-6) is a sliding joint, and 6 degrees of freedom can realize the position adjustment of 6 directions.

2. The automatic control system for minimally invasive surgery mobile laparoscope according to claim 1, characterized in that said gripping devices (19) are 3 in number, each of which is connected to said mirror-holding arm (6), said first mechanical-holding arm (7) and said second mechanical-holding arm (8); the clamping device (19) comprises a bolt (19-1) and a fixed shell (19-2), the bolt (19-1) can rotate into the fixed shell (19-2), two gears (19-3) are arranged in the fixed shell (19-2), the gears (19-3) are located on two sides of the bolt (19-1), threads on the bolt (19-1) can drive the two gears (19-3) to operate, a clamping arm (19-4) is installed on the gear (19-3), and a tooth-shaped rubber block (19-5) is installed on the clamping arm (19-4).

3. Automatic control system for minimally invasive surgical mobile laparoscope according to claim 1, characterized in that the optical positioning system (4) comprises optical sensors and laser sensors.

4. The automatic control system for minimally invasive surgical mobile laparoscope according to claim 1, characterized in that the control unit (5) comprises a microcontroller and a motion controller.