WO2020133368A1

WO2020133368A1 - Flexible surgical instrument, operating arm system and minimally invasive surgical robotic slave manipulator system

Info

Publication number: WO2020133368A1
Application number: PCT/CN2018/125380
Authority: WO
Inventors: 王树新; 胡振璇; 李建民; 李进华
Original assignee: 天津大学
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2020-07-02

Abstract

Provided are a flexible surgical instrument (100), an operating arm system (200) and a minimally invasive surgical robotic slave manipulator system, wherein, the flexible surgical instrument (100) includes an instrument drive mechanism (101), an instrument flexible arm (102), an instrument flexible arm active actuator (103) and an operating forceps (104); the first end of the instrument flexible arm (102) is connected to the instrument drive mechanism (101); the first end of the instrument flexible arm active actuator (103) is connected to the second end of the instrument flexible arm (102); the operating forceps (104) is connected to the second end of the instrument flexible arm active actuator (103); the instrument drive mechanism (101) drives the instrument flexible arm active actuator (103) to move; the instrument flexible arm (102) moves along with the instrument flexible arm active actuator (103); the instrument drive mechanism (101) also drives the operating forceps (104) to move. The minimally invasive surgical robotic slave manipulator system is small in size and flexible in layout, both the supporting arm (205) and the instrument guide arm (202) can be regulated passively with a large regulation range, the space occupied in an operating room is small, and the system can be laid out freely according to the environment of the operating room.

Description

Flexible surgical instrument, operating arm system and minimally invasive surgical robot slave system

Technical field

The present disclosure relates to the field of minimally invasive surgical robots, and particularly to a flexible surgical instrument, an operating arm system, and a minimally invasive surgical robot slave system.

Background technique

Minimally invasive surgical tools have many advantages such as small hand wounds, less bleeding, fast recovery time and good cosmetic effects. Traditional minimally invasive surgical tools are mostly long straight rods, which are held by doctors and placed through small wounds in the chest cavity, abdominal cavity or other parts. In conjunction with a medical endoscope, the surgical operation is completed under the display screen. In this operation mode, the surgeon, the doctor holding the mirror, and other auxiliary doctors must cooperate with each other to perform the surgical operation. Cooperating with various reasons such as uncoordinated or unreasonable field of view in the monitor screen and the movement of surgical instruments does not comply with intuitive operation rules, problems such as interference of surgical tools appear, which affect the smooth operation of the surgery.

The minimally invasive surgical robot is a surgical robot developed for minimally invasive surgery. The operating principle of surgical instruments is similar to traditional minimally invasive surgical instruments. Long straight rod surgical instruments are placed into the patient's body cavity through a small wound, but the doctor is not directly Operate robotic surgical instruments, but control the movement of surgical instruments through the operating platform of the robot. Minimally invasive surgical robots mostly use master-slave control systems, through kinematics, dynamics, control system principles, robotics, machine vision, etc. This principle enables the movement of surgical instruments to accurately simulate the movement of the doctor's hand, thereby achieving more efficient and safe operation.

Minimally invasive surgical robots can be roughly divided into three categories: porous minimally invasive surgical robots, single-hole minimally invasive surgical robots, and minimally invasive surgical robots through the natural cavity of the human body. These three types of surgical robots operate according to the characteristics and constraints of different types of surgery. Each type of surgical robot can be operated according to the adapted environment. Therefore, a certain type of surgical robot can only be applied to one type of surgery, that is: porous minimally invasive surgical robot can only be used for porous minimally invasive surgery. For surgery, the single-hole minimally invasive surgical robot can only be used for single-hole minimally invasive surgery, and the natural cavity surgical robot can only be used for natural cavity surgery.

In view of the wide variety of minimally invasive surgery, the different parts of the lesions, the different environmental requirements, and the complicated operating space constraints in the body, a certain type of minimally invasive surgical robots cannot fully adapt to the surgical field it targets. Meet the surgical needs of different patients.

Public content

According to an aspect of the present disclosure, a flexible surgical instrument is provided, including: an instrument driving mechanism; an instrument flexible arm, the first end of which is connected to the instrument driving mechanism; an instrument flexible arm active actuator, whose first end is connected to the instrument The second end of the flexible arm of the instrument is connected; the operating forceps are connected to the second end of the active actuator of the flexible arm of the instrument; the driving mechanism of the instrument is used to drive the active actuator of the flexible arm of the instrument and the action of the operating forceps; the instrument The flexible arm moves with the active actuator of the instrument flexible arm.

In some embodiments of the present disclosure, the active actuator of the flexible arm of the instrument includes: a multi-segment elastic joint; a joint connecting ring that connects the two adjacent elastic joints; a driving wire placed in the joint connecting ring; the instrument The driving mechanism is used to drive the driving wire, and the driving wire drives the multi-segment elastic joint movement under the action of a pulling force, so that the active actuator of the flexible arm of the instrument generates a bending deflection movement; after the pulling force is eliminated, the flexible arm of the instrument The active actuator returns to its original state.

In some embodiments of the present disclosure, the elastic joint is an elastic alloy material.

In some embodiments of the present disclosure, each segment of the articulation ring is fixedly provided with a clamping groove, and the driving wire is fixed in the articulation ring clamping groove through a chuck.

According to another aspect of the present disclosure, there is provided an operating arm system, including: a flexible surgical instrument; an instrument driving motor set, connected to the instrument driving mechanism through an interface, for controlling the movement of an active actuator of the instrument flexible arm and operating forceps The operating arm guide rail is connected to the instrument driving motor group; the supporting arm is connected to one end of the operating arm guide rail; used to provide support for the operating arm system.

In some embodiments of the present disclosure, it further includes: an instrument guide arm, the instrument flexible arm and the instrument flexible arm active actuator are threaded out from inside the instrument guide arm; the instrument guide arm includes: A guide arm inner tube, the instrument flexible arm and the instrument flexible arm active actuator are passed through the guide arm inner tube; the inner coating is placed outside the guide arm inner tube; the water pipe , Wrapped around the inner coating film; the outer coating film is wrapped around the water pipe; the inner coating film and the outer coating film form a sealed space, and the sealed space is filled with a low-temperature phase change material.

In some embodiments of the present disclosure, the low temperature phase change material is polyurethane, gallium indium tin alloy or other low temperature phase change material.

In some embodiments of the present disclosure, it further includes: a guide rail drive motor, which is used to provide the required power for the operating arm guide rail, and drive the instrument drive motor group and the instrument drive mechanism to move along the operating arm guide rail, thereby providing The freedom of movement of the active actuator of the flexible arm of the instrument.

According to another aspect of the present disclosure, a minimally invasive surgical robot slave system is provided, including: a plurality of operating arm systems and a plurality of endoscope systems; the endoscope system includes: an endoscope instrument driving motor group Endoscope instrument guide arm; endoscope drive mechanism, connected to the endoscope instrument drive motor group through an interface; endoscope flexible arm, the first end of the endoscope flexible arm is driven by the endoscope The mechanism is connected, and the second end of the flexible arm of the endoscope is penetrated from the guide arm of the endoscope; the stereo camera is connected to the second end of the flexible arm of the endoscope.

In some embodiments of the present disclosure, the specifications of the interface are consistent.

The flexible surgical instrument of the present disclosure realizes flexible layout and operation, is suitable for various surgical environments, and has wide applicability. The design of the interface with the same specification enables different types of instruments to be installed on any operating arm rail and connected to the drive motor group. The fully flexible surgical instruments adjust the spatial position along the instrument guide arms to jointly provide multiple degrees of freedom required for surgical operations. The instrument guide arm can be flexibly adjusted according to the needs to realize the morphological transformation for multi-hole minimally invasive surgery, single-hole minimally invasive surgery and natural cavity surgery mode. The reorganization process is simple and the shape is stable. The instrument guide arm is in a flexible state during the adjustment process, and can be bent and deformed according to the needs and keep the passage smooth. After the adjustment is completed, the rigid state is displayed. The variable stiffness structure is helpful to avoid irregular movement of the instrument. The supporting operating instruments can be flexibly replaced before and during the operation in the three surgical modes, and can provide a variety of surgical instruments to meet different surgical operation needs. The system is compact and the layout is flexible. Both the support arm and the instrument guide arm can be passively adjusted. The adjustment range is large, the operating room space is small, and the layout can be freely arranged according to the operating room environment. The support arm is fixed to the external parts of the operation arm module and the endoscope module, and the problems of the interference and collision of the mechanical arm during the operation process are avoided in the structure, spatial layout and movement form of the mechanical arm.

In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments are described below in conjunction with the accompanying drawings, which are described in detail below.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and therefore should not be considered as limiting the scope. For those of ordinary skill in the art, without paying any creative work, other related drawings can also be obtained based on these drawings.

FIG. 1 is a schematic diagram of a flexible surgical instrument according to an embodiment of the present disclosure.

2 is a schematic cross-sectional view of an active actuator of a flexible arm of an apparatus according to an embodiment of the present disclosure.

Figure 3a is a schematic cross-sectional front view of the instrument guide arm.

Figure 3b is a schematic cross-sectional side view of the instrument guide arm.

4 is a schematic diagram of an operating arm system according to an embodiment of the present disclosure.

5 is a schematic diagram of an endoscope system according to an embodiment of the present disclosure.

6 is a schematic view of the layout of the robot porous minimally invasive surgery mode according to an embodiment of the present disclosure.

7 is a schematic view of the layout of the robot single-hole minimally invasive surgery mode according to an embodiment of the present disclosure.

FIG. 8 is a schematic view of the layout of the robot in a natural cavity operation mode according to an embodiment of the present disclosure.

【Symbol Description】.

100-flexible surgical instruments;

101-instrument drive mechanism;

102-Instrument flexible arm;

103-The active actuator of the flexible arm of the instrument;

1031-Elastic joint;

1032- articulation ring;

1033-drive wire;

104- instrument operating forceps;

200-operating arm system;

201-instrument drive motor unit;

202-instrument guide arm;

2021-Outer coating film;

2022-Inner coating film;

2023-Water pipe;

2024-Guide arm inner tube;

203-Operation arm guide;

204-rail drive motor;

205-support arm;

300-endoscope system;

301-Endoscope drive mechanism;

302-Endoscope flexible arm;

303- Stereo camera.

detailed description

The present disclosure provides a flexible surgical instrument, an operating arm system, and a minimally invasive surgical robot slave system. The flexible surgical instrument includes: an instrument drive mechanism, an instrument flexible arm, an instrument flexible arm active actuator, and an operating forceps; instrument flexibility The first end of the arm is connected to the instrument drive mechanism; the first end of the instrument flexible arm active actuator is connected to the second end of the instrument flexible arm; the operating forceps are connected to the second end of the instrument flexible arm active actuator; The instrument drive mechanism drives the active actuator of the flexible arm of the instrument; the flexible arm of the instrument moves along with the active actuator of the flexible arm of the instrument; the drive mechanism of the instrument also drives the operation of the operating forceps. The disclosed system is small and flexible, and the layout is flexible. Both the support arm and the instrument guide arm can be passively adjusted, the adjustment range is large, the operating room space is small, and the layout can be freely arranged according to the operating room environment.

In order to make the purpose, technical solutions and advantages of the disclosure more clear, the disclosure will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

Certain embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, and some, but not all of the embodiments will be shown. In fact, the various embodiments of the present disclosure can be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein; by contrast, providing these embodiments allows the present disclosure to meet applicable legal requirements.

In one embodiment of the present disclosure, a flexible surgical instrument is provided. FIG. 1 is a schematic diagram of a flexible surgical instrument according to an embodiment of the present disclosure. As shown in FIG. 1, the flexible surgical instrument 100 of the present disclosure includes an instrument driving mechanism 101, an instrument flexible arm 102, an instrument flexible arm active actuator 103 and an operating forceps 104.

The instrument driving mechanism 101 is used to drive the flexible instrument active actuator 103 and the instrument operating forceps 104.

The flexible arm 102 of the instrument is a passive flexible mechanism, and the shape can be bent arbitrarily; the first end of the flexible arm 102 of the instrument is connected to the driving mechanism of the instrument. The first end of the instrument flexible arm active actuator 103 is connected to the second end of the instrument flexible arm 102.

The instrument flexible arm active actuator 103 has six bending deflection degrees of freedom 1-6, and one rotation degree of freedom 7 and can perform surgical actions driven by the driving mechanism 101.

The operating forceps 104 is connected to the end of the instrument flexible arm active actuator 103; the instrument operating forceps 104 have one degree of freedom of opening and closing, and can be driven by the driving mechanism 101 to complete the clamping action. It should be understood by those skilled in the art that the flexible surgical instrument 100 has many types, and the components and principles are similar to those in FIG. 1 but are not completely the same, and can be selected according to the needs of the operation, and will not be described here one by one.

Specifically, FIG. 2 is a schematic cross-sectional view of an active actuator of a flexible arm of an apparatus according to an embodiment of the present disclosure. As shown in FIG. 2, the instrument flexible arm active actuator 103 includes an elastic joint 1031, a joint connecting ring 1032, and a driving wire 1033.

The elastic joint 1031 is an elastic alloy material, which can be elastically deformed under the pulling force of the driving wire 1033 so that the active actuator 103 of the flexible arm of the instrument generates a bending and deflecting motion. After the pulling force is eliminated, the driving wire 1033 will return to the initial state, so that the flexible arm active actuator 103 of the instrument returns to the vertical state. The joint connecting ring 1032 is used to connect each segment of the elastic joint 1031.

In another embodiment of the present disclosure, an operating arm system is provided. 4 is a schematic diagram of an operating arm system according to an embodiment of the present disclosure. As shown in FIG. 4, the operating arm system 200 includes a flexible surgical instrument 100, an instrument driving motor group 201, an instrument guiding arm 202, an operating arm guide rail 203, a guide rail driving motor 204, and a supporting arm 205. The instrument driving motor group 201 and the instrument driving mechanism 101 are connected through an interface. The instrument driving motor set 201 provides power to drive the instrument driving mechanism 101 to control the movement of the active actuator 103 of the flexible arm of the instrument, thereby completing the actions required for the operation. The guide rail drive motor 204 provides the power required to operate the arm guide rail 203, and drives the instrument drive mechanism 101 and the instrument drive motor group 201 to move along the operation arm guide rail 203, thereby providing the freedom of movement of the active actuator 103 of the flexible arm of the instrument. The active actuator 103 of the flexible arm of the instrument can complete various surgical actions driven by the instrument driving mechanism 101. The operating arm guide 203 and the flexible instrument 100 together provide all the degrees of freedom required for the operation. The support arm 205 is used to support the operating arm system 200, and the supporting arm 205 can be passively adjusted so that the operating arm system 200 is in an optimal posture. During the operation of the operation arm system 200, the support arm 205 has no movement to prevent interference and collision between the operation arm systems 200. The number and position of the operating arm system 200 can be selected and installed according to requirements, and is not limited to one.

Specifically, FIG. 3a is a schematic cross-sectional front view of the instrument guide arm. Figure 3b is a schematic cross-sectional side view of the instrument guide arm. As shown in FIGS. 3a and 3b, the instrument guide arm 202 is sleeved outside the instrument flexible arm 102 and the instrument flexible arm active actuator 103, and the instrument guide arm 202 is fixedly connected to the operating arm guide 203. The instrument guide arm 202 includes an outer coating film 2021, an inner coating film 2022, a water pipe 2023, and an inner tube 2024 of the guide arm. An inner coating film is placed on the outer side of the inner tube of the guide arm, a water pipe is wound on the inner coating film, and an outer coating film is coated on the water pipe, the instrument flexible arm 102 and the instrument flexible arm The active actuator 103 passes through the inner tube 2024 of the guide arm. The outer cover film 2021 and the inner cover film 2022 form a sealed space, and the space is covered with a low-temperature phase change material and a water pipe 2023. The water pipe 2023 can be filled with cold water and/or hot water to control the temperature in the enclosed space. Low temperature phase change materials can switch between solid and liquid phases under temperature changes. In the process of adjusting the bending angle of the instrument guide arm 202, hot water is introduced into the water pipe 2023, and the low-temperature phase change material is heated to become a liquid, and the instrument guide arm 202 can be freely adjusted to the bending angle. After the adjustment is completed, cold water flows into the water pipe 2023, and the temperature of the low-temperature phase-change metal decreases to become a solid state. At this time, the instrument guide arm 202 becomes rigid and cannot be changed in shape. The instrument guide arm 202 has a variable stiffness function, and is in a flexible state during the adjustment process, and can be bent into an arbitrary shape, and can be converted into a rigid state after adjustment to maintain the shape. The instrument flexible arm 102 and the instrument flexible arm active actuator 103 can pass through the instrument guide arm 202, and the instrument flexible arm 102 is shaped with the instrument guide arm 202.

In yet another embodiment of the present disclosure, there is also provided a minimally invasive surgical robot slave hand system, including the operating arm system and the endoscope system of the above embodiment, as an application of a flexible surgical instrument. 5 is a schematic diagram of an endoscope system according to an embodiment of the present disclosure. 6 is a schematic view of the layout of the robot porous minimally invasive surgery mode according to an embodiment of the present disclosure. 7 is a schematic view of the layout of the robot single-hole minimally invasive surgery mode according to an embodiment of the present disclosure. FIG. 8 is a schematic view of the layout of the robot in a natural cavity operation mode according to an embodiment of the present disclosure. As shown in FIGS. 5-8, the number of operating arm systems 200 can be selected from one to more depending on the surgical needs. The operation arm can be adjusted passively before the operation, and the installation position can be determined according to requirements. As shown in FIG. 5, the endoscope system 300 includes an endoscope drive mechanism 301, an endoscope flexible arm 302, and a stereo camera 303. The endoscope driving mechanism 301 and the instrument driving motor group 201 are connected through an interface, and the interface structure is the same as the instrument driving mechanism 101. The endoscopic flexible arm 302 passes through the instrument guide arm 202, and the part inside the instrument guide arm 202 is shaped by it, and the part extending out of the instrument guide arm 202 has an active joint, which can be adjusted for posture so that the stereo camera 303 is in The best posture makes the observed tissue in the best visual field. The stereo camera 303 is used to photograph the target tissue to be observed, and can form a stereo image. The structure and function of the instrument drive motor group 201, the operating arm guide rail 203, the guide rail drive motor 204, and the support arm 205 are the same as those in FIG.

The instrument guide arm 202 can be adjusted in shape before surgery so that its channels meet the conditions shown in Figures 6, 7, and 8 to adapt to the porous minimally invasive surgery mode, single-hole minimally invasive surgery mode, and the natural cavity of the human body. Surgery mode. The adjustment form of the instrument guide arm 202 depends on the needs of the operation and is not limited to the state shown in the figure. During the operation, the instrument guide arm 202 maintains a rigid state, the flexible operating arm 102 passes through the instrument guide arm 202, and the instrument flexible arm active actuator 103 completes the operation. During the operation, the support arm 205 remains in a fixed state, and there will be no relative movement between the operation arms to avoid interference and collision.

It should be noted that the directional terms mentioned in the embodiments of the present invention, such as "top", "bottom", "upper", "lower", "front", "back", "left", "right", etc., It is only referring to the directions of the drawings, and is not intended to limit the protection scope of the present invention. In fact, the "top" and "bottom" mentioned in the present invention can be replaced by the "first direction" and the "second direction" opposite to the "first direction", and the "top" and "bottom" can be replaced by Replace with "first end", "second end" opposite to "first end", "top", "bottom" can be replaced with "first end", "opposite to" first end" Second end". Similarly, in the present invention, "upper", "lower", "front", "rear", "left", and "right" can also be replaced as described above.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order. Moreover, the terms "include", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also those not explicitly listed Or other elements that are inherent to this process, method, article, or equipment. In the absence of more restrictions, the elements defined by the sentence "include one..." do not exclude that there are other identical elements in the process, method, article or equipment that includes the elements.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Although some specific embodiments of the present invention have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, not for limiting the scope of the present invention. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope of the present invention. The scope of the invention is defined by the appended claims.

Claims

A flexible surgical instrument, including:

Instrument drive mechanism;

An instrument flexible arm, the first end of which is connected to the instrument drive mechanism;

An active actuator of an instrument flexible arm, the first end of which is connected to the second end of the instrument flexible arm;

Operating pliers, connected to the second end of the active actuator of the flexible arm of the instrument;

The instrument drive mechanism is used to drive the flexible arm active actuator and the operation forceps of the instrument; the flexible arm of the instrument moves with the active actuator of the flexible arm of the instrument.
The flexible surgical instrument of claim 1, wherein the flexible arm active actuator of the instrument comprises:

Multi-segment elastic joints;

The joint connecting ring connects the two adjacent elastic joints;

The driving wire is placed in the joint connecting ring;

The instrument driving mechanism is used to drive the driving wire, and the driving wire drives the multi-segment elastic joint movement under the action of tension, so that the flexible actuator active mechanism of the instrument generates bending and deflection movement; after the tension effect is eliminated, the instrument is flexible The arm active actuator returns to its original state.
The flexible surgical instrument according to claim 2, wherein the elastic joint is an elastic alloy material.
The flexible surgical instrument according to claim 2, wherein each segment of the articulation ring is fixedly provided with a clamping groove, and the driving wire is fixed in the articulation ring clamping groove by a chuck.
An operating arm system, including:

The flexible surgical instrument according to any one of claims 1 to 4;

The instrument driving motor set is connected with the instrument driving mechanism through an interface, and is used to control the movement of the active implement mechanism and the operating forceps of the flexible arm of the instrument;

The operating arm guide is connected to the instrument driving motor group;

A support arm is connected to one end of the operating arm guide rail; used to provide support for the operating arm system.
The operating arm system according to claim 5, further comprising: an instrument guide arm, the instrument flexible arm and the instrument flexible arm active actuator are threaded out from inside the instrument guide arm; the instrument The guide arm includes:

A guide arm inner tube, the instrument flexible arm and the instrument flexible arm active actuator are passed through the guide arm inner tube;

The inner coating film is placed outside the inner tube of the guide arm;

The water pipe is wound on the inner coating film;

An outer coating film, which is wrapped around the water pipe;

The inner coating film and the outer coating film form a sealed space, and the sealed space is filled with a low-temperature phase change material.
The operating arm system according to claim 6, wherein the low temperature phase change material is polyurethane, gallium indium tin alloy or other low temperature phase change material.
The operating arm system according to claim 5, further comprising:

The guide rail driving motor is used to provide the required power for the operating arm guide rail, driving the instrument driving motor group and the instrument driving mechanism to move along the operating arm guide rail, thereby providing freedom of movement of the active actuator of the flexible arm of the instrument.
A minimally invasive surgical robot slave system, including:

A plurality of operation arm systems according to any one of claims 5 to 8 and a plurality of endoscope systems; the endoscope system includes:

Endoscopic instrument drive motor unit;

Endoscope instrument guide arm;

The endoscope drive mechanism is connected to the endoscope instrument drive motor group through an interface;

An endoscope flexible arm, the first end of the endoscope flexible arm is connected to the endoscope drive mechanism, and the second end of the endoscope flexible arm is threaded from the inside of the endoscope instrument guide arm;

A stereo camera is connected to the second end of the flexible arm of the endoscope.
The minimally invasive surgical robot slave system of a flexible surgical instrument according to claim 9, wherein the specifications of the interface are consistent.