CN211512043U - Transurethral resectoscope surgical robot actuator - Google Patents
Transurethral resectoscope surgical robot actuator Download PDFInfo
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- CN211512043U CN211512043U CN201921619322.9U CN201921619322U CN211512043U CN 211512043 U CN211512043 U CN 211512043U CN 201921619322 U CN201921619322 U CN 201921619322U CN 211512043 U CN211512043 U CN 211512043U
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- 238000003825 pressing Methods 0.000 claims description 32
- 239000012636 effector Substances 0.000 claims description 19
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- 238000007789 sealing Methods 0.000 claims description 11
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- 230000015572 biosynthetic process Effects 0.000 claims 1
- 239000013307 optical fiber Substances 0.000 description 8
- 210000001519 tissue Anatomy 0.000 description 8
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- 238000000034 method Methods 0.000 description 5
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- 230000008901 benefit Effects 0.000 description 3
- 239000010839 body fluid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000002307 prostate Anatomy 0.000 description 3
- 208000007097 Urinary Bladder Neoplasms Diseases 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010072587 Rectal injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 210000002640 perineum Anatomy 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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Abstract
The embodiment of the utility model relates to a transurethral resectoscope surgical robot actuator, which is used for connecting a surgical robot and a transurethral resectoscope, and the surgical robot actuator comprises a shell, a driving system and a fixing system; the shell defines an accommodating cavity; the driving system is used for driving a movable operating handle of an operator of the resectoscope to move; the fixing system is used for fixing the resectoscope on the surgical robot actuator, the fixing system comprises a first supporting and fixing mechanism and a second supporting and fixing mechanism, the first supporting and fixing mechanism is used for supporting and fixing a fixed operating handle of an operator of the resectoscope, and the second supporting and fixing mechanism is used for supporting and fixing a body of the resectoscope operator. The surgical robot actuator can stably and firmly fix the resectoscope.
Description
Technical Field
The utility model belongs to the technical field of medical instrument, concretely relates to transurethral resectoscope surgical robot executor.
Background
Transurethral resectoscopic procedures are typically performed by a surgeon holding a transurethral resectoscope directly on the body. Referring to fig. 1, in general, a transurethral resectoscope in the prior art includes an endoscope, an operator 100 (or an electric cutter, as shown in fig. 1), an outer sheath, an inner sheath, a hole closing device, an electric cutting ring, and other main components, where the operator 100 includes a fixed operation handle 1, a movable operation handle 2, an optical fiber connector 3, and a cable connector 4, the movable operation handle 2 is connected with the cable connector 4, the movable operation handle 2 can reciprocate, and the cable connector 4 and the movable operation handle 2 move synchronously. When the operation is performed, the index finger and the middle finger hook the fixed operating handle 1, the thumb pushes the movable operating handle 2, the angle of the manipulator 100 is adjusted, the movable operating handle 2 is pushed to push the electric excision ring, and the power-on pedal is simultaneously stepped down to complete the excision of tissues such as prostate, bladder tumor and the like.
The implementation mode of the surgical operation has two important defects, one is that the operation depends on the technical level and experience of a surgeon too much, the operation effect is greatly influenced by the individual of the surgeon, the accuracy and safety of the operation are difficult to ensure, the standardization and normalization of the operation cannot be realized, the operation process usually wastes time and labor, the working strength is high, the pain is brought to the surgeon and a patient, if the experience of the surgeon is insufficient and the technique is not skillful, serious consequences such as rectal injury or heavy bleeding of adjacent tissues can be caused, meanwhile, the tissue resection is possibly insufficient, and the treatment effect is influenced; secondly, when the operation is performed, the doctor is close to the patient, the front of the perineum and the urethra is easily polluted by the body fluid of the patient, the potential safety hazard exists, and the operation environment of the doctor is poor, for example, transurethral prostate electrostomy needs to be circularly perfused and washed in order to obtain a good operation visual field, and the washing fluid is seriously polluted.
Assisting a surgeon in performing an operation by a surgical robot is one solution to the above problem, and a surgical planning is performed in advance by establishing a three-dimensional model of a site to be operated, and then the surgeon controls the surgical robot to perform an operation procedure. Therefore, even if the operation can be standardized and normalized, the burden of a doctor can be reduced, and the doctor can remotely operate the operation robot without approaching a patient, so that the pollution can be avoided.
However, there is a lack in the prior art of surgical robotic effectors that connect a surgical robot to a transurethral resectoscope.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides an actuator of a transurethral resectoscope surgical robot, which is used for connecting a surgical robot and a transurethral resectoscope.
A transurethral resectoscope surgical robot actuator is used for connecting a surgical robot and a transurethral resectoscope and comprises a shell, a driving system and a fixing system;
the shell defines an accommodating cavity;
the driving system is used for driving a movable operating handle of an operator of the resectoscope to move;
the fixing system is used for fixing the resectoscope on the surgical robot actuator, the fixing system comprises a first supporting and fixing mechanism and a second supporting and fixing mechanism, the first supporting and fixing mechanism is used for supporting and fixing a fixed operating handle of an operator of the resectoscope, and the second supporting and fixing mechanism is used for supporting and fixing a body of the resectoscope operator.
Further, the driving system comprises a motor, a transmission device and a push rod, and the motor drives the push rod to do reciprocating linear motion through the transmission device.
Further, the shell is provided with the shell opening, be provided with the opening lid on the shell opening, the opening lid has dodges the mouth, the push rod warp the shell opening with motor drive is connected, the push rod certainly dodge the mouth and stretch out.
Further, the transmission device comprises a lead screw, a lead screw nut, a slide rail and a slide block; the far end of the push rod is connected with the screw nut through the opening of the shell, the near end of the push rod is provided with a push rod clamping part, the push rod clamping part is provided with a clamping structure, and the clamping structure is used for driving a cable joint of an operator of the resectoscope to move.
Furthermore, an avoiding opening sealing piece is arranged at the avoiding opening, and the push rod is connected with the avoiding opening sealing piece in a sliding and sealing mode.
Furthermore, the near end of the surgical robot actuator is provided with a first mounting seat and a second mounting seat, two ends of the lead screw are respectively arranged on the first mounting seat and the second mounting seat, two ends of the slide rail are respectively and fixedly arranged on the first mounting seat and the second mounting seat, the slide rail is arranged in parallel with the lead screw, the slide block is connected with the slide rail in a sliding manner, and the slide block is fixedly connected with the lead screw nut.
Further, a first travel switch and a second travel switch are arranged between the first mounting seat and the second mounting seat, and the travel switches are used for controlling the limit travel of the screw nut between the first mounting seat and the second mounting seat.
Further, the proximal end portion of shell still is connected with the shell mount pad, first support fixed establishment sets up on the shell mount pad, first support fixed establishment includes fixed handle supporting seat, fixed handle limit structure and clamp plate subassembly, fixed handle limit structure is used for the restriction the operation ware of resectoscope moves on its length direction, clamp plate subassembly is used for certainly fixed handle upper portion supports the pressure fixed handle.
Further, the pressure plate assembly comprises a pressure plate and a pressure plate fastener, wherein the pressure plate fastener is used for applying pressure to the pressure plate so as to enable the pressure plate to be pressed against the fixed operation handle.
Further, the clamp plate fastener is a knob, the knob is provided with a threaded rod, a threaded hole is formed in the fixed operating handle supporting seat, the clamp plate is provided with a through hole, the threaded rod penetrates through the through hole of the clamp plate and is in threaded connection with the threaded hole, and the clamp plate can rotate around the threaded rod.
Furthermore, the fixed operating handle limiting structure is a limiting groove.
Further, the fixing system further comprises a second supporting and fixing mechanism, the second supporting and fixing mechanism is arranged on one side of the opening cover and is arranged with the opening cover in parallel in the width direction of the surgical robot actuator; the second supporting and fixing mechanism comprises a first clamping part and a first clamping part supporting seat, the first clamping part is arranged on the first clamping part supporting seat, and the first clamping part is used for clamping and fixing the body of the resectoscope operator.
Further, the fixing system further comprises a third supporting and fixing mechanism, the third supporting and fixing mechanism is used for supporting and fixing the optical fiber connector of the operator of the resectoscope, the third supporting and fixing mechanism comprises a second clamping part and a second clamping part supporting seat, the second clamping part is arranged on the second clamping part supporting seat, and the second clamping part is used for clamping and fixing the optical fiber connector.
The utility model discloses beneficial effect of embodiment: the embodiment of the utility model provides a surgical robot executor structure is reliable, can be stable, conveniently connect surgical robot's arm to firmly fix the resectoscope. Other advantages of the surgical robotic effector of embodiments of the present invention will be described in detail below.
Drawings
Fig. 1 is a schematic structural diagram of a conventional resectoscope in the prior art.
Fig. 2 is an exploded view of a surgical robot actuator according to an embodiment of the present invention.
Fig. 3 is a schematic perspective view of a driving system of a surgical robot actuator according to an embodiment of the present invention.
Fig. 4 is a top view of a drive system for a surgical robotic effector according to an embodiment of the present invention.
Fig. 5 is a top view of a surgical robotic effector attachment system according to an embodiment of the present invention.
Fig. 6 is a schematic perspective view of a fixing system of a surgical robot actuator according to an embodiment of the present invention.
Fig. 7 is a schematic perspective view of an electrosurgical endoscope assembled on a surgical robot actuator according to an embodiment of the present invention.
Fig. 8 is a top view of the surgical robot actuator assembled resectoscope according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the drawings and the following embodiments.
In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near", etc. are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only to distinguish technical features, have no essential meaning, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features.
Referring to fig. 2-8, the embodiment of the present invention provides a transurethral resectoscope surgical robot actuator, which can connect the mechanical arm of the surgical robot and the transurethral resectoscope to perform the transurethral resectoscope operation for the excision of prostate, bladder tumor and other tissues.
The surgical robotic effector includes a housing, a drive system, and a fixation system.
The housing encloses a receiving cavity to receive components of the surgical robot actuator, such as motors, transmissions, electrical components, etc.
The driving system is used for driving the movable operating handle 2 of the operator 100 of the resectoscope to reciprocate so as to push the resectoscope ring to cut off the tissue to be resected.
The fixation system is used for fixing the resectoscope on the surgical robot executor.
Therefore, the reciprocating motion of the resectoscope resected ring (i.e. the action of excising tissue) is driven by the surgical robot actuator, and other actions (such as position adjustment, posture adjustment, rotation and the like) of the resectoscope are driven by the mechanical arm of the surgical robot to drive the surgical robot actuator, so as to drive the resectoscope, for example, rotation is performed by rotating the surgical robot actuator, so that the rotary operation of the resectoscope can be realized.
Outer casing
In one embodiment, the housing includes an upper cover 11 and a lower cover 12, the upper cover 11 and the lower cover 12 enclosing to define a receiving cavity having a distal opening at a distal end thereof. The distal opening of the housing may be closed by a connection system for connecting the robotic arms of the surgical robot, or, in another embodiment, the distal end of the upper cover 11 or the distal end of the lower cover 12 is provided with an integrally formed distal wall plate, i.e. the distal end of the housing is a closed structure. The advantage of having the distal end of the housing in an open configuration is that it is simple to manufacture and low cost.
Preferably, the upper cover 11 is substantially flat, and the lower case 12 is enclosed by a bottom plate, two opposite side plates and a proximal end wall plate to form a channel structure with an upper part and a far end opened.
The housing is provided with a housing opening, for example, a housing opening 111 is provided at the proximal end of the upper cover 11, and the push rod of the driving system is in driving connection with the motor of the driving system through the housing opening 111. Be provided with opening cover 112 on shell opening 111, opening cover 112 is enclosed by apron and curb plate and closes and form, and opening cover 112's proximal end portion has dodges mouth 113, is provided with the fixed part on opening cover 112's the curb plate, opening cover 112 warp the fixed part with upper cover 11 connects, preferably can dismantle the connection. The push rod extends from the escape opening 113. The opening cover 112 prevents patient body fluids or medical agents from entering the interior of the housing.
The proximal end portion of the housing is further provided with a housing mounting seat 114, preferably, the housing mounting seat 114 is connected to the proximal end portion of the lower shell 12, and more preferably, the housing mounting seat 114 and the lower shell 12 are of an integral structure, and the housing mounting seat 114 is formed by extending outwards from the proximal end portion of the lower shell 12 along the length direction of the lower shell 12.
The upper cover 11 and the lower shell 12 are fixedly connected, for example, screwed. Preferably, the upper cover 11 and the lower cover 12 are hermetically connected, for example, a housing sealing member, such as a sealing ring, is provided at the junction of the upper cover 11 and the lower cover 12. The sealed connection of the housing prevents bodily fluids, medical agents (e.g., irrigation fluids), etc. from splashing into the housing and damaging components mounted within the housing.
Drive system
The driving system is used for driving the movable operating handle 2 of the operator 100 of the resectoscope to reciprocate so as to push the resectoscope ring to cut off the tissue to be resected.
The drive system comprises a motor 21, a push rod 22 and a transmission. The motor 21 and transmission are disposed within the housing.
The motor 21 is used for driving the push rod 22 to do reciprocating linear motion. Preferably, the motor 21 is a servo motor.
The transmission device comprises a lead screw 23, a lead screw nut 24, a slide rail 25 and a slide block 26. Preferably, the lead screw is a ball screw, the lead screw 23 can rotate in both forward and reverse directions under the driving of the motor 21, and the lead screw 23 drives the lead screw nut 24 to reciprocate along the axial direction of the lead screw 23 when rotating.
The proximal end of the surgical robot effector is provided with a first mounting seat 27 and a second mounting seat 28, and the first mounting seat 27 and the second mounting seat 28 are fixedly connected with the housing, for example, fixedly connected with the upper cover 11 and/or the lower housing 12. The two ends of the lead screw 23 are respectively arranged on the first mounting seat 27 and the second mounting seat 28. Two ends of the slide rail 25 are respectively and fixedly mounted on the first mounting seat 27 and the second mounting seat 28, the slide rail 25 is parallel to the lead screw 23, the slide block 26 is slidably connected with the slide rail 25, and the slide block 26 is fixedly connected with the lead screw nut 24.
The push rod 22 is coupled to the lead screw nut 24, and in one embodiment, the push rod 22 is coupled to the lead screw nut 24 via the slider 26. When the motor 21 rotates, the lead screw nut 24 can drive the push rod 22 to reciprocate.
More preferably, the slide rail 25 includes a first slide rail and a second slide rail that are arranged in parallel, and the first slide rail and the second slide rail are respectively arranged on two sides of the lead screw 23.
In one embodiment, the push rod 22 is L-shaped, the distal end of the push rod 22 is connected to the lead screw nut 24, the proximal end of the push rod 22 extends upward to form a push rod clamping portion 221, the top end of the push rod clamping portion 221 has a clamping structure, the clamping structure is used for driving the cable connector 4 to move, and in particular, the clamping structure is used for clamping an external electrode (the external electrode is not shown in the figure, and the clamping state of the proximal end of the push rod only indicates the position of the clamping structure) electrically connected with the cable connector 4 of the resectoscope operator; in another embodiment, the clamping structure is used to clamp the cable joint 4 (when the external electrode is inserted into the cable joint 4). The clamping structure is for example U-shaped. When the electric resectoscope is used, the cable joint 4 is inserted into the external electrode (or the external electrode is inserted into the cable joint 4), therefore, the push rod 22 can drive the cable joint 4 to do reciprocating linear motion when the push rod 22 is driven by the motor 21 to do reciprocating linear motion, and as the cable joint 4 and the movable operating handle 2 of the operator 100 of the electric resectoscope move synchronously, the push rod 22 drives the cable joint 4 to move, so that the movable operating handle 2 can be driven to do reciprocating motion, and further the electric resectoscope is driven to do the action of an electric resectoscope ring, so that the tissue is resected.
The far end of the push rod 22 is connected with the screw nut 24 through the shell opening 111, and the push rod 22 extends out through an avoiding opening 113 at the near end part of the opening cover 112. Preferably, an avoiding port 113 sealing element is further arranged at the avoiding port 113, and the push rod 22 is in sliding sealing connection with the avoiding port 113 sealing element to prevent body fluid or medical reagents from splashing into the shell and damage components arranged in the shell.
Preferably, a first travel switch and a second travel switch (not shown in the figure) are arranged between the first mounting seat 27 and the second mounting seat 28, and the travel switches are used for controlling the limit travel of the lead screw nut 24 between the first mounting seat 27 and the second mounting seat 28 and avoiding the lead screw nut 24/the slide block 26 from impacting the first mounting seat 27 and the second mounting seat 28. In one embodiment, the first travel switch is disposed on the first mount 27 and the second travel switch is disposed on the second mount 28.
Fastening system
The fixation system is used for fixing the resectoscope on the surgical robot executor.
The fixing system includes a first supporting and fixing mechanism and a second supporting and fixing mechanism, which can support and fix the manipulator 100 of the resectoscope in different directions.
The first support fixing mechanism is used for supporting and fixing the fixed operation handle 1 of the operator 100 of the resectoscope, and the second support fixing mechanism is used for supporting and fixing the body (the position shown in fig. 8) of the operator of the resectoscope.
Further preferably, the fixing system further comprises a third supporting and fixing mechanism for supporting and fixing the optical fiber connector 3 of the operator 100 of the resectoscope.
The first supporting and fixing mechanism comprises a fixed operating handle supporting seat 31, a fixed operating handle limiting structure 32 and a pressing plate assembly. The first support fixture is disposed on the housing mount 114. The fixed operating handle limiting structure 32 is used for limiting the movement of an operator of the resectoscope in the length direction, and the pressing plate assembly is used for pressing the fixed operating handle from the upper part of the fixed operating handle.
The shape of the fixed handle support base 31 is adapted to the shape of the fixed handle 1 of the resectoscope, so that the fixed handle 1 can be stably supported on the fixed handle support base.
Generally, the fixed operating handle 1 of the resectoscope includes a first pressing portion 1a and a second pressing portion 1b, which are respectively located on two sides of the main axis of the operator 100, and the middle finger and ring finger of the doctor press against the first pressing portion 1a, and the index finger presses against the second pressing portion 1 b.
The fixed operation handle limiting structure 32 is used for limiting the fixed operation handle, for example, a limiting groove, and preferably, the fixed operation handle protrudes out of the limiting groove. In one embodiment, the fixed handle limiting structure 32 is disposed on the upper surface of the fixed handle support 31, and includes a first pressing portion limiting groove 32 (as shown in fig. 6, the first pressing portion limiting groove is defined by two protruding portions spaced apart from the upper portion of the fixed handle support 31), and/or a second pressing portion limiting groove (not shown). The first pressing part 1a protrudes out of the first pressing part limiting groove in the thickness direction (as shown in fig. 8), and/or the second pressing part 1b protrudes out of the second pressing part limiting groove in the thickness direction.
The pressing plate assembly is used for abutting against and fixing the fixed operating handle 1 and comprises a pressing plate 33 and a pressing plate fastening piece 34, and the pressing plate fastening piece 34 is used for applying pressure to the pressing plate 33 so that the pressing plate 33 abuts against and fixes the fixed operating handle 1.
In one embodiment, the pressing plate fastening member 34 is a knob having a threaded rod, the fixed operating handle support seat 31 is provided with a threaded hole, the pressing plate 33 is provided with a through hole, the threaded rod penetrates through the through hole of the pressing plate 34 to be in threaded connection with the threaded hole, and the pressing plate 33 can rotate around the threaded rod. During the use, earlier with the fixed operation handle 1 card of resectoscope fixed operation handle limit structure 32, rotate clamp plate 33 again to the top of fixed operation handle 1, because the first portion of pressing and/or the second portion of pressing of fixed operation handle 1 are outstanding outside fixed operation handle limit structure 32, clamp plate 33 can support and press at fixed operation handle 1 upper surface, thereby when screwing the knob, the knob supports and presses clamp plate 33 can compress tightly fixedly fixed operation handle 1.
Preferably, the pressure plate assembly comprises a first pressure plate assembly and/or a second pressure plate assembly, and the pressure plate comprises a first pressure plate and/or a second pressure plate, and the pressure plate fastener comprises a first pressure plate fastener and/or a second pressure plate fastener. When the pressure plate fastener is a knob, the knob may include a first knob and/or a second knob. The first pressing plate assembly is used for abutting against and fixing a first abutting portion of the fixed operating handle, and the second pressing plate assembly is used for abutting against and fixing a second abutting portion of the fixed operating handle.
The second support fixing mechanism is provided on the upper cover 11, and in one embodiment, the second support fixing mechanism is provided on one side of the opening cover 112, and the second support fixing mechanism and the opening cover 112 are provided substantially side by side in the width direction of the surgical robot actuator.
The second support fixing mechanism includes a first clamping portion 41 and a first clamping portion support seat 42. The first clamping portion 41 is used for supporting and fixing the body of the resectoscope operator 100, and is, for example, a U-shaped elastic clamping member. The first clamping portion 41 is disposed on the first clamping portion support seat 42, the first clamping portion support seat 42 is disposed on the upper cover 11, and the first clamping portion 41 is used for clamping and fixing the body of the resectoscope operator 100.
Thus, the fixed handle stopper structure 32 and the second support fixing structure of the first support fixing structure support the fixed handle 1 of the resectoscope operator and the main body of the operator 100 in different directions (longitudinal direction and width direction) of the resectoscope operator, respectively, so that the resectoscope operator is stopped in the longitudinal direction and the width direction thereof and cannot move, and when the first clamping portion 41 is configured as shown in the drawing, the operator main body can be gripped, thereby restricting the movement of the operator in a direction away from the surface of the housing of the surgical actuator. The two supporting and fixing mechanisms are used for fixedly supporting the resectoscope operator in two different directions, so that the resectoscope operator can be firmly fixed on the surgical robot actuator of the embodiment, and the technical problem of insufficient stability of fixing surgical instruments in a single direction is solved. And, the clamp plate subassembly convenient operation, processing is simple, and is with low costs, and fixed effectual.
The third supporting and fixing mechanism is used for supporting and fixing the optical fiber connector 3 of the resectoscope operator 100. In one embodiment, the third support and securement mechanism includes a second clamp 51 and a second clamp support seat 52. The second holding portion 51 is used for supporting and fixing the optical fiber connector 3 of the resectoscope operator 100, and the second holding portion 52 is, for example, a U-shaped elastic holding member. The second clamping portion 51 is disposed on the second clamping portion support 52, the second clamping portion support 52 is disposed on the upper cover 11, and the second clamping portion 51 is used for clamping and fixing the optical fiber connector 3 of the manipulator 100. Preferably, the first clip support seat 42 and the second clip support seat 52 are of a unitary construction.
The optical fiber connector 3 of the resectoscope operator 100 extends from the operator body along the width direction of the operator, and when a third supporting and fixing mechanism is arranged, a supporting and fixing point is added, so that the supporting and fixing of the operator can be more stable.
Other electrical components, such as encoders for recording the speed and number of turns of rotation to effect motion control, and an adapter plate for electrically connecting an internal circuit to an external control circuit, for example, are also provided within the housing.
The surgical robot actuator is connected with a mechanical arm of the surgical robot through a connecting system. The mechanical arm of the surgical robot has a plurality of degrees of freedom, can complete the actions of the surgical robot actuator such as position adjustment, posture adjustment and rotation, and controls the action of the resectoscope by controlling the action of the surgical robot actuator. The connection system can be connected with the detachable connection mode by adopting various connection modes in the prior art. The other electrical components and connection systems described above can all be adapted using well established solutions in the art. Irrespectively of the innovation point of the utility model, unnecessary to be repeated.
In operation, the utility model discloses surgical robot executor can be stable, firmly connect surgical robot's arm and surgical instruments, for example the resectoscope, under control system's control, by the linear motion of surgical robot executor control resectoscope ring, through the whole motion of mechanical arm control surgical robot executor and then the position and the gesture of the manipulator of control resectoscope to realize the operation process.
The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A transurethral resectoscope surgical robot actuator is used for connecting a surgical robot and a transurethral resectoscope and is characterized by comprising a shell, a driving system and a fixing system;
the shell defines an accommodating cavity;
the driving system is used for driving a movable operating handle of an operator of the resectoscope to move;
the fixing system is used for fixing the resectoscope on the surgical robot actuator, the fixing system comprises a first supporting and fixing mechanism and a second supporting and fixing mechanism, the first supporting and fixing mechanism is used for supporting and fixing a fixed operating handle of an operator of the resectoscope, and the second supporting and fixing mechanism is used for supporting and fixing a body of the resectoscope operator.
2. A surgical robotic effector as claimed in claim 1, wherein said drive system includes a motor, a transmission and a push rod, said motor driving the push rod via said transmission in a reciprocating linear motion.
3. A surgical robotic effector as claimed in claim 2, wherein said housing is provided with a housing opening, said housing opening being provided with an opening cover, said opening cover having an avoidance port, said push rod being drivingly connected to said motor through said housing opening, said push rod extending from said avoidance port.
4. A surgical robotic effector as claimed in claim 2 or 3, wherein said transmission comprises a lead screw, a lead screw nut, a slide and a slide block; the far end of the push rod is connected with the screw nut through the opening of the shell, the near end of the push rod is provided with a push rod clamping part, the push rod clamping part is provided with a clamping structure, and the clamping structure is used for driving a cable joint of an operator of the resectoscope to move.
5. A surgical robotic effector as claimed in claim 3, wherein said transmission includes a lead screw, a lead screw nut, a slide rail and a slide block; the far end of the push rod is connected with the lead screw nut through the opening of the shell, the near end of the push rod is provided with a push rod clamping part, the push rod clamping part is provided with a clamping structure, and the clamping structure is used for driving a cable joint of an operator of the resectoscope to move; and an avoiding opening sealing piece is arranged at the avoiding opening, and the push rod is connected with the avoiding opening sealing piece in a sliding and sealing manner.
6. A surgical robotic effector as claimed in claim 4, wherein a proximal end of the surgical robotic effector is provided with a first mounting block and a second mounting block, two ends of the lead screw are respectively provided on the first mounting block and the second mounting block, two ends of the slide rail are respectively fixedly mounted on the first mounting block and the second mounting block, the slide rail is arranged in parallel with the lead screw, the slide block is slidably connected with the slide rail, and the slide block is fixedly connected with the lead screw nut.
7. A surgical robotic effector as claimed in claim 6, wherein first and second travel switches are provided between the first and second mounts for controlling the limit travel of the lead screw nut between the first and second mounts.
8. A surgical robotic effector as claimed in claim 1, wherein a housing mount is further coupled to the proximal end portion of the housing, the first support securing mechanism being disposed on the housing mount, the first support securing mechanism including a fixed handle support base, a fixed handle stop structure for limiting movement of the operator of the resectoscope in a lengthwise direction thereof, and a pressure plate assembly for pressing the fixed handle from an upper portion of the fixed handle.
9. A surgical robotic effector as claimed in claim 8, wherein said platen assembly includes a platen and a platen fastener for applying pressure to said platen to press said platen against said stationary handle.
10. A surgical robotic actuator as claimed in claim 9, wherein the clamp plate fastener is a knob having a threaded rod, the stationary handle support base has a threaded bore, the clamp plate has a through-bore, the threaded rod passes through the through-bore of the clamp plate and is threadably engaged with the threaded bore, and the clamp plate is rotatable about the threaded rod.
11. A surgical robotic effector as claimed in claim 9 or 10, wherein the fixed lever limiting formation is a limiting groove.
12. A surgical robot effector as claimed in claim 3, wherein said fixing system further comprises a second supporting and fixing mechanism provided on one side of said opening cover, side by side with said opening cover in a width direction of said surgical robot effector; the second supporting and fixing mechanism comprises a first clamping part and a first clamping part supporting seat, the first clamping part is arranged on the first clamping part supporting seat, and the first clamping part is used for clamping and fixing the body of the resectoscope operator.
13. A surgical robotic effector as claimed in claim 1, wherein said mounting system further comprises a third support fixture for supporting and mounting a fiber stub of an operator of said resectoscope, said third support fixture comprising a second clamp portion and a second clamp portion support base, said second clamp portion being disposed on said second clamp portion support base, said second clamp portion being for clamping and mounting said fiber stub.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921619322.9U CN211512043U (en) | 2019-09-26 | 2019-09-26 | Transurethral resectoscope surgical robot actuator |
| PCT/CN2020/105497 WO2021057246A1 (en) | 2019-09-26 | 2020-07-29 | Transurethral resectoscope surgical robot actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921619322.9U CN211512043U (en) | 2019-09-26 | 2019-09-26 | Transurethral resectoscope surgical robot actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211512043U true CN211512043U (en) | 2020-09-18 |
Family
ID=72461310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921619322.9U Active CN211512043U (en) | 2019-09-26 | 2019-09-26 | Transurethral resectoscope surgical robot actuator |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN211512043U (en) |
| WO (1) | WO2021057246A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112545651A (en) * | 2019-09-26 | 2021-03-26 | 王君臣 | Transurethral resectoscope surgical robot actuator |
| CN112741683A (en) * | 2020-12-31 | 2021-05-04 | 杭州堃博生物科技有限公司 | Radio frequency ablation catheter and radio frequency ablation system |
| CN113100946A (en) * | 2021-03-30 | 2021-07-13 | 北京科迈启元科技有限公司 | Highly integrated surgical robot actuator and surgical robot system |
| CN112545651B (en) * | 2019-09-26 | 2024-09-27 | 北京科迈启元科技有限公司 | Transurethral resectoscope surgical robot actuator |
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| DE102013018972B3 (en) * | 2013-11-14 | 2015-02-19 | Olympus Winter & Ibe Gmbh | Resectoscope with laser fiber |
| PL3097839T3 (en) * | 2015-05-29 | 2018-04-30 | Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi | A laparoscopic medical instrument holding device |
| US10398526B2 (en) * | 2015-11-30 | 2019-09-03 | Trod Medical | Assembly for positioning electrodes for radiofrequency tissue ablation |
| CN106539619B (en) * | 2016-11-07 | 2019-06-07 | 中国人民解放军第三军医大学第二附属医院 | A kind of resectoscope stabilizing mechanism |
| CN106510848B (en) * | 2016-11-23 | 2018-06-26 | 中国人民解放军第二军医大学 | A kind of transurethral operating robot and control system |
| CN106667580A (en) * | 2017-02-10 | 2017-05-17 | 中国医学科学院北京协和医院 | Resectoscope clamping device for transurethral resection of prostate |
| CN207821902U (en) * | 2017-02-10 | 2018-09-07 | 中国医学科学院北京协和医院 | A kind of per urethra operation on prostate resectoscope clamping device |
| CN108354668B (en) * | 2018-03-16 | 2024-03-15 | 深圳市罗伯医疗科技有限公司 | Auxiliary robot system for digestive tract operation |
| CN109620394B (en) * | 2018-12-29 | 2024-06-18 | 广东德弘医疗设备有限公司 | Prostatectomy lens |
| CN109662779B (en) * | 2019-01-25 | 2021-06-18 | 李汉忠 | Transurethral resectoscope surgical robot system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112545651A (en) * | 2019-09-26 | 2021-03-26 | 王君臣 | Transurethral resectoscope surgical robot actuator |
| CN112545651B (en) * | 2019-09-26 | 2024-09-27 | 北京科迈启元科技有限公司 | Transurethral resectoscope surgical robot actuator |
| CN112741683A (en) * | 2020-12-31 | 2021-05-04 | 杭州堃博生物科技有限公司 | Radio frequency ablation catheter and radio frequency ablation system |
| CN113100946A (en) * | 2021-03-30 | 2021-07-13 | 北京科迈启元科技有限公司 | Highly integrated surgical robot actuator and surgical robot system |
| CN113100946B (en) * | 2021-03-30 | 2023-09-01 | 北京科迈启元科技有限公司 | Highly integrated surgical robot actuator and surgical robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021057246A1 (en) | 2021-04-01 |
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