RU122281U1 - ROBOTIZED DEVICE FOR MINIMALLY INVASIVE ENDOSCOPIC OPERATIONS - Google Patents

Abstract

1. A robotic device for minimally invasive endoscopic operations, characterized by the fact that it consists of four interconnected unit-modules: a surgeon's module, which includes four blocks: a block of main controllers, a block of a stereoscopic eyepiece, a block of left and right side panels providing the function a user interface for system configuration, and a footswitch panel unit that allows the surgeon to operate the camera, instruments and electrosurgical unit without removing the head from the stereoscopic eyepiece; a manipulator module, consisting of at least two tool manipulators, made with the possibility of movement in three planes and rotation, a video camera manipulator and a touch display; a sectional patient trolley module designed to support instrument manipulators and a manipulator of the instrument chamber; and a technical vision module, consisting of the following components: an illuminator, endoscopes, a head of a three-dimensional stereoscopic camera; camera control units; focus regulator; intercom systems; isolation transformer and power splitter 2. The device according to claim 1, characterized in that the patient trolley is made with the possibility of adjusting the position of all its sections using a remote control. The device according to claim 1, characterized in that the manipulator module contains six tool manipulators. The device according to claim 1, characterized in that the footswitch panel assembly consists of five footswitches.

Description

Technical field

The utility model relates to medicine, and more specifically to a medical-robotic technique used in various surgical operations, in particular minimally invasive endoscopic operations.

State of the art

Currently, in medical practice, various robotic devices or systems have begun to be used to assist surgeons in carrying out various surgical operations.

Many sources of information are known, in particular, European application EP 2482746 A1, 08.08.2012, AB61/1900, application KR 20110129293 A, 01.12.2011, which describe surgical complexes for performing operations without direct contact of the surgeon with the patient.

In particular, from the patent RU 2295927 C1, 03/27/2007, АВВ 17/56, a robotic system is known for reposition of fragments during a bone skeleton fracture, comprising a remote control and electric drives, characterized in that it is made in the form of two identical modules connected hydraulic cylinders with the possibility of mobility, each of which contains a base, fixed and movable curbstones, panel, reposition unit and movement units.

From the patent RU 2182468 C1, 05.20.2002, A61B 17/00, a surgical system is known including a first surgical device, a second surgical device, an input device generating a control signal for a first surgical device or a second surgical device, and an interface having a first an input channel connected to an input device, a first output channel connected to a first surgical device, and a second output channel connected to a second surgical device, wherein said interface has elektorny channel configured to connect the first input channel to a different output channel.

From patent RU 2412799 C1, 02.27.2011, B25J 9/00, a medical robotic system for performing medical procedures is known, comprising a robot manipulator for robotic manipulation of a medical instrument, the robot manipulator comprising a base, a manipulator arm having a substantially vertical part, supported by the base, and essentially the horizontal part, supported by the vertical part, the wrist joint of the manipulator supported by the arm of the manipulator, and the actuator unit supported by the wrist joint m of the manipulator and arranged to hold the medical instrument, while the arm of the manipulator has a cylindrical kinematic configuration having a prismatic first joint for changing the height of the vertical part by providing a translational degree of freedom along a substantially vertical axis, a rotational second joint for changing the angle of rotation between the vertical part and the horizontal partly by providing a rotational degree of freedom around a substantially vertical axis, and a prismatic third ochlenenie to change the distance from the horizontal part by providing a translational degree of freedom along an essentially horizontal axis.

Utility Model Disclosure

The problem to which the present utility model is directed is to reduce the possibility of postoperative relapse and increase the degree of remission of patients.

The problem is solved due to the fact that the robotic device for conducting minimally invasive endoscopic operations, according to the utility model, consists of four interconnected nodes-modules: a surgeon's module, which includes four blocks: the main controller unit, the stereoscopic eyepiece block, the left and the right side panels providing the user interface function for system configuration, and the foot switch panel unit allowing the surgeon operator to control the camera, instrument s and electrosurgical unit, without removing the head from the stereoscopic eyepiece; a manipulator module, consisting of at least two instrumental manipulators configured to move in three planes and rotate, a camcorder manipulator and a touch display; module of the patient trolley, made sectional, and designed to support instrumental manipulators and the manipulator of the camera working with tools; and a technical vision module, consisting of the following components: illuminator, endoscopes, head of a three-dimensional stereoscopic camera; camera control units; focus adjuster; intercom systems; isolation transformer and power splitter.

The patient trolley is configured to adjust the position of all its sections using the remote control.

The manipulator module contains six instrumental manipulators.

The footswitch panel unit consists of five footswitches.

The technical result of the utility model is to simplify the course of an operation while minimizing the time it takes to conduct it, while improving the accuracy of the work performed.

Utility Model Implementation

A robotic device (RCC) consists of four interconnected module nodes.

Surgeon module

This is the system control center. The operator of the surgeon's module should be outside the sterile area of the surgical unit, control the manipulator with tools and a three-dimensional endoscope with your hands using controllers and legs using pedals.

The surgeon's module must have functional buttons for ergonomic adjustment of the operator's workplace.

In a stereoscopic eyepiece, the ends of the instruments should be aligned with the hands of the surgeon lying on the main controllers. This design will be designed to simulate the natural alignment of the eyes, hands, and also the instrument during various surgical operations. Natural alignment, in turn, will help optimize coordination in the eye-arm system. This will mean that this system will allow the surgeon to be as dexterous as in open surgery, operating in a minimally invasive environment. Further control should be ensured by scaling of movements and reduction of tremor, which minimizes the effect of natural hand shake or unwanted movements. The operator of the surgeon's module can also change the view from full-screen mode to multi-image mode, which should show a three-dimensional image of the surgical field along with two additional images from the auxiliary inputs.

The surgeon's module should consist of the following blocks:

- The main controllers;

- Stereoscopic eyepiece;

- Left and right side panels;

- Panel foot switch.

The main controllers will give the surgeon the ability to control instruments and the endoscope within the patient. The main controllers must provide a natural range of motion and ergonomic comfort, even during long operations.

To use the main controllers, the operator of the surgeon's module must grab each controller with his forefinger and thumb. The operator activates and controls the manipulator and tools, bringing together and spreading the thumb and forefinger; he moves the instruments and the endoscope in the patient’s body, moving the hands and / or forearms of his hands. These movements are accurately and smoothly copied by the patient’s cart, thus virtually moving the operator’s hands into the surgical field.

The stereoscopic eyepiece should create a graphical interface for the operator of the surgeon module and the ergonomically designed port of the stereoscopic eyepiece provide support for the head and neck for a comfortable location during the operation. The height adjustment of the stereoscopic eyepiece should be carried out by pressing the buttons with the Up and Down arrows located on the side of the left side panel.

When the endoscope is activated, the integrated left and right television channels of the stereoscopic eyepiece provide the operator with continuous three-dimensional video, virtually moving the operator’s eyes into the surgical field. The review port should also display messages and symbols that convey the status of the MLC to the operator of the surgeon module.

The left and right side panels should be located on both sides of the armrest of the surgeon module. The panels provide user interface functions for system configuration.

The footswitch panel should allow the surgeon to control the camera, instruments and electrosurgical unit without removing the head from the stereoscopic eyepiece.

The panel shall consist of five foot switches marked as follows:

- capture;

- camera;

- focus control;

- electrocoagulation;

- auxiliary.

CAPTURE and CAMERA foot switches are controlled in two modes: “press and hold”, “briefly step on”.

Pressing and holding the CAPTURE footswitch disables the main controllers from tool management and makes the main controllers freely movable in space. This will allow the surgeon to move the main controllers for ergonomic comfort, and correct the situation when the main controllers leave the work area. When the pedal is released, the main controllers resume control of the instruments.

While the operator of the surgeon module will move the main controllers, the instruments remain stationary “frozen” until the surgeon resumes control by releasing the CAPTURE pedal.

A quick brief press of the CAPTURE footswitch will switch the control of the tool manipulators that are connected to the same main controller.

Pressing and holding the CAMERA footswitch disables the main controllers from instrument control and gives control of the endoscope. In this mode, the surgeon module operator uses both main controllers at the same time to reduce the field of view or increase the field of view, guide the endoscope from side to side or rotate it.

When the pedal is released, the main controllers will again control the instruments.

A quick brief press of the CAMERA footswitch switches the stereoscopic eyepiece modes from full-screen to multiple-image mode (multi-window display) and vice versa.

The focus control foot switch controls focus and defocus.

The ELECTROCOAGULATION foot switch initiates monopolar electrosurgical instruments, the generators of which are compatible with the system.

The RCC should provide the simultaneous location and operation (control) of six manipulators and a universal system for attaching standard (already used in existing robotic surgical complexes) instruments, as well as manipulations with the instrument, allowing them to be moved along the X, Y, Z axes.

travel distance:

X axis - up to 200 mm;

Y axis - up to 200 mm;

Z axis - up to 150 mm;

positioning accuracy:

X axis - 0.1 mm;

Y axis - 0.1 mm;

Z axis - 0.1 mm;

repeatability error (10 cycles):

X axis - 0.1 mm;

Y axis - 0.1 mm;

Z axis - 0.1 mm;

rotation around the axes X, Y, Z

rotation angle:

X axis - up to 270 °;

Y axis - up to 270 °;

Z axis - up to 360 °;

positioning accuracy:

X axis - 0.5 °;

Y axis - 0.5 °;

Z axis - 0.5 °;

repeatability error (10 cycles):

X axis - 0.8 °;

Y axis - 0.8 °;

Z axis - 0.8 °;

The manipulator must have a fastening system that allows you to adjust its position (complete with the device) in the following range: travel distance:

X axis - up to 400 mm;

Y axis - up to 1000 mm;

Z axis - up to 250 mm;

positioning accuracy:

X axis - 5 mm;

Y axis - 5 mm;

Z axis - 5 mm;

rotation around the axes X, Y, Z

rotation angle:

X axis - up to 90 °;

Y axis - up to 90 °;

Z axis - up to 180 °;

positioning accuracy:

X axis - 3 °;

Y axis - 3 °;

Z axis - 3 °;

In this case, the calculation of the location of the robot attachment points should be performed automatically.

The design of the RCC should include the possibility of intersection of individual manipulators per sector up to 35 °.

Patient trolley

The patient trolley is the operating module of the system and its main function should consist in supporting instrumental manipulators and a camera manipulator.

RCC should use peripheral center technology. The peripheral center is a fixed point in the space around which the manipulators of the patient cart move. The technology of the peripheral center will allow the system to maneuver instruments and endoscopes in the surgical field, exerting minimal pressure on the patient’s body wall.

The operator of the patient trolley module must be in the sterile surgical area, assisting the operator of the surgeon module, replacing instruments and endoscopes, and performing other operations around the patient. The patient trolley operator must see the surgical field using the integrated touch screen monitor. To ensure patient safety, the actions of the operator of the patient cart must take precedence over the actions of the operator of the surgeon module.

The patient trolley must meet the following basic requirements:

- electro-hydraulic adjustment of the position of all sections using the remote control;

- hydraulic adjustment in 2 planes up / down, trendelenburg \ antitrendelenburg;

- X-ray permeable working surface of the panels; soft, conductive, easy to clean coating resistant to des. solutions;

- removable panel upholstery for the best disinfection;

- a seat with a cutout for gynecological interventions;

- minimum gaps between coatings, no danger to dents;

- bed, frame construction made of chrome-nickel steel of double processing;

- side tires 10 × 25 mm on both sides of the table for attaching accessories;

- the base, closed at the top and bottom with plastic covers, on wheels;

- four double wheels, with a diameter of 125 mm, with protection against liquid ingress, electrically conductive;

- pedal for central fixation of the table;

- pedal for adjusting the surface of the table;

- double lever for preliminary selection of the direction of adjustment of the table surface;

- a lever for pneumatically changing the position of the back section;

- devices for mounting the robot.

The patient cart should be placed in a sterile area. The patient trolley should be in the operating unit, where the patient trolley can be covered before moving to a place near the operating table. This should be the area of the operating room where the cart will not come into contact with non-sterile objects or impede movement in the operating room. After sheltering the patient trolley, placing the patient on the table, processing and delimiting the surgical field, introducing ports, use the motor drive of the patient trolley to move it to the sterile area.

Trolley brakes must be designed to automatically engage when the motor drive is not in use. Wheel locks should be located on the rear wheels of the technical vision trolley. They must be locked after the trolley is installed to carry out the operation.

The vision cart must be located next to the patient cart, directly at the sterile area, to allow the patient cart operator to see the components of the display. The vision cart must be close enough to the patient cart to allow unlimited movement of the camera cable throughout the operation.

Vision Cart Module

This module should contain the following blocks:

- Lighter;

- Endoscopes;

- The head of the stereo camera;

- Camera control units;

- Focus adjuster;

- Intercom system;

- Isolation transformer and power splitter.

The light from the illuminator should be delivered to the endoscope through fiber optics, a bifurcated fiber, and projected into the surgical field.

Endoscopes of various sizes (depending on requirements and scope) should be supplied with RCC: a three-dimensional endoscope (straight or angular) and a two-dimensional endoscope.

The light from the illuminator should go through the barrel of the endoscope through fiber optic cables, and then project into the surgical field. The heat from fiber optic cables should minimize the formation of fog on the endoscope lens. A television image of the surgical area captured by the endoscope will be sent back through the left and right channels to the camera head. The camera head must be connected to the left and right camera control unit, as well as to the focus control.

The surgical system uses two camera heads: a standard 60-degree wide-angle camera head and a 45-degree high-magnification camera head. Images from the endoscope are converted by the camera head into electrical signals that are sent to the video-processing components of the Vision Cart and surgeon module. The head of the stereo camera should give an average magnification of 6-10x.

The camera head, along with the camera manipulator, should be covered with a sterile polymer film in order to maintain the sterility of the surgical field.

For example, with a complex mitral valve restoration operation, the surgical field should be increased by 6-10x compared to what is seen with an open surgery without a magnifying glass.

Camera control units must convert the signal from the camera head to analog video signals. After conversion, the video signals are sent to the surgeon's module for further processing. Using camera control units, users (operators) can set the white balance and black balance, gain level, as well as perform additional monitor settings using standard color bars.

The focus adjuster should be designed to adjust the focus of the endoscope lens to make the surgical image clearer. The surgeon module operator can also adjust the focus using the footswitch panel.

Instruments should be designed to provide surgeons with natural agility with a greater range of motion than even a human hand. This will give greater accuracy when operating in a minimally invasive environment. The tool kit should provide the fastest and most accurate sewing, dissection and manipulation of tissues among all surgical platforms.

The RHC control system for endoscopic instruments is designed for their precise control.

The following types of instruments are used in the RHC: rigid endoscopes, blunt and sharp endoscopic dissectors, scissors, scalpels, ultrasound scissors, forceps / grabs, needle holders, endoscopic retractors, stabilizers, electrocautery and accessories for endoscopic tissue manipulations, including grabbing, crossing, blunt and sharp dissection , matching, ligation, electrocautery, stitching, placement of microwave probes for ablation and accessories during urological surgical procedures, common paws Roscopic surgical procedures, gynecological laparoscopic surgical procedures, general non-cardiovascular thoracoscopic surgical procedures, and thoracoscopically assisted cardiotomy procedures.

Claims (4)

1. A robotic device for conducting minimally invasive endoscopic operations, characterized in that it consists of four interconnected nodes-modules: a surgeon's module, which includes four blocks: a block of main controllers, a block of a stereoscopic eyepiece, a block of left and right side panels that provide the function user interface for system configuration, and the footswitch panel block allowing the surgeon to control the camera, instruments and electrosurgical unit bending his head from a stereoscopic eyepiece; a manipulator module, consisting of at least two instrumental manipulators configured to move in three planes and rotate, a camcorder manipulator and a touch screen; module of the patient trolley, made sectional, and designed to support instrumental manipulators and the manipulator of the camera working with tools; and a technical vision module, consisting of the following components: illuminator, endoscopes, head of a three-dimensional stereoscopic camera; camera control units; focus adjuster; intercom systems; isolation transformer and power splitter. 2. The device according to claim 1, characterized in that the patient's trolley is configured to adjust the position of all its sections using a remote control. 3. The device according to claim 1, characterized in that the module-manipulator contains six instrumental manipulators. 4. The device according to claim 1, characterized in that the foot switch panel unit consists of five foot switches.