CN216908111U - Manual puncture percutaneous nephroscope operation robot - Google Patents
Manual puncture percutaneous nephroscope operation robot Download PDFInfo
- Publication number
- CN216908111U CN216908111U CN202122464999.3U CN202122464999U CN216908111U CN 216908111 U CN216908111 U CN 216908111U CN 202122464999 U CN202122464999 U CN 202122464999U CN 216908111 U CN216908111 U CN 216908111U
- Authority
- CN
- China
- Prior art keywords
- endoscope
- human
- equipment
- computer interaction
- end effector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
A manually punctured percutaneous nephroscopy surgical robot comprising: the system comprises human-computer interaction equipment, control equipment, a mechanical arm (1), an end effector (2), endoscope equipment (3), a target (4), a dilator tube (5), laser equipment and a three-dimensional camera; the laser device comprises a laser fiber (23); the control equipment is configured to be connected with the human-computer interaction equipment, the mechanical arm (1), the endoscope equipment (3) and the three-dimensional camera; the human-computer interaction equipment is configured to control the position and the posture of the mechanical arm (1), and a doctor can operate through the human-computer interaction equipment; the end effector (2) is configured to grip the endoscope apparatus (3) and the laser fiber (23), the end effector (2) is mounted on the robot arm (1), and the position and posture of the end effector (2) are controlled by the robot arm (1).
Description
Technical Field
The utility model belongs to the technical field of medical instruments. In particular to a percutaneous nephroscope operation robot with artificial puncture.
Background
Percutaneous nephrolithotomy (PCNL) is one of the main methods for treating kidney stones and upper ureteral stones by locating a target renal calyx through ultrasound or X-ray, puncturing and entering the target renal calyx in real time, establishing a channel between a percutaneous incision and the kidney, and placing a laser energy platform through the channel to perform lithotripsy and stone removal treatment.
In the traditional operation, doctors need to keep the same position for a long time, the fatigue is easy, and the problem of blood and urine pollution exists.
SUMMERY OF THE UTILITY MODEL
Aiming at the problems, the utility model provides a surgical robot which finishes the stone breaking and taking process by a robot after a channel is established by manual puncture so as to reduce the surgical difficulty, improve the surgical accuracy, improve the surgical efficiency and the like.
An embodiment of the present invention provides an artificially punctured percutaneous nephroscope surgical robot including: the system comprises human-computer interaction equipment, control equipment, a mechanical arm (1), an end effector (2), endoscope equipment (3), a target (4), a dilator tube (5), laser equipment and a three-dimensional camera; the laser device comprises a laser fiber (23).
The control equipment is configured to be connected with human-computer interaction equipment, a mechanical arm (1), endoscope equipment (3) and a three-dimensional camera; the human-computer interaction equipment is configured to control the position and the posture of the mechanical arm (1), and a doctor can operate through the human-computer interaction equipment; the end effector (2) is configured to grip the endoscope apparatus (3) and the laser fiber (23), the end effector (2) is mounted on the robot arm (1), and the position and posture of the end effector (2) are controlled by the robot arm (1).
According to one embodiment of the utility model, for example, before the operation is started, the position relationship between the three-dimensional camera and the mechanical arm (1) needs to be calibrated, after the calibration is completed, the position relationship between the three-dimensional camera and the mechanical arm (1) does not need to be changed, otherwise, the calibration needs to be carried out again. After a channel is established by manual puncture, a target (4) is installed on a dilator tube (5), a three-dimensional camera identifies the target (4) and acquires a pose, and a control device controls a mechanical arm (1) to drive an end effector (2) to move to a proper installation pose.
According to one embodiment of the utility model, for example, the end effector (2) comprises a buckle (2-1) and a linear reciprocating module (2-2); the buckle (2-1) is configured to fix the endoscope device (3), and the linear reciprocating motion module (2-2) is configured to install the laser fiber (23) and drive the laser fiber (23) to reciprocate.
According to one embodiment of the utility model, for example, the end effector (2) is mounted on a mechanical arm (1), and the rotation and telescopic motion of the mechanical arm (1) drives the endoscope device (3) to rotate and telescopic motion; the linear reciprocating motion module (2-2) on the end effector (2) drives the laser fiber (23) to reciprocate.
According to one embodiment of the utility model, for example, the human-computer interaction device is a seven-degree-of-freedom input device, and the control device is configured to read the position (x, y, z) and posture (a, b, c) information of the human-computer interaction device in real time, convert the position (x, y, z) and posture (a, b, c) information into a motion instruction of the mechanical arm (1) after calculation, control the mechanical arm (1) to reach a corresponding posture, and further control the endoscope device (3) to reach the corresponding posture.
According to one embodiment of the utility model, for example, the human-computer interaction device is configured to be able to control the endoscope device (3) to perform a motionless point movement; the motionless point motion includes translation along the endoscope axis and rotation about the motionless point.
According to one embodiment of the utility model, for example, the human interaction device and the control device are configured to be able to control the scaling movement of the endoscopic device (3).
According to an embodiment of the utility model, for example, the scaling motion comprises: setting a scaling k, and when the human-computer interaction equipment is operated to translate delta d, the endoscope translates kxdelta d along the axis through calculation of the control equipment; the human-computer interaction device rotates around the z axis by an angle a, the endoscope rotates around the z axis by an angle k multiplied by a, the human-computer interaction device rotates around the y axis by an angle b, the endoscope rotates around the y axis by an angle k multiplied by b, the human-computer interaction device rotates around the x axis by an angle c, and the endoscope rotates around the x axis by an angle k multiplied by c.
According to one embodiment of the utility model, for example, k is set to 0.1, 0.2, 0.4, 0.6, 1, etc.
Drawings
Fig. 1 is a schematic view of components and interconnection of a manual puncturing percutaneous nephroscope surgical robot according to an embodiment of the present invention.
Fig. 2 is a schematic view of the surgical robot before the endoscope is mounted to the end effector.
Fig. 3 is a schematic view of the surgical robot after the endoscope is attached to the end effector.
Fig. 4 is a schematic structural diagram of an end effector of the manual puncture percutaneous nephroscope surgical robot provided by the embodiment of the utility model.
FIG. 5 is a schematic view of the structure in which the endoscope apparatus and the laser fiber end effector are mounted.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the figures and the following examples.
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", and the like, are based on the orientation or positional relationship shown in the drawings, and are only for convenience of describing the present invention and simplifying the 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.
The utility model provides an artificial puncture percutaneous nephroscope surgical robot, which comprises seven parts: the system comprises human-computer interaction equipment, control equipment, a mechanical arm 1, an end effector 2, endoscope equipment 3, a target 4, a dilator tube 5, laser equipment and a three-dimensional camera. The laser device comprises a laser fiber 23.
The manual puncture percutaneous nephroscope operation robot takes control equipment as a core. The control equipment is configured to be connected with human-computer interaction equipment, the mechanical arm 1, the endoscope equipment 3 and the three-dimensional camera; the human-computer interaction equipment is configured to control the position and the posture of the mechanical arm 1, and a doctor can operate through the human-computer interaction equipment; the end effector 2 is configured to grip the endoscope apparatus 3 and the laser fiber 23, the end effector 2 is mounted on the robot arm 1, and the position and posture of the end effector 2 are controlled by the robot arm 1. The components and the mutual connection relationship of the manual puncture percutaneous nephroscope operation robot are shown in figure 1.
The operation process using the robot system is mainly divided into three steps: firstly, a doctor performs manual puncture and then punctures the skin to enter the kidney to establish a channel. In the second step, the end effector 2 grips the endoscope and the laser fiber, and enters the kidney through the passage established in the first step. And thirdly, carrying out lithotripsy operation, wherein a doctor operates the human-computer interaction equipment by hands while observing the video image of the endoscope equipment, so that the laser optical fiber on the end effector 2 is controlled to reach the position of the calculus, and energy is output to carry out lithotripsy.
Before the operation starts, the position relation between the three-dimensional camera and the mechanical arm 1 needs to be calibrated. After calibration is completed, the positions of the three-dimensional camera and the mechanical arm 1 cannot be moved, otherwise, calibration needs to be performed again.
After the surgery has been initiated, the first step is to manually puncture the kidney through the skin by the physician to create a percutaneous access to the kidney. The dilator tube is inserted after the puncture is successful to maintain the passageway.
The second step is to mount the endoscope and laser fiber to the end effector 2 and insert them into the kidney through the dilator tube channel. As shown in fig. 2 and 3, wherein fig. 2 illustrates the surgical robot prior to the endoscope being mounted to the end effector; fig. 3 illustrates the surgical robot after the endoscope is mounted to the end effector. The names of each part are respectively: a mechanical arm 1, an end effector 2, an endoscopic device 3, a target 4, and a dilator tube 5.
The difficulty of this step is that the end effector 2 needs to be moved to a proper installation position close to the dilator tube 5, the endoscope device 3 is just attached to the buckle 2-1 on the end effector 2 after being inserted into the kidney through the dilator tube 5, and the endoscope can be fixed by locking the buckle. Fig. 4 is a schematic view of the end effector structure. As shown in fig. 4, the end effector 2 includes a buckle 2-1 and a linear reciprocating module 2-2. The buckle 2-1 is configured to fix the endoscope device 3, and the linear reciprocating module 2-2 is configured to mount the laser fiber and drive the laser fiber to reciprocate.
With the present surgical robotic system, there are two methods of operation, exemplified in detail below, to move the end effector 2 to the installation pose after the passage is established.
The operation method comprises the following steps: after a doctor punctures and establishes a channel, the target 4 is installed on the dilator tube 5 and is kept still, the three-dimensional camera is used for measuring the pose of the target 4 and sending pose information to the control equipment, the control equipment automatically calculates the installation pose which the end effector 2 should reach and sends the target pose to the mechanical arm 1, after the mechanical arm 1 drives the end effector 2 to move to the pose, the doctor manually inserts the endoscope into the channel and locks the endoscope and the end effector 2. In the operation method, the control device automatically identifies the pose of the dilator tube 5, then controls the end effector 2 to automatically approach the dilator tube 5, and a doctor manually inserts the endoscope and then locks the endoscope with the end effector 2.
The second operation method comprises the following steps: after the physician has punctured the tunnel, the target 4 is mounted on the dilator tube 5 and remains stationary. The endoscope is firstly installed on the end effector 2 and locked, then the pose of the target 4 is measured by using the three-dimensional camera, the pose information is sent to the control equipment, the control equipment automatically calculates the position and the direction of the mouth of the dilator, then the mechanical arm 2 is controlled to drive the endoscope to move to the channel mouth and automatically insert the endoscope into the kidney along the channel direction, and the second step of action is completed. In the present operation method, the doctor first mounts the endoscope to the end effector 2, and the control apparatus automatically recognizes the posture of the dilator tube 5 and automatically inserts the endoscope into the dilator tube 5.
After the endoscope is inserted into the kidney, the lithotripsy operation is started. In the traditional operation, the doctor holds the endoscope to rotate or stretch, looks for calculus by watching video images of the endoscope, keeps the posture of an arm unchanged after finding the calculus, and manually operates the laser optical fiber to perform calculus breaking.
Fig. 5 is a schematic structural view of an end effector to which an endoscope apparatus and a laser fiber are attached. In the embodiment of the present invention, the endoscope and the laser fiber are mounted on the end effector 2 (as shown in fig. 5), the end effector 2 is mounted on the mechanical arm 1, and the rotation and the telescopic motion of the mechanical arm 1 drive the endoscope to rotate and perform the telescopic motion; the linear reciprocating module 2-2 on the end effector 2 drives the laser fiber 23 to reciprocate. In the traditional operation, a doctor needs to maintain the pose of an endoscope by hands and arms, when the surgical robot system is used, the mechanical arm 1 controls the pose of the endoscope, and the doctor controls the motion of the mechanical arm 1 by using human-computer interaction equipment, so that the effect as if the hands control the endoscope is finally achieved.
The doctor controls the robot arm 1 to move using a human-computer interaction device, which may be a seven-degree-of-freedom input device. The control equipment reads the position (x, y, z) and the posture (a, b, c) information of the human-computer interaction equipment in real time, converts the position (x, y, z) and the posture (a, b, c) information into a motion instruction of the mechanical arm 1 after calculation, controls the mechanical arm 1 to reach a corresponding posture and further controls the endoscope to reach the corresponding posture.
In an embodiment of the utility model, after the endoscope is percutaneously inserted into the kidney, the movement of the endoscope is limited to motionless point movement due to the inability to tear the enlarged wound: i.e., translation along the endoscope axis and rotation about the motionless point disposed over the lesion. The man-machine interaction equipment uses an equipment own coordinate system; the origin of the coordinate system of the endoscope motion is on the fixed point, the xyz axes are respectively parallel to the xyz axes of the flange coordinate system, and the fixed point motion is realized by an algorithm in the control device. In actual operation, a doctor operates the human-computer interaction equipment to translate delta d forwards, and the endoscope translates delta d forwards along the axis; the man-machine interaction device translates backwards by delta d, and the endoscope translates backwards by delta d along the axis; the human-computer interaction device rotates around the z axis by an angle a, the endoscope rotates around the z axis by an angle a, the human-computer interaction device rotates around the y axis by an angle b, the endoscope rotates around the y axis by an angle b, the human-computer interaction device rotates around the x axis by an angle c, and the endoscope rotates around the x axis by an angle c.
In the embodiment of the utility model, the movement of the human-computer interaction device and the endoscope has a scaling function, a doctor can set a scaling k (such as 0.1, 0.2, 0.4, 0.6, 1 and the like), and when the doctor operates the human-computer interaction device to translate Δ d, the endoscope translates k × Δ d along the axis through calculation of the control device; the human-computer interaction equipment rotates around the z axis by an angle a, the endoscope rotates around the z axis by an angle k multiplied by a, the human-computer interaction equipment rotates around the y axis by an angle b, the endoscope rotates around the y axis by an angle k multiplied by b, the human-computer interaction equipment rotates around the x axis by an angle c, and the endoscope rotates around the x axis by an angle k multiplied by c; the function scales the action amplitude of the hands of the doctor in proportion, so that the doctor can do more detailed operation conveniently, and the operation precision is improved.
In an embodiment of the utility model, the enable switch determines whether the endoscope moves with the human interaction device. When the enable switch is pressed down, the pose of the endoscope is bound with the pose of the human-computer interaction equipment, and the endoscope moves along with the human-computer interaction equipment; when the enable switch is released, the endoscope is kept still when the man-machine interaction device moves, and the pose of the endoscope cannot be influenced by the movement of the man-machine interaction device. Therefore, in the embodiment of the utility model, the pose of the human-computer interaction device and the pose of the endoscope do not correspond to each other in a one-to-one manner.
In an embodiment of the utility model, the control of the movement of the endoscope is an incremental movement control, implemented by the control device. When the enable switch is pressed down, the pose of the endoscope and the pose of the human-computer interaction equipment are bound, and the poses of the endoscope and the human-computer interaction equipment are initial poses. When the man-machine interaction equipment moves, calculating an increment relative to the initial pose of the man-machine interaction equipment, mapping the pose increment into an endoscope pose increment according to a scaling ratio, and overlapping the pose increment on the initial pose of the endoscope by the control equipment to be used as a target pose and control the movement of the endoscope; until the enable switch is released, the incremental control is finished; when the enable switch is pressed again, the endoscope pose and the man-machine interaction device pose are bound, and incremental motion control is started again.
In an embodiment of the utility model, the doctor uses the seventh degree of freedom on the human-computer interaction device to control the linear reciprocating motion module on the end effector so as to drive the laser optical fiber to move back and forth.
Claims (8)
1. An artificially punctured percutaneous nephroscope surgical robot, comprising: the system comprises human-computer interaction equipment, control equipment, a mechanical arm (1), an end effector (2), endoscope equipment (3), a target (4), a dilator tube (5), laser equipment and a three-dimensional camera; the laser device comprises a laser fiber (23);
the control equipment is configured to be connected with human-computer interaction equipment, a mechanical arm (1), endoscope equipment (3) and a three-dimensional camera; the human-computer interaction equipment is configured to control the position and the posture of the mechanical arm (1), and a doctor can operate through the human-computer interaction equipment; the end effector (2) is configured to clamp the endoscope apparatus (3) and the laser fiber (23), the end effector (2) is mounted on the robot arm (1), and the position and posture of the end effector (2) are controlled by the robot arm (1).
2. The manually punctured percutaneous nephroscopy surgical robot according to claim 1, wherein the end effector (2) includes a clasp (2-1) and a linear reciprocating module (2-2); the buckle (2-1) is configured to fix the endoscope device (3), and the linear reciprocating motion module (2-2) is configured to install the laser fiber (23) and drive the laser fiber (23) to reciprocate.
3. The manual puncture percutaneous nephroscope surgery robot according to claim 2, characterized in that the end effector (2) is mounted on the mechanical arm (1), and the rotation and telescopic movement of the mechanical arm (1) drives the endoscope device (3) to rotate and telescopic movement; the linear reciprocating motion module (2-2) on the end effector (2) drives the laser fiber (23) to reciprocate.
4. The manual piercing percutaneous nephroscope surgical robot according to claim 3, wherein the human-computer interaction device is a seven-degree-of-freedom input device, the control device is configured to read position and posture information of the human-computer interaction device in real time, convert the position and posture information into a motion instruction of the mechanical arm (1) after calculation, control the mechanical arm (1) to reach a corresponding posture, and further control the endoscope device (3) to reach the corresponding posture.
5. The manual puncturing percutaneous nephroscope surgical robot according to claim 4, wherein the human-machine interaction device is configured to control the endoscope device (3) to make a motionless point movement; the motionless point motion includes translation along the endoscope axis and rotation about the motionless point.
6. The manually punctured percutaneous nephroscopic surgical robot of claim 5, characterized in that the human interaction device and the control device are configured to be able to control the scaling movement of the endoscopic device (3).
7. The manually-pierced percutaneous nephroscopic surgical robot of claim 6, wherein said scaling motion includes: setting a scaling k, and when the human-computer interaction equipment is operated to translate delta d, the endoscope translates kxdelta d along the axis through calculation of the control equipment; the human-computer interaction device rotates around the z axis by an angle a, the endoscope rotates around the z axis by an angle k multiplied by a, the human-computer interaction device rotates around the y axis by an angle b, the endoscope rotates around the y axis by an angle k multiplied by b, the human-computer interaction device rotates around the x axis by an angle c, and the endoscope rotates around the x axis by an angle k multiplied by c.
8. The manually punctured percutaneous nephroscopy surgical robot according to claim 7, wherein k is set to 0.1, 0.2, 0.4, 0.6 or 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122464999.3U CN216908111U (en) | 2021-10-13 | 2021-10-13 | Manual puncture percutaneous nephroscope operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122464999.3U CN216908111U (en) | 2021-10-13 | 2021-10-13 | Manual puncture percutaneous nephroscope operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216908111U true CN216908111U (en) | 2022-07-08 |
Family
ID=82223584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122464999.3U Active CN216908111U (en) | 2021-10-13 | 2021-10-13 | Manual puncture percutaneous nephroscope operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216908111U (en) |
-
2021
- 2021-10-13 CN CN202122464999.3U patent/CN216908111U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3685780B1 (en) | A robot-assisted system for transurethral surgery | |
| US11172958B2 (en) | Methods and apparatus for controlling surgical instruments using a port assembly | |
| Buess et al. | A new remote-controlled endoscope positioning system for endoscopic solo surgery: The FIPS endoarm | |
| US20210386970A1 (en) | Robotic assister for catheter insertion | |
| Munoz et al. | A medical robotic assistant for minimally invasive surgery | |
| Dwyer et al. | A continuum robot and control interface for surgical assist in fetoscopic interventions | |
| CN107049497B (en) | Puncture navigation robot system | |
| US7959557B2 (en) | Robotic medical instrument system | |
| US10245111B2 (en) | Operation support device | |
| KR101161242B1 (en) | Tubular type manipulator surgical robot system with image guidance for minimal invasive surgery | |
| US11517384B2 (en) | Surgical system and method for controlling the same | |
| CN109431606A (en) | A kind of blood vessel intervention operation robot combined system and its application method | |
| CN113180828A (en) | Operation robot constrained motion control method based on rotation theory | |
| JP6741731B2 (en) | Robot surgical instrument and assembling method thereof | |
| CN114311031A (en) | Master-slave end delay testing method, system, storage medium and equipment for surgical robot | |
| CN114391953A (en) | Navigation positioning system for orthopedics department | |
| KR101413406B1 (en) | Device for measureing a environment interaction torque, surgical robot and surgical robot system with the same | |
| CN113729941B (en) | VR-based operation auxiliary positioning system and control method thereof | |
| Berkelman et al. | Design, control and testing of a novel compact laparoscopic endoscope manipulator | |
| CN216908111U (en) | Manual puncture percutaneous nephroscope operation robot | |
| CN208552018U (en) | A kind of robot assisted sting device | |
| US7477927B2 (en) | System and method for laser based computed tomography and magnetic resonance registration | |
| CN115429438A (en) | Supporting device fixed point follow-up adjusting system and surgical robot system | |
| WO2021254126A1 (en) | Surgical robot actuator and surgical robot system | |
| CN113456229A (en) | Robot system for abdominal cavity operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230517 Address after: Room 401, 4th Floor, Building 11, No. 98 Lianshihu West Road, Mentougou District, Beijing, 102308 Patentee after: Beijing Kepeng Medical Equipment Co.,Ltd. Address before: Department of Urology, Peking Union Medical College Hospital, No.1 Shuaifuyuan, Wangfujing, Dongdan, Dongcheng District, Beijing, 100730 Patentee before: Li Hanzhong Patentee before: Bai Yun |
|
| TR01 | Transfer of patent right |