WO2021208869A1 - Système de robot chirurgical - Google Patents

Système de robot chirurgical Download PDF

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Publication number
WO2021208869A1
WO2021208869A1 PCT/CN2021/086718 CN2021086718W WO2021208869A1 WO 2021208869 A1 WO2021208869 A1 WO 2021208869A1 CN 2021086718 W CN2021086718 W CN 2021086718W WO 2021208869 A1 WO2021208869 A1 WO 2021208869A1
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WO
WIPO (PCT)
Prior art keywords
bronchoscope
catheter
robot system
surgical robot
button
Prior art date
Application number
PCT/CN2021/086718
Other languages
English (en)
Chinese (zh)
Inventor
李自汉
何超
陈功
张亚炜
常新朝
杨飞飞
蒋友坤
李明
廖志祥
彭程
Original Assignee
上海微创医疗机器人（集团）股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN202010287017.5A external-priority patent/CN113520611B/zh
Priority claimed from CN202010287019.4A external-priority patent/CN113520596B/zh
Priority claimed from CN202010456765.1A external-priority patent/CN111588472B/zh
Application filed by 上海微创医疗机器人（集团）股份有限公司 filed Critical 上海微创医疗机器人（集团）股份有限公司
Publication of WO2021208869A1 publication Critical patent/WO2021208869A1/fr

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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

Definitions

  • the present invention relates to the technical field of medical devices, in particular to a surgical robot system for respiratory diseases.
  • Bronchial medical devices such as bronchoscopes
  • bronchoscopes are medical devices that are inserted into the patient's lower respiratory tract through the mouth or nose. They are often used for observation, biopsy sampling, bacteriology and cytology of lung lobe, segment and sub-segment bronchial lesions.
  • the use of bronchoscope to perform alveolar washing treatment and inspection of the lower respiratory tract lobe where the lesion is located can effectively improve the detection rate and accuracy of infectious respiratory diseases.
  • diseases such as the new coronavirus, which often replicate and erupt in the lower respiratory tract
  • the accuracy of nucleic acid detection of specimens obtained through lower respiratory tract alveolar washing is higher than that of specimens obtained from throat swabs.
  • the use of bronchoscope to directly lavage the lungs can also alleviate the symptoms of the lower respiratory tract.
  • the purpose of the present invention is to provide a surgical robot system for respiratory diseases.
  • the present invention provides a surgical robot system for respiratory diseases in the first aspect.
  • the surgical robot system includes a master end, a slave end and a control end.
  • the master end Including an operating unit, and the slave end includes an executing driver;
  • the execution drive member is used to drive a bronchoscope to move
  • the control terminal is respectively communicatively connected with the operation unit and the execution driver to: control the execution driver to drive the bronchoscope to move according to the acquired movement speed information of the operation unit; and According to the acquired rotation angle information or rotation speed information of the operating unit, the execution driving member is controlled to drive the bronchoscope to rotate.
  • the control terminal includes a posture and position control module, and the posture and position control module is used for:
  • the execution driving member includes a rotation joint, a moving joint and a rotation joint
  • the rotation joint is used to drive the bronchoscope to rotate
  • the moving joint is used to drive the bronchoscope to move
  • the rotary joint is used to drive the catheter drive knob of the bronchoscope to rotate the end of the bronchoscope.
  • the operating unit includes an operating handle
  • the operating handle includes a housing and an operating member movable relative to the housing
  • the posture and position control module is used to:
  • the movement speed information of the operating handle is subjected to master-slave mapping calculation to calculate the expected movement speed of the end of the bronchoscope; and the rotation angle information of the operating handle is subjected to master-slave mapping calculation to calculate The desired rotation angle of the bronchoscope.
  • the operating handle includes a rotation control part and a movement control part
  • the posture and position control module is used to perform operations according to the movement speed information of the movement control part and a preset speed mapping ratio.
  • Speed mapping calculation to calculate the expected moving speed of the end of the bronchoscope; perform position mapping calculation according to the rotation angle information of the rotation control member and the preset position mapping ratio to calculate the expected bronchoscope And control the execution driving member according to the calculated desired moving speed and desired rotation angle.
  • the operating handle further includes a position sensor and a speed sensor, and the position sensor is communicatively connected with the control terminal to obtain the rotation angle information of the operating member and feed it back to the On the control terminal, the speed sensor is communicatively connected with the control terminal to obtain the moving speed information of the operating member and feed it back to the control terminal.
  • the operating member includes a button with pressure sensitivity and a pressure sensor, and the pressure sensor is used to obtain pressure sensitivity information received by the button and transmit the pressure sensitivity information to all
  • the posture and position control module the posture and position control module is also used to obtain the operating element according to the received pressure sensitivity information and the calibration relationship between the preset position, speed and pressure sensitivity information Movement speed information and rotation angle information of the operating member.
  • the operating unit includes an interactive interface
  • the interactive interface includes a catheter forward button, a catheter back button, a upward bending button, a downward bending button, a left rotation button, and a right rotation button
  • the posture and position control module is used to control the catheter forward button, the catheter retreat button, the upward bending button, the downward bending button, the left rotation button, and the right rotation button
  • the corresponding speed information, and the speed mapping ratio perform master-slave mapping calculation to calculate the desired speed of the end of the bronchoscope.
  • the interactive interface further includes a speed selection button, and the speed selection button is communicatively connected with the control terminal for adjusting the speed mapping ratio.
  • the master terminal further includes a display unit, and the display unit is communicatively connected with the control terminal for displaying a master terminal interface, and the master terminal interface includes the interactive interface.
  • the main end interface further includes an interface for displaying surgical images
  • the control end includes an image signal processing and transmission module, the image signal processing and transmission module and the bronchoscope
  • the display unit is communicatively connected to receive the image signal from the bronchoscope about the surgical environment, and process the image signal, so that the display unit displays an image according to the processed image signal.
  • the master terminal also includes an alarm device
  • the control terminal also includes a safety control module, which is used to monitor whether the moving speed of the actuating member is compared with the expected moving speed. And/or is used to monitor whether the rotation angle of the execution driving member matches the expected rotation angle, and if it does not match, the alarm device is controlled to report an error.
  • the slave end further includes a suction device and an lavage fluid delivery device, and the lavage fluid delivery device is in communication with the injection tube of the bronchoscope for delivering the perfusion fluid to
  • the suction device is communicated with the suction tube of the bronchoscope, so as to draw the effusion in the human body out of the body.
  • control terminal further includes a perfusion and aspiration control module, and the perfusion and aspiration control modules are respectively communicatively connected with the aspiration device and the lavage fluid delivery device to use To control the opening and operating parameters of the suction device and the lavage fluid delivery device.
  • the operation unit is provided with an lavage fluid delivery button and a suction button, and the lavage fluid delivery button and the suction button are respectively communicatively connected with the perfusion and aspiration control module, Used to receive perfusion or aspiration instructions.
  • the operating unit includes a universal button, and when the control terminal senses that the suction device is connected to the control terminal, the control terminal maps the universal button to Receiving a suction instruction; when the control terminal senses that the lavage fluid delivery device is connected to the control terminal, the control terminal maps the general button to receive a perfusion instruction.
  • the execution drive member includes an inner cavity and an adaptor, the adaptor is detachably provided in the inner cavity, and the adaptor is used to connect all different types of The bronchoscope is fixed to the executive driving part.
  • the slave end includes an information collection unit, the information collection unit is arranged on the adapter, the information collection unit is used to record the type of the bronchoscope, and the control
  • the terminal includes a memory that stores a bronchoscope parameter database including the type of bronchoscope and information about human-computer interaction and control parameters.
  • the control terminal is also used to obtain the type of bronchoscope from the information collection unit. , Acquiring corresponding human-computer interaction and control parameter information from the bronchoscope parameter database, so as to match the master-slave control mapping relationship between the master terminal and the execution driver.
  • the master end is placed on the doctor's end, and the slave end is placed on the patient's end, which can realize remote operation and control of the bronchoscope without the doctor directly operating the bronchoscope, which can significantly reduce Probability of infection during surgery.
  • the present invention provides a sterile isolation mechanism in the second aspect. Bags, torque transmission mechanism and inserts;
  • the isolation bag is used to isolate the clamping seat of the clamping mechanism from the first side, and isolate the bronchoscope and the catheter protection mechanism of the clamping mechanism from the second side;
  • the torque transmission mechanism is fixedly arranged on the second side of the isolation bag, and is used to transmit torque from the first side to the second side through the isolation bag;
  • the insert is used for detachably connecting with the catheter protection mechanism, at least a part of the insert for connecting with the catheter protection mechanism is fixedly arranged on the second side of the isolation bag, and the insert It is also used to be detachably arranged in the inner cavity of the clamping seat.
  • the torque transmission mechanism includes: a cam sleeve, the cam sleeve is used to sleeve on the cam of the clamping mechanism, and rotate with the cam; the cam sleeve is used to The catheter drive knob of the bronchoscope is connected and drives the catheter drive knob to rotate.
  • the cam sleeve In the aseptic isolation mechanism, the cam sleeve includes an open end and two oppositely arranged grooves, the extending directions of the two grooves are parallel, and the distance between the two grooves is the same as that of the cam.
  • the size of the cam sleeve is adapted to fit; the cam sleeve is used to sleeve on the cam from the open end along the extending direction of the slot.
  • the insert includes a stepped surface for abutting against the limiting surface of the clamping seat, and the insert is restricted from rotating in a circumferential direction by the limiting surface And the freedom to move towards the far end.
  • the distal end of the insert has a fixing part, and the fixing part is used for detachably connecting with the connecting part of the catheter protection mechanism.
  • the fixing part has a thread adapted to the connecting part, and the thread is used to drive the insert to move distally under the driving of the rotation of the connecting part, So that the step surface and the limit surface abut against each other.
  • the aseptic isolation mechanism further includes a first adapter, which is fixedly arranged on the isolation bag, and is used to detachably connect with the first positioning member of the clamping seat for positioning The position of the isolation bag in the inner cavity.
  • the first adapter is also used to detachably connect with the second positioning member of the lens body fixing mechanism of the clamping mechanism, so that the lens body fixing mechanism is connected to the lens body fixing mechanism.
  • the clamping bases are connected.
  • the aseptic isolation mechanism further includes a lens body spacer, the shape of the lens body spacer is adapted to the outer contour of the body of the bronchoscope; the lens body spacer is fixed to the first adapter connect.
  • the first adapter includes a magnetic member, and the magnetic member is used to attract and engage the first positioning member; or, the first adapter includes a snap member , The buckle member is used for engaging with the first positioning member.
  • the aseptic isolation mechanism further includes a second adapter, the second adapter is fixedly arranged on the isolation bag, and is used to detachably connect with the third positioning member of the clamping seat for positioning The location of the isolation bag.
  • the second adapter includes a magnetic member, and the magnetic member is used to attract and engage the third positioning member of the clamping seat; or, the second adapter It includes a fastener, and the fastener is used to engage with the third positioning component.
  • the aseptic isolation mechanism at least wraps the holder, the lens holder body and the base, and at least exposes the inner cavity, the catheter protection mechanism and the catheter support.
  • the aseptic isolation mechanism includes a catheter support, the catheter support is fixedly arranged on the isolation bag, and is used to detachably connect with a lens holder and the catheter protection mechanism to at least limit the catheter protection mechanism The radial degrees of freedom.
  • the present invention provides a lens holding arm, which includes: a base, a lens holder, a clamping mechanism, and the sterile isolation mechanism as described above;
  • the clamping mechanism includes a clamping seat and a catheter A protection mechanism, the holding seat has an inner cavity; the aseptic isolation mechanism at least wraps the holding seat, the lens holder and the base, and at least connects the inner cavity and the catheter protection mechanism Exposed.
  • the present invention provides a mirror-holding robot, which includes: the above-mentioned mirror-holding arm, a control end, and a robot body; the mirror-holding arm is arranged on the robot body, and the control The ends are spaced apart from the robot body.
  • the present invention provides a sterile isolation mechanism, which includes: an isolation bag, a torque transmission mechanism, and an insert; the isolation bag is used to isolate an isolated device from the first side, and The exposed device is isolated on the second side; the torque transmission mechanism is arranged on the second side of the isolation bag, and is used to pass the isolation bag from the isolated device on the first side to the second side The exposure device transmits torque; the insert is used to cooperate with the isolated device, and at least a part of the insert is arranged on the second side of the isolation bag.
  • the aseptic isolation mechanism provided in the embodiment of the present invention includes an isolation bag, a torque transmission mechanism and an insert.
  • the isolation bag is used to isolate the clamping seat of the clamping mechanism from the first side, and isolate the bronchoscope and the catheter protection mechanism of the clamping mechanism from the second side; the torque transmission mechanism is fixedly arranged on the isolation
  • the second side of the bag is used to transmit torque from the first side to the second side through the isolation bag.
  • the insert is used for detachably connecting with the catheter protection mechanism, at least a part of the insert for connecting with the catheter protection mechanism is fixedly arranged on the second side of the isolation bag, and the insert It is also used to be detachably arranged in the inner cavity of the clamping seat.
  • the isolation bag can at least wrap and isolate the parts that are difficult to sterilize, such as the clamping seat, the lens holder, and the base.
  • the torque transmission mechanism is set up to drive the catheter drive knob located outside the isolation bag through the drive component located inside the isolation bag, and The setting of the insert can realize the effective isolation between the clamping seat located inside the isolation bag and the conduit protection mechanism located outside the isolation bag.
  • the aseptic isolation mechanism can be conveniently installed on the mirror holding robot, and after one use, the aseptic isolation mechanism can be easily replaced, which improves the use efficiency of the entire mirror holding robot.
  • the aseptic isolation mechanism is wrapped on the mirror holding arm, and further wrapped on the part of the mirror holding robot that needs to be isolated.
  • the operator can control the bronchoscope through remote control to prevent the operator from being exposed to high-risk areas, reduce the operator's physical fatigue during the operation, and reduce the risk of infection.
  • the present invention provides a clamping mechanism in the third aspect, which is used for clamping Holding a bronchoscope, which includes: a clamping seat, a valve pressing mechanism and a lens body fixing mechanism;
  • the holding seat has an inner cavity, the inner cavity has an opening, and the inner cavity is used for inserting the body of the bronchoscope from the opening;
  • the mirror body fixing mechanism is switched between a first locked state and a first open state; when the mirror body fixing mechanism is in the first locked state, the mirror body fixing mechanism is connected to the clamping base, and And the inner cavity jointly define at least a part of the degree of freedom of the bronchoscope; when the scope fixing mechanism is in the first open state, the restriction on at least a part of the degree of freedom of the bronchoscope is released;
  • the valve pressing mechanism includes a valve pressing block, the valve pressing mechanism is switched between a second locked state and a second open state, and when the valve pressing mechanism is in the second locked state, the valve pressing The block is used to apply force to the suction valve switch of the bronchoscope to open the suction valve switch; when the valve pressing mechanism is in the second open state, release the force applied to the suction valve switch.
  • the clamping seat includes a first positioning member
  • the mirror body fixing mechanism includes a lens body pressing block and a second positioning member
  • the second positioning member is fixedly arranged at the lens body pressing Block; when the lens body fixing mechanism is configured to be in the first locked state, the first positioning member and the second positioning member are matedly connected, and the lens body pressing block covers the inner cavity At least part of the opening.
  • the lens body pressing block is detachably arranged relative to the clamping seat; when the lens body pressing block is configured to be detached from the clamping seat, the lens body fixing mechanism is in place The first open state.
  • the mirror body fixing mechanism further includes: a mirror body spacer, the mirror body spacer being detachably disposed on the clamping seat; the mirror body fixing mechanism is configured to be in a position In the first locked state, the lens body spacer is located between the lens body pressing block and the clamping seat, and is opposite to at least one of the first positioning member and the second positioning member Matching connection.
  • the first positioning member and the second positioning member include magnets that engage with each other; or, the first positioning member and the second positioning member include a card that engages with each other. Fasteners.
  • the clamping seat includes a third positioning member, and the third positioning member is used for mating connection with a corresponding component of a sterile isolation mechanism to fix the sterile isolation mechanism.
  • valve pressure block is rotatably arranged on the clamping seat.
  • the valve pressing mechanism includes a locking buckle provided on the clamping seat, and when the locking buckle is configured to lock the rotation of the valve pressing block, the valve pressing mechanism is at The second locked state; when the locking buckle is configured to unlock the rotation of the valve pressing block, the valve pressing mechanism is in the second open state.
  • the clamping mechanism includes a catheter protection mechanism, which is detachably arranged at the distal end of the clamping seat for the catheter of the bronchoscope to pass through;
  • the catheter protection mechanism includes A telescopic sheath and a connecting part, the connecting part is used to detachably connect with the clamping seat, the telescopic sheath is fixedly connected with the connecting part, and is arranged telescopically along the axial direction;
  • the connecting part There is a first through hole for the bronchoscope catheter to pass through, the telescopic sheath has a second through hole for the bronchoscope catheter to pass through, and the first through hole is connected to the The second through holes are arranged coaxially.
  • the telescopic sheath includes a plurality of telescopic joints, and a plurality of the telescopic joints are coaxially sleeved and connected in sequence; the telescopic sheath moves in an axial direction through the plurality of telescopic joints. And stretch.
  • the clamping mechanism further includes: a knob driving mechanism; the knob driving mechanism includes a driving part and a transmission part, and the transmission part is rotatably arranged on the clamping seat for driving with the catheter of the bronchoscope The knob is coupled and connected; the driving part is used to drive the transmission part to rotate.
  • the transmission component includes a cam located in the inner cavity and a transmission shaft passing out of the inner cavity, and the driving component is arranged outside the inner cavity and is connected to the inner cavity.
  • the transmission shaft is coupled and connected; the cam is eccentrically arranged with respect to the transmission shaft, and is used to drive the catheter drive knob of the bronchoscope to rotate under the rotation of the transmission shaft.
  • the cam includes two opposite sides, and the two sides are parallel.
  • the inner cavity has a limit surface, and the limit surface is used to limit the degree of freedom of an insert to rotate in the circumferential direction and move toward the distal end.
  • the present invention provides a lens holding arm, which includes: a base, a lens holding seat, and a clamping mechanism as described above; the holding seat is movable along the axial direction of the lens holding seat
  • the lens holder is rotatably arranged on the base.
  • the range of the rotation angle of the lens holder is ⁇ 170°.
  • the lens holding arm further includes a sterile isolation mechanism that at least wraps the holding seat, the lens holding seat and the base, and at least exposes the inner cavity to the outside.
  • the lens holding arm further includes: a catheter support, the catheter support is arranged at the distal end of the lens holder; the clamping mechanism includes a catheter protection mechanism, the catheter protection mechanism is detachably arranged on the clamping
  • the distal end of the seat is used for the catheter of the bronchoscope to pass through; the catheter stent is used for connecting with the catheter protection mechanism, and at least defines the radial freedom of the catheter protection mechanism.
  • the present invention provides a mirror-holding robot, which includes: the above-mentioned mirror-holding arm, a control end, and a robot body; the mirror-holding arm is arranged on the robot body, and the control The ends are spaced apart from the robot body.
  • the slave end of the surgical robot system provided by the present invention includes the clamping mechanism and/or the aseptic isolation mechanism as described above.
  • the clamping mechanism includes a clamping seat, a valve pressing mechanism, and a mirror body fixing mechanism.
  • the holding seat has an inner cavity with an opening, and the inner cavity is used for inserting the body of the bronchoscope from the opening.
  • the mirror body fixing mechanism is switched between a first locked state and a first open state; when the mirror body fixing mechanism is in the first locked state, the mirror body fixing mechanism is connected to the clamping base, and Together with the inner cavity, at least a part of the degree of freedom of the bronchoscope is defined; when the scope fixing mechanism is in the first open state, the restriction on at least a part of the degree of freedom of the bronchoscope is released.
  • the valve pressing mechanism includes a valve pressing block, the valve pressing mechanism is switched between a second locked state and a second open state, and when the valve pressing mechanism is in the second locked state, the valve pressing The block is used to apply force to the suction valve switch of the bronchoscope to open the suction valve switch; when the valve pressing mechanism is in the second open state, release the force applied to the suction valve switch.
  • the body of the bronchoscope can be conveniently inserted into the inner cavity of the holding seat from the opening of the inner cavity of the holding seat, the lens body fixing mechanism is converted to the first locked state, and the holding seat jointly defines the body of the bronchoscope Degrees of freedom.
  • the valve pressing mechanism is converted to the second locked state, and force is applied to the suction valve switch of the bronchoscope to turn on the suction valve switch.
  • a clamping of the entire bronchoscope is formed, thereby replacing the operating mode of the operator holding the bronchoscope.
  • the clamping mechanism on the mirror-holding arm, and further on the mirror-holding robot, the operator can control the bronchoscope through remote control, avoiding the operator from being exposed to high-risk areas and reducing the operation The patient’s physical fatigue during the operation also reduces the risk of infection.
  • FIG. 1 is a schematic diagram of the composition of a surgical robot system provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of interaction of a surgical robot system provided by an embodiment of the present invention.
  • Figure 3 is a schematic diagram of user login detection steps in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the self-checking steps of the bronchoscope in the embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the master-slave control logic in the first master-slave control mode in the embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an interface of the main terminal interface in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of an operation process using a surgical robot system provided by an embodiment of the present invention.
  • Fig. 9 is a partial schematic diagram of a bronchoscope provided by an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a mirror holding arm provided by an embodiment of the present invention.
  • Figure 11 is a schematic diagram of a clamping mechanism provided by an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the bronchoscope is configured without being installed in the clamping mechanism;
  • FIG. 13 is a schematic diagram from another angle of the clamping mechanism shown in FIG. 12;
  • FIG. 14 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the bronchoscope is configured to have been installed in the clamping mechanism;
  • 15 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the valve pressing mechanism is configured to be in a second locked state;
  • 16 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the catheter protection mechanism is installed on the clamping seat;
  • FIG. 17 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the lens body fixing mechanism is installed on the clamping seat before;
  • FIG. 18 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the lens body fixing mechanism is configured to be in a first locked state;
  • FIG. 19 is a schematic diagram of the wrapping range of the aseptic isolation mechanism provided by an embodiment of the present invention.
  • FIG. 20 is a partial schematic diagram of a sterile isolation mechanism provided by an embodiment of the present invention.
  • Figure 21 is a schematic diagram of a torque transmission mechanism of a sterile isolation mechanism provided by an embodiment of the present invention.
  • FIG. 22 is a partial cross-sectional view of the torque transmission mechanism of the aseptic isolation mechanism provided by an embodiment of the present invention after being installed on the clamping mechanism along the line "A-A" in FIG. 21;
  • Figure 23 is a schematic diagram of a first adapter of a sterile isolation mechanism provided by an embodiment of the present invention.
  • Figure 24 is a schematic diagram of a second adapter of a sterile isolation mechanism provided by an embodiment of the present invention.
  • Figure 25 is a schematic diagram of an insert of a sterile isolation mechanism provided by an embodiment of the present invention.
  • 26 is a schematic diagram of the aseptic isolation mechanism provided by an embodiment of the present invention installed on the clamping mechanism inserts;
  • Figure 27 is a schematic diagram of the aseptic isolation mechanism provided by an embodiment of the present invention after the insert is connected to the catheter protection mechanism;
  • Figure 28 is a schematic diagram of a catheter stent of a sterile isolation mechanism provided by an embodiment of the present invention.
  • 29 is a schematic diagram of the catheter holder of the aseptic isolation mechanism provided on the lens holder according to an embodiment of the present invention.
  • Fig. 30 is a schematic diagram of the catheter protection mechanism provided by an embodiment of the present invention being inserted into the catheter stent.
  • 2-Slave end or mirror holding arm 20-axis; 21-actuating part; 22-fixed bracket; 23-mobile trolley; 24-adapter; 25-information acquisition unit; 26-base; 27-hold Mirror holder; 28-catheter holder;
  • 60-sterile isolation mechanism 61-isolation bag; 62-torque transmission mechanism; 621-cam sleeve; 622-limiting body; 63-insert; 631-step surface; 632-fixed part; 64-first adaptation Pieces; 65-second adapter.
  • 8- Suction device 9- Irrigation fluid delivery device; 10- Clamping mechanism; 11- Clamping seat; 110- Inner cavity; 111- First positioning member; 112- Limiting surface; 113- Third positioning member 12-valve pressing mechanism; 121-valve pressing block; 122-locking buckle; 13-lens body fixing mechanism; 131-lens body pressing block; 132-second positioning member; 133-lens body pad; 14-catheter Protective mechanism; 141- telescopic sheath; 142- connecting part; 143- telescopic section; 15- knob drive mechanism; 152- transmission component; 153- cam; 154- transmission shaft;
  • the present invention provides a surgical robot system, which includes a master terminal 1, a control terminal 4, and a slave terminal 2.
  • the master terminal 1 includes an operating unit 1100
  • the slave terminal 2 includes an execution driver 21.
  • the execution driving member 21 is used to drive a bronchoscope 5 to move.
  • the control terminal 4 is in communication connection with the operating unit 1100 and the execution driver 21, and is configured to control the execution driver 21 to drive the bronchoscope 5 according to the acquired movement speed information of the operation unit 1100 Movement, and for controlling the execution driving member 21 to drive the bronchoscope 5 to rotate according to the acquired rotation angle information or rotation speed information of the operating unit 1100.
  • the operator and the master terminal 1 and the slave terminal 2 are preferably located in different rooms to achieve physical isolation between the operator and the patient.
  • the master terminal 1 and the slave terminal 2 can also be separately located in different hospitals and regions, and are connected by remote communication technology. In this way, the operator can remotely operate the execution driving member 21 by operating the main end 1 to move the bronchoscope 5 to a desired posture to perform surgical operations.
  • the control terminal 4 may be located in the space where the operator is located, and control the slave terminal by means of remote operation.
  • the control terminal 4 is a remote control handle of a desktop to realize remote control, or through touch control.
  • An interactive interface operation control or an input device such as a handle, includes a lever remote operation handle, a roller-type remote operation handle, an interactive touch button, and the like.
  • the control terminal 4 may be a software/hardware device installed in the main terminal 1, or an independent software/hardware device, which is not particularly limited in the present invention.
  • the operating unit 1100 is configured to receive position instructions and/or speed instructions, and feed back position information and/or speed information to the control terminal 4.
  • the control terminal 4 may specifically include a posture and position control module 41 for performing master-slave mapping calculations on the received position information and/or speed information to respectively calculate the desired position and position of the end of the bronchoscope 5 /Or the speed, and control the actuator 21 accordingly to drive the bronchoscope 5 to rotate and/or move to a desired position at a desired speed, so that the end of the bronchoscope 5 reaches the desired posture in the human body.
  • the bronchoscope 5 is a flexible bronchoscope, and includes a bronchoscope body 51, a catheter 52, an injection tube 53, a suction tube 54 and a catheter drive knob 56.
  • the bronchoscope 5 further includes a suction valve switch 35.
  • the catheter 52 is used to be inserted into target tissues such as the lungs and bronchus of the patient to provide operating channels for other components.
  • the catheter 52 includes an observation channel, and the operator can observe the lesion of the target tissue through a lens in the observation channel.
  • the catheter 52 may also include a functional channel communicating with the injection tube 53 for performing surgical operations such as perfusion and biopsy.
  • the operator injects liquid (such as saline or liquid medicine, etc.) into the distal end of the catheter 52 through the injection tube 53, and the liquid flows into the patient's lungs to achieve surgical operations such as bronchoalveolar lavage.
  • the functional channel can also communicate with the suction tube 54 through which liquid can be sucked from the distal end of the catheter 52 to suck the fluid in the patient's body.
  • the suction valve switch 35 can control the opening and closing of the suction tube 54 to realize the control of the suction liquid. Generally, the operator needs to turn on the suction by pressing the suction valve switch 35.
  • the catheter drive knob 56 is used to drive the distal end of the catheter 52 to swing, and the operator can adjust the swing direction of the distal end of the catheter 52 by rotating the catheter drive knob 56.
  • the functional channel can also provide a channel through which other instruments (such as biopsy forceps) pass.
  • the operator holds the bronchoscope body 51 and manipulates the bronchoscope 5 to be delivered forward and backward to the distal end, so that the catheter 52 is moved forward and backward in the axial direction, so that the distal end of the catheter 52 is in the target tissue of the patient.
  • the position is adjusted; the operator 32 operates the catheter drive knob 56 to swing the distal end of the catheter 52 in the target tissue of the patient. In this way, the adjustment of the distal end posture of the catheter 52 is realized.
  • the actuator 21 may include a rotation joint 211, a moving joint 212, and a rotation joint 154 (shown in FIG. Also called a transmission shaft), the rotation joint 211 is used to realize the rotation of the bronchoscope 5, the moving joint 212 is used to realize the movement of the bronchoscope 5, and the rotation joint 154 is used to drive the catheter drive knob of the bronchoscope 5 56 to achieve the end of the bronchoscope rotation.
  • the slave terminal 2 also includes three drivers that are communicatively connected with the control terminal 4 for driving the rotation joint 211, the moving joint 212, and the rotation joint 154 to move.
  • the driver includes a rotation driver, which is used to drive the rotation of the rotation joint 211; a mobile driver, which is used to drive the mobile joint 212 to move; and a rotation driver, which is used to drive the rotation joint to rotate.
  • the slave end 2 further includes a mobile trolley 23 and a fixed bracket 22 arranged on the mobile trolley.
  • the actuator 21 can support and adjust the position of the bronchoscope 5 through the fixed bracket 22, and adjust the position of the bronchoscope 5 through the moving trolley 23.
  • the operating unit 1100 can provide a variety of inputs for the control terminal 4 and combine the above-mentioned different master-slave control modes to adapt to the doctor's operation requirements in different scenarios.
  • the operating unit 1100 may include an operating handle 1110, and the operating handle 1110 includes a housing and an operating member movable relative to the housing.
  • the operating member is used to remotely operate the execution driving member 21 to move.
  • the operating member may be one or more.
  • it has three degrees of freedom, such as a spherical hinge, which is used to establish a master-slave mapping relationship with the three joints of the actuator 21.
  • There may also be two operating parts, namely a rotation control part and a movement control part.
  • the rotation control member includes two degrees of freedom, such as a Hooke hinge, a trackball or a game joystick, and establishes a master-slave mapping relationship with the rotation joint 211 and the rotation joint of the actuator 21, respectively.
  • the movement control part establishes a master-slave mapping relationship with the movement joint 212 of the execution driving part 21.
  • the rotation and bending angle range of the bronchoscope is determined, for example, the rotation range is plus or minus 120 degrees, the bending angle range is plus or minus 170 degrees, and the absolute position of the bronchoscope bending and rotation movement is related to the input of the operating unit 1100 It can be corresponded, it is convenient for the doctor to accurately control the end posture of the bronchoscope, and then can control the movement direction of the bronchoscope in the narrow organ lumen (such as the airway lumen). However, for the forward and backward movement of the bronchoscope, since the forward and backward movement is manually pushed by the doctor, there is no absolute range of motion. Therefore, for the front and back movement of the bronchoscope, the relative displacement needs to be controlled.
  • the master-slave control mode of position mapping and speed mapping is adopted between the operation handle 1110 and the execution driver 21, that is, the attitude and position control module 41 controls the movement of the operation handle 1110.
  • the speed information is subjected to master-slave mapping calculation to calculate the expected moving speed of the end of the bronchoscope, and the rotation angle information of the operating handle 1110 is subjected to master-slave mapping calculation to calculate the expected rotation of the bronchoscope The angle, in this way, the movement of the driving member 21 is controlled.
  • the operating element includes a rotation control element and a movement control element as an example.
  • the operating handle 1110 also includes a position sensor and a speed sensor.
  • the position sensor is communicatively connected with the control terminal 4, and is used to obtain the rotation angle of the rotation control member.
  • the speed sensor is communicatively connected with the control terminal 4, and is used to obtain the moving speed of the moving control member.
  • the posture and position control module 41 of the control terminal 4 receives the rotation angle of the rotation control member, the movement speed of the mobile control member, and the preset master-slave mapping ratio (that is, the position mapping ratio and the speed mapping ratio), Perform master-slave mapping calculation to obtain the desired position of the rotation joint 211, the desired position of the rotation joint, the desired speed of the moving joint 212, and control the rotation driver, the mobile driver and the rotation driver to drive the corresponding joint to move at the desired position and speed .
  • the preset master-slave mapping ratio that is, the position mapping ratio and the speed mapping ratio
  • the position and speed of the control member are directly acquired through various types of sensors. In other embodiments, the position and speed of the control member are obtained indirectly by obtaining other physical quantities.
  • the operating member includes a pressure-sensitive button (such as a pressure-sensitive button) and a pressure sensor.
  • the posture and position control module 41 of the control terminal 4 according to the received pressure sensitivity information (such as pressure sensitivity size, pressure sensitivity change speed, etc.), presets the calibration relationship between the position, speed and pressure sensitivity information and The master-slave end maps the ratio to obtain the desired position and speed of each joint at the slave end, and then controls the rotation drive, the mobile drive and the rotation drive to drive the corresponding joint movement.
  • the operating unit 1100 includes an interactive interface 1120.
  • the interactive interface 1120 includes a catheter forward button 1121, a catheter back button 1122, an upward bending button 1123, a downward bending button 1124, a left rotation button 1125, and a right rotation button 1126.
  • the catheter extension button 1121 is used to drive the bronchoscope to move distally
  • the catheter retreat button 1122 is used to drive the bronchoscope to move proximally
  • the upward bending button 1123 is used to drive the end of the bronchoscope to bend upward.
  • the downward bending button 1124 is used to drive the end of the bronchoscope to bend downward
  • the left rotation button 1125 is used to drive the bronchoscope to rotate to the left
  • the right rotation button 1126 is used to drive the bronchoscope to rotate to the right.
  • the buttons may be physical buttons or virtual buttons.
  • a master-slave control mode of speed mapping is adopted between the interactive interface 1120 and the execution driver 21. That is, the posture and position control module 41 performs master-slave mapping calculation on the speed information corresponding to each button on the interactive interface 1120 and the speed mapping ratio to calculate the desired speed of the end of the bronchoscope. To control the movement of the driving member 21.
  • the upward bending button 1123, downward bending button 1124, the left rotation button 1125 and the right rotation button 1126 accept external commands through speed mapping to realize the control of the rotation speed of the rotation joint 211 and the rotation joint, thereby achieving Control of the posture of the end of the bronchoscope; through the catheter forward button 1121, the catheter back button 1122 accepts external instructions to control the moving speed of the moving joint 212 through speed mapping, thereby realizing the control of the position of the end of the bronchoscope.
  • the speed information corresponding to each button can be preset. The preset speed corresponding to each key can be the same or different.
  • the posture and position control module 41 obtains the desired speed according to the preset speed mapping ratio and the preset speed. For example, the operator selects the catheter forward button 1121 on the interactive interface 1120, and the button sends a message to the posture and position control module 41.
  • the posture and position control module 41 obtains the desired extension speed according to the preset speed mapping ratio and the preset extension speed, and then controls the moving driver to drive the moving joint to make the bronchoscope 5 extend at the desired speed.
  • the interactive interface also includes a speed selection button, which is communicatively connected with the posture and position control module 41 for adjusting the speed mapping ratio, so that each joint can move at a faster or slower speed.
  • the operating unit 1100 includes both an operating handle 1110 and an interactive interface 1120.
  • the operator can select the operating handle 1110 or the interactive interface 1120 according to needs and combine different master-slave control modes to remotely operate the driving member 21.
  • the slave end 2 further includes a suction device 8 and a lavage fluid delivery device 9.
  • the lavage fluid delivery device 9 is in communication with the injection tube 53, and is used to deliver the perfusion fluid to the target tissue of the human body.
  • the suction device 8 is in communication with the suction tube 54 and is used to draw the effusion in the human body out of the body.
  • the control terminal 4 also includes a perfusion and suction control module 43, which is communicatively connected with the suction device 8 and the lavage fluid delivery device 9 to control the opening of the suction device 8 and the lavage fluid delivery device 9, and And operating parameters.
  • the operating unit 1100 is provided with a lavage fluid delivery button and a suction button, which are communicatively connected with the perfusion and aspiration control module 43 for receiving perfusion or aspiration instructions.
  • the lavage fluid delivery button and the suction button are arranged on the operating unit 1100 for easy operation.
  • the operating unit 1100 may also include general keys.
  • the control terminal 4 senses that the suction device 8 and the lavage fluid delivery device 9 are connected to the control terminal 4, the control terminal 4 maps the general keys to receive instructions for perfusion or suction.
  • the interactive interface 1120 includes a suction button 1127 and a sampling button 1128.
  • the sputum suction button 1127 and the sampling button 1128 are communicatively connected with the perfusion and suction control module 43 for receiving sputum suction or sampling instructions.
  • the control terminal 4 also includes a safety control module, which is used for position, speed and/or trajectory safety detection, such as position deviation detection, speed overrun detection , Detection of the difference between the actual speed and the desired speed, etc.
  • the master terminal 1 also includes an alarm device.
  • the alarm device may be a signal lamp, a buzzer or a warning message on an interactive interface.
  • different error reporting methods can be used, such as flashing signal lights, buzzer sounds of different frequencies, interactive interface information prompts, and so on.
  • the actuator 21 further includes sensors for measuring the position and/or speed of each joint.
  • the safety control module is communicatively connected with sensors to monitor whether the position and speed of each joint of the actuator 21 are matched with the expected position and the expected speed, and whether the trajectory of the bronchoscope matches the expected trajectory. If it does not match, the safety control module controls the alarm device of the master terminal 1 to report an error.
  • the master terminal 1 further includes a display unit 1300, the display unit 1300 is communicatively connected to the control terminal 4, and the display unit 1300 is used to display the master terminal interface.
  • Figure 7 illustrates a main interface display diagram during surgical operation.
  • the interactive interface 1120 is set on the main terminal interface.
  • the main terminal interface can also display surgical images.
  • control terminal 4 further includes an image signal processing and transmission module 42, which is communicatively connected with the bronchoscope 5 to receive information about the surgical environment (such as surgical instruments) from the bronchoscope 5 , Target lesions, tissues and organs and surrounding tissues and organs, blood vessels) image signals, and perform image processing such as denoising and sharpening on the image signals.
  • image signal processing and transmission module 42 is also communicatively connected with the display unit, so that the display unit displays an image according to the processed image signal, so that the operator can be based on the image captured by the bronchoscope 5
  • the image signal performs the next operation, such as controlling various components to adjust the position of the bronchoscope 5.
  • the interactive interface 1120 may be displayed superimposed on the surgical image, or may be displayed separately in different areas of the main terminal interface.
  • the posture planned by the operation unit 1100 and when the control master interface is in a locked state (the user cannot log in) is set
  • the positions are all at the initial zero position.
  • the end of the execution driver 21 will follow its posture and position, and its posture and position will also be at the initial zero position. That is to say, by default, the initial postures of the operating unit 1100 and the execution driving member are both at the initial zero position.
  • the master terminal 1 further includes a sensing unit, which is used for user login detection, specifically, for detecting whether there is an operator, and according to the detection As a result, the operating unit 1100 is locked or unlocked.
  • the sensing unit may be, for example, a photoelectric switch, and is provided on the display unit 1300.
  • the operating unit 1100 can perform master-slave control operations; if the presence of the operator is not detected, the operating unit 1100 will be in a system lock state .
  • the operation unit 1100 may be unlocked to allow the doctor to perform operations according to whether the slave terminal 2 has completed the operation confirmation.
  • the process of user login detection through the sensing unit specifically includes the following steps:
  • the sensing unit when logging in to the control master interface, the sensing unit detects whether there is an operator, if yes, execute step S12, if not, execute step S13;
  • control main terminal interface is in an operable state, and the user can perform operations.
  • the execution driving member 21 further includes an inner cavity and an adapter 24, and the adapter 24 is detachably disposed in the inner cavity for attaching
  • the bronchoscopes 5 of different models are fixed to the actuator 21, so that the surgical robot provided by the present invention can be adapted to the bronchoscopes 5 of different models on the market.
  • the slave end 2 further includes an information collection unit (for example, a sensor, an encryption chip, etc.), and the information collection unit is arranged at On the adapter 24, the information collection unit is used to record the man-machine interaction and control parameter information of the bronchoscope 5.
  • the human-computer interaction and control parameter information is used to match the master-slave control mapping relationship between the master terminal 1 and the execution driver 21, for example, the motion ranges of different bronchoscopes 5 in three directions, the master-slave terminal The mapping ratio of speed and/or position, the preset speed of each button when the interactive interface 1120 is used as an operating unit, and so on.
  • the information collection unit is used to record only the type of the bronchoscope 5.
  • the control terminal 4 includes a memory, and the memory includes a bronchoscope parameter database of information such as bronchoscope type, human-computer interaction, and control parameter information. After the control terminal 4 obtains the type of the bronchoscope 5 from the information collection unit, it searches for the corresponding human-computer interaction and control parameter information from the bronchoscope parameter database. If there is no matching data in the bronchoscope parameter database, the control terminal 4 controls the relevant equipment to issue an alarm that the bronchoscope 5 is not compatible, and the type of bronchoscope 5, human-computer interaction and control parameter information need to be written into the bronchoscope Parameter database.
  • the self-checking of the bronchoscope 5 is performed first, that is, the bronchoscope is obtained while detecting whether each joint moves normally.
  • the control terminal 4 first recognizes the type of the bronchoscope 5 connected to the slave terminal 2, and if the type of the bronchoscope 5 can be recognized, it retrieves the information of the type of bronchoscope 5 recorded by the information collection unit.
  • the information of the bronchoscope 5 may be stored in the control terminal 4. Only when the information of the bronchoscope 5 connected to the slave end 2 has been stored in the control end 4, the type of the bronchoscope 5 can be identified. As shown in Figure 4, the self-checking of the bronchoscope 5 card connection specifically includes the following steps:
  • the following takes the operation handle control combined with the absolute posture matching master-slave control as an example to describe the operation process in detail.
  • the main control interface In the surgical preparation stage, before the completion of the operation confirmation, the main control interface is in a locked state, that is, an inoperable state.
  • the bending/rotating posture operation buttons of the handle and the forward and backward movement operation buttons automatically return to the initial zero position by default.
  • the control terminal 4 After the bronchoscope 5 is connected, the control terminal 4 performs self-checking and encryption chip recognition, and then controls each joint of the slave terminal 2 to follow the posture, so that the posture of the robot slave terminal 2 is consistent with the initial posture of the master terminal 1.
  • the operating handle 1110 can enter the operating state.
  • the desired command position of the robot from the end 2 to bend up and down and rotate left and right is obtained, and then the robot is controlled From the end 2 to complete the corresponding up and down bending and left and right rotation movement.
  • the robot is controlled from the end 2 to complete the corresponding forward and backward movement.
  • the end of the bronchoscope 5 can be moved back and forth, bend up and down, and rotate left and right in the respiratory tract, and reach the lesion position in the upper/lower respiratory tract. Then, click the switch button of the operating handle 1110 to open the alveolar toilet fluid valve to wash the patient's alveoli. Each time you click to trigger the toilet liquid activation button, a specific volume of toilet liquid, such as 10ml, will be output. After completing the alveolar washing, click the 1110 toilet wash collection button on the operating handle to activate the negative pressure switch to start toilet liquid collection; in the same way, click the 1110 suction function button on the operating handle 1110 to activate the negative pressure switch, and the patient can suck sputum operation treatment.
  • the doctor can operate the corresponding control buttons on the interactive interface to control the bronchoscope 5 robot in the speed control mode.
  • Three degrees of freedom such as forward and backward movement, up and down bending, and left and right rotation, are controlled.
  • doctors can perform surgical diagnosis and treatment operations such as washing/sampling/sputum suction through the interactive interface.
  • the doctor can select the first master-slave control mode or the second master-slave control mode according to actual needs, or use both together.
  • the master-slave mapping control logic of the surgical robot system provided in this embodiment is roughly as follows:
  • the control terminal 4 establishes the operation unit 1100 and the execution unit 1100 according to the human-computer interaction and control parameter information of the bronchoscope 5 recorded by the information collection unit provided on the adapter 24 The master-slave mapping control relationship at the end of the driver 21;
  • the control terminal 4 plans the command position and command speed of the end of the execution driver 21 according to the position/speed sensor information of the operating unit 1100, and controls the station according to the command position and the command speed.
  • the related joints of the execution driving member 21 are described, so that the end of the execution driving member 21 can follow the posture and position.
  • each unit/module can be implemented in the same or multiple software and/or hardware.
  • the operating unit 1100, the control terminal 4, and the display unit 1300 may be integrated in the same hardware and embodied in a form similar to a tablet computer; or, the operating unit 1100, the control terminal 4 and the display unit 1300 are arranged independently of each other, the operation unit 1100 corresponds to a keyboard/mouse/control handle/touch interface, etc., the control terminal 4 corresponds to a host, and the display unit 1300 corresponds to a display.
  • the specific presentation shape of the main terminal 1 does not constitute a limitation to the present invention.
  • the number of the displays is multiple, which are respectively used for displaying images in the cavity, displaying the control main terminal interface and the login window, and so on.
  • the surgical robot system provided by the present invention replaces at least part of the work of medical staff by teleoperating the bronchoscope, which can significantly reduce the risk of medical staff being infected during the diagnosis and treatment of respiratory diseases.
  • the following further introduces the clamping mechanism, the mirror holding arm, and the mirror holding robot in the embodiments of the present application to solve the problem of safety risks in surgical operations in the prior art.
  • Figure 1 is a schematic diagram of a mirror holding robot provided by an embodiment of the present invention
  • Figure 9 is a partial schematic diagram of a bronchoscope provided by an embodiment of the present invention
  • Figure 10 Fig. 11 is a schematic diagram of a holding mechanism provided by an embodiment of the present invention
  • Fig. 12 is a schematic diagram of the use of a holding mechanism provided by an embodiment of the present invention, wherein the bronchus The mirror is configured without a clamping mechanism.
  • FIG. 13 is a schematic diagram from another angle of the clamping mechanism shown in FIG. 12, and
  • FIG. 14 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention.
  • FIG. 15 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the valve pressing mechanism is configured to be in the second locked state.
  • FIG. 16 is provided by an embodiment of the present invention.
  • Figure 17 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the lens fixing mechanism is installed on the clamping base Before
  • FIG. 18 is a schematic diagram of the use of the clamping mechanism provided by an embodiment of the present invention, in which the mirror body fixing mechanism is configured to be in the first locked state, and FIG.
  • FIG. 19 is a package of the aseptic isolation mechanism provided by an embodiment of the present invention. Schematic diagram of the scope.
  • FIG. 20 is a partial schematic diagram of an aseptic isolation mechanism provided by an embodiment of the present invention
  • FIG. 21 is a schematic diagram of a torque transmission mechanism of an aseptic isolation mechanism provided by an embodiment of the present invention
  • FIG. 22 is an implementation of the present invention
  • the torque transmission mechanism of the aseptic isolation mechanism provided in the example is installed on the clamping mechanism and is a partial cross-sectional view along the line "AA" in FIG. 21.
  • FIG. 23 is the first suitable aseptic isolation mechanism provided by an embodiment of the present invention
  • Figure 24 is a schematic diagram of the second adapter of the aseptic isolation mechanism provided by an embodiment of the present invention.
  • Figure 25 is a schematic diagram of the insert of the aseptic isolation mechanism provided by an embodiment of the present invention.
  • Figure 26 It is a schematic diagram of the aseptic isolation mechanism provided by an embodiment of the present invention installed on the clamping mechanism.
  • FIG. 27 is a schematic view of the aseptic isolation mechanism provided by an embodiment of the present invention after the insert is connected to the catheter protection mechanism.
  • 28 is a schematic diagram of a catheter holder of a sterile isolation mechanism provided by an embodiment of the present invention
  • FIG. 29 is a schematic diagram of a catheter holder of a sterile isolation mechanism provided by an embodiment of the present invention installed on a lens holder
  • FIG. 30 It is a schematic diagram of the catheter protection mechanism provided by an embodiment of the present invention being inserted into the catheter stent.
  • bronchoscopes are operated by medical staff. This makes it easy for medical staff to be exposed and infected when faced with highly contagious respiratory diseases.
  • an embodiment of the present invention provides a surgical robot, such as a mirror-holding robot.
  • the mirror-holding robot includes: Control end 4.
  • the control terminal 4 is in communication connection with the patient terminal.
  • the patient end includes the slave end or the mirror holding arm 2 and the robot body 3, and the mirror holding arm 2 is disposed on the robot body 3.
  • the lens holding arm 2 is used to hold a bronchoscope 5 to treat or detect the patient on the hospital bed 7.
  • the patient terminal can be set in the room where the patient is located, and the control terminal 4 communicates with the patient terminal in a wired or wireless manner.
  • the operator and the control terminal 4 are preferably located in different rooms from the patient terminal to realize the communication between the operator and the patient. Physical isolation.
  • the control terminal 4 and the patient terminal can also be separately located in different hospitals and different regions, and are connected by remote communication technology.
  • the bronchoscope 5 is a flexible bronchoscope, and includes a bronchoscope body 51, a catheter 52, an injection tube 53, a suction tube 54, a suction valve switch 55, and a catheter drive knob 56.
  • the catheter 52 includes an observation channel for inserting into the patient's lungs, bronchus and other target tissues, so that the operator can observe the target tissue lesions through the lens in the observation channel.
  • the catheter 52 may also include a functional channel communicating with the injection tube 53 for performing surgical operations such as perfusion and biopsy.
  • the operator injects liquid (such as saline or liquid medicine, etc.) into the distal end of the catheter 52 through the injection tube 53, and the liquid flows into the patient's lungs to achieve surgical operations such as bronchoalveolar lavage.
  • the functional channel is also in communication with the suction tube 54 through which liquid can be sucked from the distal end of the catheter 52 to suck the fluid in the patient's body.
  • the suction valve switch 55 can control the opening and closing of the suction tube 54 to realize the control of the suction of the liquid.
  • the operator needs to press the suction valve switch 55 to turn on the suction.
  • the catheter drive knob 56 is used to drive the distal end of the catheter 52 to swing, and the operator can adjust the swing direction of the distal end of the catheter 52 by rotating the catheter drive knob 56.
  • the operator holds the bronchoscope body 51 and manipulates the bronchoscope 5 to be delivered forward and backward to the distal end, so that the catheter 52 is moved forward and backward in the axial direction, so that the distal end of the catheter 52 is at the target of the patient.
  • the operator can also manipulate the bronchoscope 5 to rotate circumferentially within the range of ⁇ 120° around the axis, so that the distal end of the catheter 52 can be rotated circumferentially within the target tissue of the patient to achieve the distal position of the catheter 52
  • Make adjustments the operator manipulates the catheter drive knob 56 to swing the distal end of the catheter 52 within the target tissue of the patient. In this way, the posture adjustment of the distal end of the catheter 52 is realized.
  • the lens holding arm 2 provided in this embodiment realizes the clamping of the bronchoscope 5 and the adjustment of the drive of the bronchoscope 5 to the desired posture.
  • the bronchoscope can also be realized 5. Injection and suction functions.
  • the lens holding arm 2 includes: a base 26, a lens holding base 27, and a clamping mechanism 10;
  • the lens holder 27 is rotatably arranged on the base 26 around its own axis 20.
  • the clamping mechanism 10 is used to clamp the bronchoscope 5.
  • the clamping mechanism 10 moves axially on the lens holder 27 to drive the bronchoscope 5 to move forward and backward in the axial direction.
  • the lens holder 27 rotates around its own axis 20 to drive the clamping mechanism 10 and the bronchoscope 5 to rotate around the axis.
  • a person skilled in the art can, according to the prior art, provide a rotary joint on the base 26 to drive the lens holder 27 to rotate; and provide a movable joint on the lens holder 27 to move the clamping mechanism 10.
  • the rotary joint and the moving joint can be driven in the form of a servo motor, a linear motor, a screw mechanism or an air cylinder, for example.
  • the rotary joint and the mobile joint can be communicatively connected with the control terminal 4, and the operator can remotely control them.
  • the robot body 3 may also include more joints to provide a more flexible adjustment method, higher adjustment accuracy and larger working space for the mirror arm 2.
  • the robot body 3 may be provided with lifting joints or several rotations. Joints, etc., so that the mirror-holding arm 2 can be raised and lowered or can be rotated vertically around the robot body 3, etc.
  • These lifting joints or rotating joints are also communicatively connected with the control terminal 1, and the movement is realized under the control of the control terminal 1.
  • the robot body 3 is provided with casters, which is convenient for the operator to move the entire mirror-holding robot.
  • the rotation angle of the lens holder 27 ranges between ⁇ 170°.
  • the circumferential rotation (ie, rotation) angle of the existing bronchoscope 5 is often limited, and is generally within the range of ⁇ 120°.
  • the rotation of the lens holder 27 can provide a larger range for the rotation angle of the bronchoscope 5 to increase the working space of the bronchoscope 5.
  • the rotation of the lens holder 27 is driven by a structure such as a servo motor, the accuracy of its rotation is relatively high.
  • the clamping mechanism 10 includes: a clamping base 11, a knob driving mechanism 15, and a lens fixing mechanism 13.
  • the knob driving mechanism 15 is used for coupling with the catheter driving knob 56 of the bronchoscope 5 to drive the distal end of the bronchoscope 5 to swing through the catheter driving knob 56.
  • the holding seat 11 has an inner cavity 110, and the inner cavity 110 has a radial opening facing the bronchoscope 5.
  • the inner cavity 110 is used for the bronchoscope body 51 to be inserted from the opening.
  • the mirror body fixing mechanism 13 is switched between a first locked state and a first open state.
  • the clamping mechanism 10 further includes a valve pressing mechanism 12.
  • the valve pressing mechanism 12 includes a valve pressing block 121 (shown in FIG. 12), and the valve pressing mechanism 12 switches between a second locked state and a second open state.
  • the valve pressing block 121 is used to direct the suction valve switch 55 of the bronchoscope 5 in the inner cavity 110 (shown in FIG. 9). ) Apply force to open the suction valve switch 55; when the valve pressing mechanism 12 is in the second open state, release the force applied to the suction valve switch 55.
  • the patient end may also be provided with a suction device 8 (see FIG. 9 ), and the suction device 8 is in communication with the suction tube 54 and is communicatively connected with the control end 4.
  • the operator can control the suction flow at the control end 4 by controlling the suction device, such as suction flow, flow rate and so on.
  • the suction device 8 includes components such as a solenoid valve or a proportional valve, which can realize the opening and closing of the suction passage, and the flow control.
  • the valve pressing mechanism 12 presses the suction valve switch 55 through the valve pressing block 121, which can keep the suction valve switch 55 in a normally open state, and achieve this by controlling the suction device The opening and closing of the suction path.
  • the duct 52 is generally a hose, and the duct 52 may bend during the axial movement of the clamping mechanism 10 with the lens holding arm 2.
  • the clamping mechanism 10 further includes a catheter protection mechanism 14; the catheter protection mechanism 14 is detachably arranged at the distal end of the clamping base 11 for the catheter 52 of the bronchoscope 5 to pass through.
  • the setting of the catheter protection mechanism 14 can limit the radial bending of the catheter 52 and avoid undesired bending of the catheter 52.
  • the distal end of the catheter protection mechanism 14 may be close to the head of the patient, that is, close to the insertion end of the catheter 52.
  • the bronchoscope 5 Since the operation needs to be performed in a sterile environment, the bronchoscope 5 needs to be sterilized before the operation. In addition, patients of different body types, conditions and treatment methods require different models and types of bronchoscopes.
  • the inner cavity 110 is configured to have an opening facing the bronchoscope 5 in a radial direction. With this arrangement, the bronchoscope body 51 can be easily inserted into the inner cavity 110 of the holder 11, so that the bronchoscope body 51 can be restricted by the mirror body fixing mechanism 13 and the bronchoscope 5 can be restricted by the catheter protection mechanism 14
  • the duct 52 protects.
  • a clamping of the entire bronchoscope 5 is formed, thereby replacing the operation mode of the operator holding the bronchoscope 5 and facilitating the replacement or installation of the bronchoscope 5.
  • This further makes it possible to arrange the clamping mechanism 10 on the mirror holding arm 2 and the mirror holding robot to allow the operator to manipulate the bronchoscope 5 through remote control, thereby avoiding the operator from being exposed to high-risk areas and reducing the need for the operator Physical fatigue during the operation also reduces the risk of infection.
  • the clamping seat 11 includes a first positioning member 111.
  • the lens body fixing mechanism 13 includes a lens body pressing block 131 and a second positioning member 132.
  • the second positioning member 132 is fixedly disposed on the lens body pressing block 131.
  • the first positioning member 111 and the second positioning member 132 are configured to be mated and connected.
  • At least part of the shape of the lens body pressing block 131 is adapted to the shape of the bronchoscope body 51.
  • the lens body pressing block 131 is movably disposed on the clamping base 11.
  • the lens body pressing block 131 is rotatably arranged on the clamping base 11 through a pin shaft; or the mirror body pressing block 131 is slidably arranged on the clamping base 11 through a sliding groove.
  • the lens body pressing block 132 is detachably disposed relative to the clamping base.
  • the restriction on the bronchoscope body 51 here includes restricting at least one of the movement of the bronchoscope body 51 in the axial, radial and circumferential directions, preferably restricting the bronchoscope body 51 in the axial, radial and circumferential directions.
  • the lens body pressing block 132 covers at least a part of the opening of the inner cavity 110 to restrict the bronchoscope body 51 from coming out of the opening.
  • the lens body pressing block 131 when the lens body pressing block 131 is movably arranged on the clamping base 11, the first positioning member 111 and the second positioning member 132 are disconnected from the mating connection, and the lens body pressing block 131 is rotated or slid to expose the inner cavity 110, so that the lens fixing mechanism 13 is in the first open state.
  • the lens body pressing block 131 is detachably arranged with respect to the clamping base 11, the first positioning member 111 and the second positioning member 132 are disconnected from the mating connection, and the lens body pressing block 131 is configured to be detached from the clamping seat.
  • the seat 11 exposes the opening of the inner cavity 110, so that the lens fixing mechanism 13 is in the first open state.
  • the first positioning member 111 and the second positioning member 132 include magnetic members that engage with each other; or, the first positioning member 111 and the second positioning member 132 include engaging members that engage with each other.
  • the first positioning member 111 and the second positioning member 132 should be configured as a mechanism that can be quickly connected and disconnected.
  • the first positioning member 111 and the second positioning member 132 include magnetic members that are attracted to each other. It should be understood that the magnets attracted to each other here are not limited to the first positioning member 111 and the second positioning member 132 including magnets at the same time.
  • One of them may include a magnet and the other may include a ferromagnetic body, such as the first positioning member.
  • 111 includes a permanent magnet
  • the second positioning member 132 includes an iron block, as long as the two can be attracted to each other.
  • the opposing surfaces of the two magnets should be configured as different poles.
  • the first positioning member 111 and the second positioning member 132 include buckling members that are engaged with each other, and the two can be engaged and connected by pressing relative to each other and separated from each other by pulling apart.
  • the lens body pressing block 131 may be integrally formed with the second positioning member 132, and even the whole lens body pressing block 131 is made of ferromagnetic material. It is understandable that for various bronchoscopes 5 of different models, a plurality of lens body pressing blocks 131 of different shapes can be equipped to improve the adaptability of the mirror-holding robot.
  • the lens body fixing mechanism 13 further includes a lens body spacer 133.
  • the lens block 133 is detachably disposed on the clamping base 11.
  • the lens body pad 133 is located between the lens body pressing block 131 and the holding seat 11, and is connected to the first positioning
  • the member 111 and at least one of the second positioning member 132 are matedly connected.
  • at least part of the shape of the lens body spacer 133 is adapted to the outer contour of the bronchoscope body 51. In actual use, the lens body spacer 133 directly abuts and contacts the bronchoscope body 51 to achieve a limit on the bronchoscope body 51.
  • a plurality of mirror body blocks 133 of different shapes can be equipped to improve the adaptability of the mirror-holding robot.
  • the side of the lens body pressing block 131 and the lens body pad 133 for abutting contact with the bronchoscope body 51 may be provided with a flexible material such as silicone to form a soft cushion to avoid scratches and damage to the bronchoscope body 51.
  • the lens body pressing block 131 and the lens body spacer 133 can also be made of polymer materials to make them relatively soft, so as not to scratch or damage the bronchoscope body 51.
  • a magnet or a magnet such as a ferromagnetic piece, may be provided on the mirror body spacer 133 at positions corresponding to the first positioning member 111 and the second positioning member 132. In this way, the mirror body block 133 can be conveniently positioned to a proper position.
  • fixing holes may be opened on the mirror block 133 corresponding to the first positioning member 111 and the second positioning member 132. The size of the fixing hole is adapted to the size of the first positioning member 111 so that it can be sleeved and snapped on the first positioning member 111, so that when the second positioning member 132 is mated and connected with the first positioning member 111, the At the same time, the position of the mirror block 133 is fixed.
  • the knob driving mechanism 15 includes a transmission component 152.
  • the transmission component is rotatably arranged on the clamping base 11 and is used to drive the catheter driving knob 56 of the bronchoscope 5 to rotate.
  • the patient end also includes a knob driving component, which is communicatively connected with the control terminal 4 and used to drive the transmission component 152 in the knob driving mechanism 15 to rotate, thereby realizing the swing of the end of the bronchoscope 5.
  • the transmission component 152 includes a cam 153 located in the inner cavity 110 and a transmission shaft 154 passing through the clamping base 11. The driving component is arranged outside the clamping base 11 and is coupled to the transmission shaft 154.
  • the cam 153 is eccentrically arranged with respect to the transmission shaft 154 and is coupled to the catheter drive knob 56 of the bronchoscope 5 for driving the catheter drive of the bronchoscope 5 under the rotation of the transmission shaft 154
  • the knob 56 is turned. Since the cam 153 is eccentrically arranged with respect to the transmission shaft 154, the transmission shaft 154 rotates and drives the cam 153 to rotate under the drive of the driving component, and the coupling of the cam 153 and the catheter drive knob 56 swings around the axis of rotation of the transmission shaft 154 (Refer to Figures 21 and 22).
  • the cam 153 is connected to the catheter drive knob 56 through a torque transmission mechanism 62.
  • the torque transmission mechanism 62 includes a cam sleeve 621 located on the outer side and a limiting body 622 located on the inner side.
  • the cam sleeve 621 is used to be sleeved on the cam 153 so that the torque transmission mechanism 62 rotates with the cam 153.
  • the limiting body 622 is used for connecting with the catheter driving knob 56 and driving the catheter driving knob 56 to rotate. After the cam sleeve 621 is sleeved on the cam 153, at least the circumferential direction remains relatively stationary with the cam 153.
  • the restricting body 622 is matched with the catheter driving knob 56 so that when the cam sleeve 621 rotates with the cam 153, the restricting body 622 then drives the catheter driving knob 56 to rotate, so that the catheter driving knob 56 is driven to rotate by the knob driving component.
  • the cam 153 includes two opposite sides, and the two sides are parallel.
  • the cam sleeve 621 includes a slot for receiving the cam 153 and the size of the slot is adapted to the distance between the two sides of the cam 153.
  • the cam sleeve 621 has an open end along the extending direction of the slot, and the cam sleeve 621 is sleeved on the cam 153 from the open end. With this configuration, the cam sleeve 621 can be conveniently sleeved and installed on the cam 153 along the opening direction of the inner cavity 110.
  • the transmission component 152 is not limited to the combination of the cam 153 and the transmission shaft 154.
  • it can also be driven by a magnetic coupling, which can also easily transfer the torque from the clamping base 11 Transfer to the inner cavity 110.
  • the valve pressing block 121 is rotatably disposed on the clamping seat 11.
  • the valve pressure block 121 can rotate between an open position and a closed position. As shown in Figs. 12 and 14, the valve pressure block 121 is in the open position, and the suction valve switch 55 is not subjected to external force and remains closed. As shown in FIG. 15, the valve pressing block 121 is in the closed position, exerting force on the suction valve switch 55 to keep the suction valve switch 55 in the open state. Furthermore, when the valve pressing block 121 is in the open position, the bronchoscope body 51 can be freely taken out and put in from the opening of the inner cavity 110 more conveniently.
  • valve pressure block 121 When the valve pressure block 121 is in the closed position, the valve pressure block 121 can not only apply force to the suction valve switch 55, but also restrict the bronchoscope body 51 located in the inner cavity 110 to further ensure that the bronchoscope The fixed effect of the body 51.
  • the rotation axis of the valve pressing block 121 is perpendicular to the axial direction of the bronchoscope 5.
  • the valve pressure block 121 is not limited to be rotatably disposed on the clamping seat 11, and the valve pressure block 121 may also be slidably disposed on the clamping seat 11, even relative to The clamping base 11 is detachably arranged.
  • a sliding groove may be provided on the clamping seat 11, and the valve pressing block 121 slides on the sliding groove.
  • the valve pressure block 121 slides to the desired position, it can overlap with the suction valve switch 55 and apply force to the suction valve switch 55; and when the valve pressure block 121 slides in the opposite direction, the suction valve switch 55 can be exposed. Releasing the force applied to the suction valve switch 55 can also expose the opening of the inner cavity 110 further.
  • Those skilled in the art can appropriately configure the connection between the valve pressure block 121 and the clamping seat 11 based on the above-mentioned ideas and actual conditions.
  • the valve pressing mechanism 12 includes a locking buckle 122 arranged on the clamping seat 11.
  • the locking buckle 122 is configured to lock the rotation of the valve pressing block 121 so that the valve pressing mechanism 12 is in the second locked state.
  • the locking buckle 122 is configured to unlock the rotation of the valve pressing block 121 so that the valve pressing mechanism 12 is in the second open state.
  • the locking buckle 122 can lock the valve pressure block 121 to maintain the force of the valve pressure block 121 on the suction valve switch 55.
  • the locking buckle 122 can be configured to be locked and unlocked by pressing. Those skilled in the art can appropriately set the locking buckle 122 according to the prior art, which will not be repeated here.
  • the catheter protection mechanism 14 includes a telescopic sheath 141 and a connecting portion 142.
  • the connecting portion 142 is used for detachably connecting with the clamping base 11.
  • the telescopic sheath 141 is fixedly connected to the connecting portion 142 and is arranged telescopically along the axial direction.
  • the connecting portion 142 has a first through hole for penetrating the catheter 52 of the bronchoscope 5, and the telescopic sheath 141 has a second through hole for penetrating the catheter 52 of the bronchoscope 5 ,
  • the first through hole and the second through hole are arranged coaxially.
  • the holder 11 In use, the holder 11 needs to move axially along the lens holder 27, but the robot body 3 generally does not move so that the distance between the robot body 3 and the patient does not change and the distal end of the catheter protection mechanism 14 should be close The patient should also remain unchanged or keep a distance away from the patient. Therefore, the catheter protection mechanism 14 needs to be configured to be retractable, so that when the clamping base 11 moves in the axial direction, the distal end position of the catheter protection mechanism 14 remains unchanged or controlled.
  • the connecting portion 142 is detachable relative to the clamping base 11 so that the catheter protection mechanism 14 can be sleeved outside the catheter 52.
  • the connecting portion 142 is detachably connected with the clamping base 11 through an insert 63.
  • the inner cavity 110 has a limit surface 112, and the limit surface 112 is used to limit the circumferential rotation and movement of an insert 63 toward the distal end.
  • the insert 63 includes a stepped surface 631, and the stepped surface 631 is used to abut against the limiting surface 112 of the clamping seat 11 to restrict the insert 63 from rotating circumferentially and moving toward the distal end.
  • the distal end of the insert 63 has a fixing portion 632 for detachably connecting with the connecting portion 142 of the catheter protection mechanism 14.
  • the connecting portion 142 has an internal thread
  • the fixing portion 632 has an external thread matching the connecting portion 142.
  • the fixing portion 632 is used to drive the insert 63 to move distally under the rotation of the connecting portion 142, so that the step surface 631 abuts the limit surface 112, and the connecting portion 142 The proximal surface of the clamp abuts against the distal surface of the clamping seat 11.
  • the connecting portion 142 has an external thread
  • the fixing portion 632 has an internal thread.
  • the insert 63 has a third through hole that penetrates, and the third through hole is used for the catheter 52 of the bronchoscope 5 to pass through.
  • the third through hole remains coaxial with the first through hole and the second through hole.
  • the connection manner of the catheter protection mechanism 14 and the clamping base 11 is not limited to the above manner.
  • the catheter protection mechanism 14 can also be connected to the clamping base 11 by means of snaps, etc., and those skilled in the art can make changes according to actual conditions.
  • the telescopic sheath 141 includes a plurality of telescopic sections 143, and the plurality of telescopic sections 143 are coaxially sleeved and connected in sequence.
  • the telescopic sheath 141 expands and contracts by the mutual movement of the plurality of telescopic joints 143 in the axial direction.
  • the telescopic sheath 141 includes a plurality of telescopic sections 143, so that the telescopic sheath 141 can be telescopic in the axial direction like a fishing rod.
  • the telescopic sheath 141 can also adopt other structures, such as a bellows structure, a number of collars arranged at intervals, etc. Those skilled in the art can choose a suitable structure according to the prior art. Unlimited.
  • the lens holding arm 2 further includes a catheter holder 28, and the catheter holder 28 is disposed at the distal end of the lens holder 27.
  • the catheter support 28 and the lens holder 27 are detachably connected.
  • the catheter support 28 is used to connect with the catheter protection mechanism 14 and restrain the catheter protection mechanism 14 at least in the telescopic direction of the catheter protection mechanism 14.
  • the arrangement of the catheter support 28 can provide additional support for the distal end of the catheter protection mechanism 14 and improve the stability of the catheter protection mechanism 14.
  • the catheter holder 28 has a fourth through hole.
  • the inner diameter of the fourth through hole is matched with the outer diameter of the telescopic sheath 141 of the catheter protection mechanism 14, allowing the catheter support 28 to be sleeved with the catheter protection mechanism 14.
  • the fourth through hole and the third through hole are arranged coaxially.
  • the catheter support 28 may also be in the form of an open bracket, which only needs to provide a supporting force for the distal portion of the catheter protection mechanism 14. Therefore, it can be understood that the catheter support 28 restricts the radial swing of the catheter protection mechanism 14 so that it can have radial freedom in only one direction, such as restricting the radial freedom of the catheter protection mechanism 14 in the direction of gravity, without restricting Upward radial degrees of freedom.
  • the open bracket can also be configured to have magnetism, and correspondingly, the distal portion of the catheter protection mechanism 14 is an adapted magnetic or ferromagnetic piece, for example, the telescopic sheath 141 is an iron pipe. In this way, the open bracket can also provide attractive force to the distal portion of the catheter protection mechanism 14 to fix the distal portion of the catheter protection mechanism 14.
  • the catheter support 28 and the catheter protection mechanism 14 are detachably connected, that is, the catheter protection mechanism 14 can be set separately from the catheter support 28. After the catheter 52 is inserted into the catheter protection mechanism 14, the catheter protection mechanism 14 and the catheter support 28 are assembled and connected.
  • the catheter support 28 is movably arranged on the catheter protection mechanism 14, such as slidably or rotatably arranged on the catheter protection mechanism 14. In some other embodiments, the catheter support 28 may also be detachably fixed on the catheter protection mechanism 14 or even be integrally formed with the catheter protection mechanism 14.
  • the operation process needs to be performed in a sterile environment, so the bronchoscope 5 needs to be replaced and sterilized before the operation.
  • components such as the holder 11, the lens holder 27, and the base 26 are difficult to sterilize by common sterilization methods because they are provided with electronic components. Therefore, it is necessary to use a sterile isolation mechanism to wrap these components during surgery, so that these components are physically separated from the sterile area. After one use, the aseptic isolation mechanism can be replaced.
  • an embodiment of the present invention also provides a sterile isolation mechanism 60.
  • a sterile isolation mechanism 60 Please refer to Figure 19, which shows an exemplary setting range of the aseptic isolation mechanism 60, which at least wraps the holder 11, the lens holder 27 and the base 26, and at least the The catheter protection mechanism 14 is exposed.
  • the aseptic isolation mechanism 60 also wraps components such as the valve pressing mechanism 12 and the rotation driving component.
  • the aseptic isolation mechanism 60 may also wrap a part of the robot body 3 or the entire robot body 3. In this way, the exposed catheter protection mechanism 14 and the covered inner cavity 110 can be conveniently used for replacement and installation of the bronchoscope 5. Therefore, after the sterile isolation mechanism 60 is replaced after one use, the robot can be quickly used for the next use, which improves the use efficiency of the entire mirror-holding robot.
  • the aseptic isolation mechanism 60 provided in this embodiment will be schematically described below with reference to an exemplary example.
  • the aseptic isolation mechanism 60 includes an isolation bag 61 and a torque transmission mechanism 62.
  • the aseptic isolation mechanism 60 further includes an insert 63.
  • the isolation bag 61 is used to isolate the clamping seat 11 of the clamping mechanism 10 from the first side (the side with bacteria), and isolate the bronchoscope 5 and the catheter protection mechanism 14 from the second side (the sterile side).
  • the torque transmission mechanism 62 is fixedly arranged on the second side of the isolation bag 61 for driving from the first side through the isolation bag 61 to the second side (mainly to the catheter of the bronchoscope 5) Knob 56) transmits torque.
  • the insert 63 is used to detachably connect with the catheter protection mechanism 14.
  • the isolation bag 61 is mainly used to wrap the parts of the mirror-holding robot that need to be wrapped, such as the clamping base 11, the mirror-holding base 27, the base 26, and the robot body 3, etc.
  • the isolation bag 61 can be made of a polymer film, preferably a transparent polymer film. It should be understood that, since the isolation bag 61 is a flexible film and has no specific shape, the isolation bag 61 shown in FIG.
  • the aseptic isolation mechanism includes: an isolation bag, a torque transmission mechanism, and an insert.
  • the isolation bag is used to isolate an isolated device from the first side and an exposed device from the second side; the torque transmission mechanism is provided on the second side of the isolation bag for self-location The isolated device on the first side transmits torque to the exposed device on the second side through the isolation bag; the insert is used to cooperate with the isolated device, and at least a part of the insert is provided On the second side of the isolation bag.
  • the sterile isolation mechanism is not limited to wrapping the above-mentioned mirror-holding robot, but can also be used to wrap other isolation devices. replace.
  • the insert 63 For the setting principle and structure of the insert 63, please refer to the previous description. It should be noted here that at least the part of the insert 63 for connecting with the catheter protection mechanism 14 is located in the aseptic area on the second outer side of the isolation bag 61.
  • the insert 63 can be fixedly connected with the isolation bag 61.
  • the connection between the insert 63 and the isolation bag 61 can be, for example, bonding or welding, which is not limited in the present invention.
  • the insert 63 should be replaced together with the isolation bag 61 after one use. It should be understood that the isolation bag 61 in FIG. 25 to FIG.
  • the insert 63 is arranged on the second side of the isolation bag 61 without having to penetrate the isolation bag 61.
  • the insert 63 can be fixed to the isolation bag 61 in the above-mentioned manner.
  • the insert 63 can also be used as a separate component to be adjacent to the isolation bag 61 during assembly. For example, after the isolation bag 61 covers the inner cavity 110, the insert 63 is placed on the second side of the isolation bag 61, and then cooperates with the clamping seat 11 and the catheter protection mechanism 14.
  • the insert 63 as an independent component can be sterilized by conventional methods to reduce medical pollution.
  • the catheter drive knob 56 of the bronchoscope 5 is operated.
  • the setting of the torque transmission mechanism 62 can realize that the tube driving knob 56 located outside the isolation bag 61 can be driven by the knob drive member located inside the isolation bag 61, and the setting of the insert 63 can realize the clamping seat 11 located inside the isolation bag 61 Effective isolation from the catheter protection mechanism 14 located outside the isolation bag 61. It can be understood that at least a part of the insert 63 is located in the sterile area outside the isolation bag 61, and this part is used to fix the catheter protection mechanism 14.
  • the torque transmission mechanism 62 includes a cam sleeve 621, and the cam sleeve 621 can drive the catheter driving knob 56 to rotate through a knob driving component.
  • the cam sleeve 621 can drive the catheter driving knob 56 to rotate through a knob driving component.
  • the isolation bag 61 in FIG. 21 is represented by a plurality of curves, which only shows a part of the isolation bag 61 and does not limit the installation range of the isolation bag 61.
  • the isolation bag 61 is not illustrated.
  • the cam sleeve 621 is located in the aseptic area on the second side outside the isolation bag 61.
  • the cam sleeve 621 may be fixedly connected to the isolation bag 61 by bonding or welding, for example.
  • the isolation bag 61 may have wrinkles in the area near the cam sleeve 621, which is loosely assembled, that is, it is not in a tight state.
  • the wrinkled isolating bag 61 gives the cam sleeve 621 a certain degree of freedom, so that the cam sleeve 621 can drive a part of the wrinkled isolating bag 61 to rotate together, so as to ensure the tightness of the isolation while torque is transmitted. And completeness.
  • the aseptic isolation mechanism 60 also includes a first adapter 64, which is fixedly arranged on the isolation bag 61 and is used to interact with the clamping seat
  • the first positioning member 111 of 11 is detachably connected to position the isolation bag 61 in the inner cavity 110.
  • the first adapter 64 is also used to detachably connect with the second positioning member 132 to connect the lens fixing mechanism 13 with the clamping base 11.
  • the first adapter 64 can be integrated with the mirror body block 133. That is, the first adapter 64 is fixedly disposed at the position of the mirror body block 133 corresponding to the first positioning member 111 and the second positioning member 132.
  • the first adapter 64 may be located on the first side or on the second side.
  • the member 64 can be fixedly connected to the isolation bag 61 by bonding or welding.
  • the first adapter 64 can also be provided separately from the lens body spacer 133, that is, the first adapter member 64 is independent of the lens body spacer 133. At this time, other positioning members can be independently provided at corresponding positions on the clamping base 11 for the first adapter 64 to connect and position.
  • the first adapter 64 includes a magnetic member or a magnet, and the magnetic member is used to attract and engage the first positioning member 111; or, the first adapter 64 includes a card A fastener, the fastener is used to engage with the first positioning member 111.
  • the first adapter 64 can also be correspondingly set differently. For example, when the first positioning member 111 includes a magnetic member, the first adapter 64 may also include a magnetic member. Further, the second positioning member 132 can also be sucked and positioned. When the first positioning member 111 includes a buckle, the first adapter 64 includes a matching buckle member, which can be locked on the first positioning member 111.
  • the second positioning member 132 can also be locked and connected.
  • the first adapter 64 may be connected to the first positioning member 111 by magnetic attraction, and may be connected to the second positioning member 132 in a snap-fit manner; or the first adapter 64 It can be connected to the first positioning member 111 in a snap-fit manner, and connected to the second positioning member 132 in a magnetic attraction manner, and the installation convenience is also high.
  • the clamping base 11 includes a third positioning member 113.
  • the aseptic isolation mechanism 60 further includes a second adapter 65 which is fixedly arranged on the isolation bag 61.
  • the third positioning member 113 is used for mating connection with the corresponding second adapter 65 of the aseptic isolation mechanism 60 to fix the aseptic isolation mechanism 60.
  • the second adapter 65 includes a magnetic member or a magnet, and the magnetic member is used to attract and engage the third positioning member 113; or, the second adapter 65 includes a card.
  • a fastener the fastener is used to engage with the third positioning member 113.
  • the third positioning member 113 and the second adapter 65 include magnets that are adapted to attract, for example, the first
  • the three positioning member 113 includes a circular iron sheet
  • the second adapter 65 includes a permanent magnet that matches the size of the iron sheet. At this time, the two can be connected quickly to achieve connection, or they can be easily separated.
  • the third positioning member 113 is located in the proximal region of the clamping seat 11, close to the valve pressing mechanism 12.
  • the catheter support 28 is fixedly arranged on the isolation bag 61 for detachably connecting with the lens holder 27 and the catheter protection mechanism 14 to The catheter protection mechanism 14 is restricted at least in the extending direction of the catheter protection mechanism 14.
  • the catheter support 28 for connecting with the catheter protection mechanism 14 is preferably arranged on the second side of the isolation bag 61, that is, in the isolation bag. 61 Outside the sterile area.
  • the catheter holder 28 should be replaced with the isolation bag 61 after one use. Therefore, in the case where the aseptic isolation mechanism 60 is provided, the catheter holder 28 may not be included in the lens holding arm 2 but is included in the aseptic isolation mechanism 60.
  • the catheter support 28 can be fixedly connected to the isolation bag 61 by means of bonding or the like.
  • the distal end of the lens holder 27 is provided with a mounting seat for the catheter holder 28 to be assembled, and a part of the catheter holder 28 for connecting with the lens holder 27 is preferably arranged on the first side of the isolation bag 61 , That is, inside the isolation bag 61.
  • the part of the catheter support 28 on the first side is detachably connected to the mounting seat, for example, it can be connected by a snap or magnetic attraction.
  • Step 0 Referring to FIG. 19, insert the isolation bag 61 of the sterile isolation mechanism 60 from the head of the mirror holding arm 2, and tighten the isolation bag 61 after the mirror holding arm is installed in place.
  • Step 1 Referring to FIG. 11, the lens fixing mechanism 13 of the clamping mechanism 10 is configured in the first open state, and the valve pressing mechanism 13 is configured in the second open state to expose the opening of the inner cavity 110 of the clamping seat 11;
  • Step 2 Referring to Figure 21 and Figure 22, according to the model of the bronchoscope 5, select the appropriate 621 cam sleeve, and set the cam sleeve 621 of the sterile isolation mechanism 60 on the cam 153;
  • Step 3 Referring to Figure 24, according to the model of the bronchoscope 5, select the appropriate lens spacer 133, and install the lens spacer 133 on the holder 11, where the lens spacer 133 is used to fit the bronchus A part of the mirror body 51 is located in the inner cavity 110; and the first adapter 64 is matedly connected with the first positioning member 111;
  • Step 4 With reference to Figure 25, set the insert 63 on the catheter 52 of the bronchoscope 5;
  • Step 5 Referring to Fig. 14, according to the direction of aligning the catheter drive knob 56 of the bronchoscope 5 with the cam sleeve 621, the bronchoscope body 51 is inserted into the inner cavity 110, and at the same time the insert 63 is inserted into the inner cavity 110;
  • Step 6 Referring to Figure 15, flip the valve pressing block 121, the locking buckle 122 locks the valve pressing block 121, so that the valve pressing mechanism 12 is in the second locked state, and the suction valve switch 55 is kept open;
  • Step 7 Referring to Fig. 16 in combination with Fig. 26, set the catheter protection mechanism 14 on the catheter 52 of the bronchoscope 5, and connect the connecting portion 142 of the catheter protection mechanism 14 to the fixing portion 632 of the insert 63 and tighten it. Connect the catheter protection mechanism 14 and the clamping base 11;
  • Step 8 Referring to FIG. 17, mount the lens body pressing block 131 on the holding base 11, make the second positioning member 132 and the first positioning member 11 fit and connect, and configure the lens body fixing mechanism 13 in the first locking state. In this way, referring to FIG. 18, the bronchoscope 5 is reliably clamped on the clamping mechanism 10.
  • Step 9 Referring to FIG. 25, connect the second adapter 65 and the third positioning member 113 to fix the isolation bag 61;
  • Step 10 Referring to Fig. 28, set the catheter stent 28 on the catheter 52 of the bronchoscope 5, and then install the catheter stent 28 on the mounting seat at the distal end of the lens holder 27;
  • Step 11 Referring to FIG. 29, extend the telescopic sheath 141 so that it penetrates into the fourth through hole of the catheter holder 28;
  • Step 12 Complete the installation.
  • the bronchoscope 5 and the aseptic isolation mechanism 60 are installed on the arm 2 for holding the lens. After completing one use, the above steps can be reversed to remove the bronchoscope 5 and the aseptic isolation mechanism 60 for the next use. It should be understood that the above steps are not limited to being executed in order, and the execution order of some steps can also be adjusted.
  • the aseptic isolation mechanism includes an isolation bag, a torque transmission mechanism and an insert.
  • the isolation bag is used to isolate the clamping seat of the clamping mechanism from the first side, and isolate the bronchoscope and the catheter protection mechanism of the clamping mechanism from the second side.
  • the torque transmission mechanism is fixedly arranged on the second side of the isolation bag for transmitting torque from the first side to the second side through the isolation bag.
  • the insert is used for detachably connecting with the catheter protection mechanism, and at least the part of the insert for connecting with the catheter protection mechanism is fixedly arranged on the second side of the isolation bag.
  • the insert block is also used to be detachably arranged in the inner cavity of the clamping seat.
  • the isolation bag can at least wrap and isolate the parts that are difficult to sterilize, such as the holder, the lens holder, and the base.
  • the setting of the torque transmission mechanism can realize the drive member located inside the isolation bag to drive the catheter drive knob located outside the isolation bag, and the setting of the insert can realize the protection of the clamping seat located inside the isolation bag and the catheter located outside the isolation bag Effective isolation of institutions.
  • the aseptic isolation mechanism wraps the mirror-holding arm, and further wraps the part of the mirror-holding robot that needs to be isolated, so that the operator can control the bronchoscope through remote control, avoiding the operator from being exposed to high-risk areas and reducing the operator Physical fatigue during the operation also reduces the risk of infection.
  • the clamping mechanism provided by the present invention includes a clamping seat, a valve pressing mechanism, a lens body fixing mechanism, and a catheter protection mechanism.
  • the holding seat has an inner cavity with an opening facing the radial direction of the bronchoscope, and the inner cavity is used to allow the body of the bronchoscope to be taken out from the opening and placed; the mirror
  • the body fixing mechanism is switched between a first locked state and a first open state; when the mirror body fixing mechanism is in the first locked state, the mirror body fixing mechanism is connected to the clamping base and is connected to the
  • the inner cavities jointly define the degree of freedom of the body of the bronchoscope; when the lens body fixing mechanism is in the first open state, the restriction on the degree of freedom of the body of the bronchoscope is released.
  • the valve pressing mechanism includes a valve pressing block, the valve pressing mechanism is switched between a second locked state and a second open state, and when the valve pressing mechanism is in the second locked state, the valve pressing
  • the clamping mechanism is connected to the clamping seat, and the valve pressing block is used to apply force to the suction valve switch of the bronchoscope to open the suction valve switch; the valve pressing mechanism is opened in the second opening In the state, the force applied to the suction valve switch is released.
  • the catheter protection mechanism is detachably arranged at the distal end of the clamping seat, and is used for penetrating the catheter of the bronchoscope.
  • the body of the bronchoscope can be conveniently inserted into the inner cavity of the holding seat from the opening of the inner cavity of the holding seat, and the lens body fixing mechanism is converted to the first locked state, and the bronchoscope is defined together with the holding seat The degree of freedom of the body.
  • the valve pressing mechanism is converted to the second locked state, and force is applied to the suction valve switch of the bronchoscope to turn on the suction valve switch.
  • the catheter protection mechanism protects the catheter of the bronchoscope. As a result, a clamping of the entire bronchoscope is formed, thereby replacing the operating mode of the operator holding the bronchoscope.
  • the operator can manipulate the bronchoscope through remote control, which prevents the operator from being exposed to high-risk areas and reduces the operator’s Physical fatigue during the operation also reduces the risk of infection.

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Abstract

L'invention concerne un système de robot chirurgical, comprenant un côté maître, un côté esclave et un côté contrôle, le côté maître comprenant une unité d'actionnement, et le côté esclave comprenant un actionneur d'exécution, l'actionneur d'exécution étant utilisé pour actionner le mouvement d'un bronchoscope ; et le côté contrôle est séparément en connexion de communication avec l'unité d'actionnement et l'actionneur d'exécution, de façon à contrôler l'actionneur d'exécution en fonction d'informations de vitesse de mouvement obtenues de l'unité d'actionnement pour actionner le mouvement du bronchoscope, et contrôler l'actionneur d'exécution en fonction d'informations d'angle de rotation ou d'informations de vitesse de rotation obtenues de l'unité d'actionnement pour actionner la rotation du bronchoscope. Selon le système de robot chirurgical selon la présente invention, le côté maître est disposé au niveau d'un côté du chirurgien, et le côté esclave est disposé au niveau d'un côté patient, de telle sorte que le bronchoscope peut être commandé à distance et contrôlé, empêchant ainsi un opérateur d'être exposé à une région à risque élevé, de soulager la fatigue physique de l'opérateur dans le processus chirurgical, et de réduire également le risque d'être infecté.
PCT/CN2021/086718 2020-04-13 2021-04-12 Système de robot chirurgical WO2021208869A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN202010287019.4 2020-04-13
CN202010287017.5 2020-04-13
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