WO2021237759A1 - 一种手术刀具辅助机器人及其辅助方法 - Google Patents

一种手术刀具辅助机器人及其辅助方法 Download PDF

Info

Publication number
WO2021237759A1
WO2021237759A1 PCT/CN2020/093712 CN2020093712W WO2021237759A1 WO 2021237759 A1 WO2021237759 A1 WO 2021237759A1 CN 2020093712 W CN2020093712 W CN 2020093712W WO 2021237759 A1 WO2021237759 A1 WO 2021237759A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
surgical
doctor
turntable
reducer
Prior art date
Application number
PCT/CN2020/093712
Other languages
English (en)
French (fr)
Inventor
黄静秋
Original Assignee
皇润佳医疗科技南京有限责任公司
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
Application filed by 皇润佳医疗科技南京有限责任公司 filed Critical 皇润佳医疗科技南京有限责任公司
Publication of WO2021237759A1 publication Critical patent/WO2021237759A1/zh

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
    • A61B50/33—Trays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms

Definitions

  • the invention relates to the technical field of surgical auxiliary equipment, in particular to a surgical tool auxiliary robot and an auxiliary method thereof.
  • auxiliary tools In surgical procedures, various auxiliary tools are usually used, such as scalpels, surgical scissors, surgical forceps, forceps, and needle holders. Due to their complexity, these auxiliary tools are usually called surgical knives.
  • a special nurse is usually set up to deliver the surgical knife to the surgeon.
  • this process not only need to maintain a certain degree of tacit understanding between nurses and doctors, but also have higher requirements on the working status of nurses. Due to the complexity of surgical knives, nurses need to concentrate, and accurately find out and deliver the surgical knives required by the doctor to the doctor.
  • a surgical tool assisting robot and an assisting method thereof are provided to solve the above-mentioned problems existing in the prior art.
  • a surgical tool auxiliary robot including:
  • the supporting base includes two supporting side plates arranged vertically;
  • the tool body is connected to the supporting side plate.
  • the tool body includes a tool housing, a tool turntable arranged on the top of the tool housing, and a first drive assembly for driving the tool turntable to rotate.
  • the tool storage holes are distributed in the circumferential direction of the tool turntable, and the tool storage holes are used for inserting and storing surgical tools;
  • the control module includes a voice input unit, a voice recognition unit, an information storage unit, and a control unit; the voice input unit records the voice requirements of the doctor, the voice recognition unit recognizes the type and model of surgical tools required by the doctor, and the information storage unit The type and model of the surgical tool and the tool storage hole corresponding to the surgical tool are stored in the operating tool; the control unit controls the operation of the first drive assembly to rotate the tool turntable according to the doctor's demand, and rotates the tool storage hole corresponding to the surgical tool required by the doctor to be close to the doctor On the side.
  • the first drive assembly includes a first motor, a first reducer connected to the first motor, and a drive shaft sleeve fixedly connected to the output end of the first reducer;
  • the housing is fixedly connected to the housing of the first reducer, the output end of the first motor is fixedly connected to the input end of the first reducer, and the housing of the first reducer is fixedly connected to the inner wall of the top surface of the tool housing, so
  • the bottom center of the tool turntable is fixed with a tool rotation shaft, and the bottom end of the tool rotation shaft extends downward and is inserted into the drive shaft sleeve;
  • the required surgical knife is rotated to the side close to the doctor, so that the doctor can accurately take the surgical knife.
  • the tool body further includes a plurality of upward movement components equal in number to the tool storage;
  • the moving tray, the upward moving cylinder is arranged vertically, the upward moving cylinder is fixedly connected to the bottom surface of the tool turntable, and the telescopic rod of the upward moving cylinder extends upward into the tool storage hole;
  • the diameter of the upward moving tray is equal to The inner diameter of the tool storage hole;
  • the telescopic rod of the upward-moving cylinder extends and pushes the upward-moving tray to move upward to eject the surgical tool from the tool storage hole, which is convenient for the doctor to take.
  • the auxiliary robot further includes a dust removal assembly;
  • the dust removal assembly includes a dust removal gas tank and a dust removal nozzle fixedly connected to the dust removal gas tank; the bottom of the dust removal gas tank is fixed to the center of the top surface of the tool turntable Connection; the number of dust removal nozzles is equal to the number of tool storage holes, the nozzle of the dust removal nozzle is downward and points to the tool storage hole; the high-pressure gas in the dust removal gas tank sprays out the surgical tool in the tool storage hole through the dust removal nozzle Carry out dust removal to reduce the risk of surgical infection in patients.
  • the dust removal assembly further includes a barometer for measuring the air pressure in the dust removal gas tank, the barometer is set on the top of the dust removal gas tank; the air pressure in the dust removal gas tank is monitored by setting the barometer .
  • the tool body is rotatably connected with the supporting side plate
  • the tool body includes a second drive assembly
  • the second drive assembly includes a second motor, a second reducer connected to the second motor, and A connecting side plate that is fixedly connected to the output end of the second reducer
  • the supporting side plate is provided with supporting holes along the horizontal direction
  • the housing of the second motor is fixedly connected to the housing of the second reducer
  • the second motor The output end of the reducer is fixedly connected to the input end of the second reducer, the housing of the reducer is fixedly connected to a supporting side plate, the output end of the reducer penetrates the supporting hole of the supporting side plate, and the connecting side plate is connected to
  • the left side of the tool housing is fixedly connected, and the right side of the tool housing is fixed with a supporting shaft, and the supporting shaft is inserted into the supporting hole of the other supporting side plate;
  • the second motor runs through the second reducer to drive the connection
  • the side plate rotates, and the rotation of the connecting side plate drives the rotation of
  • Step 1 Before the operation, insert all the sterilized surgical tools according to the type and model into the designated tool storage hole on the tool turntable, and then start the surgical tool auxiliary robot;
  • Step 2 During the operation, the surgeon will issue a voice command for the surgical tool according to the surgical process.
  • the input unit of the control module enters the voice demand of the doctor, and the voice recognition unit recognizes the doctor’s voice to obtain the type of surgical tool needed by the doctor.
  • the control unit controls the operation of the first drive assembly to rotate the tool turntable according to the identified doctor's needs;
  • Step 3 The first motor runs through the first reducer to drive the drive shaft sleeve to rotate, and the drive shaft sleeve drives the tool turntable to rotate through the tool shaft, turning the tool storage hole corresponding to the surgical tool required by the doctor to the side close to the doctor;
  • Step 4 Move the air cylinder upward to move the telescopic rod of the air cylinder upward, move the tray upward and then move it upward and push the surgical tool upward, so that the handle of the surgical tool is moved out of the tool storage hole;
  • Step 5 During the rotation of the knife turntable, the dust removal nozzle is opened, and the high-pressure gas in the dust removal gas tank is drawn out to blow the surgical knife and dust the surgical knife;
  • Step 6 After the second motor is decelerated by the second reducer, the connecting side plate is driven to rotate.
  • the connecting side plate drives the cutter housing to rotate so that the cutter turntable tilts toward the surgeon's side, so that the surgeon can easily pick up the surgical knife.
  • the invention discloses a surgical tool auxiliary robot.
  • a tool turntable is designed, and the tool turntable is provided with tool storage holes for inserting surgical tools.
  • the voice input unit of the control module enters the doctor’s voice needs, the voice recognition unit recognizes the type and model of surgical tools required by the doctor, and the control unit controls the second drive assembly to operate according to the recognition results to rotate the tool turntable to turn the tool corresponding to the surgical tool required by the doctor
  • the storage hole is rotated to the side close to the doctor so that the doctor can easily pick it up.
  • the surgical tool assistant robot provided in this application recognizes the needs of the doctor through voice, realizes the automatic delivery of surgical tools, does not need to set up a separate nurse to search and deliver the surgical tools, and can reduce the surgical risk caused by human error, and at the same time Reduce the work pressure of nurses and reduce labor costs.
  • Fig. 1 is a schematic diagram of the structure of the surgical tool auxiliary robot of the present invention.
  • Figure 2 is a schematic diagram of the structure of the tool housing and the first drive assembly of the present invention.
  • Fig. 3 is a working flow chart of the control module of the present invention.
  • Fig. 4 is a side view of the cutter body of the present invention.
  • Fig. 5 is a schematic diagram of the structure of the upward shifting component of the present invention.
  • Fig. 6 is a schematic diagram of the structure of the tool body of the present invention.
  • Fig. 7 is a schematic structural diagram of a second driving assembly of the present invention.
  • Fig. 8 is a schematic diagram of the structure of the supporting base of the present invention.
  • Fig. 9 is a schematic structural diagram of the surgical tool auxiliary robot after the tool body is tilted and rotated according to the present invention.
  • the reference signs are: support base 10, support side plate 11, support hole 111, tool body 20, tool housing 21, support shaft 211, tool turntable 22, tool storage hole 221, tool shaft 222, first drive assembly 23, The first motor 231, the first reducer 232, the drive sleeve 233, the upward movement assembly 24, the upward movement cylinder 241, the upward movement tray 242, the second drive assembly 25, the second motor 251, the second reducer 252, the connecting side The board 253, the control module 30, the dust removal assembly 40, the dust removal gas tank 41, the dust removal nozzle 42, and the air pressure gauge 43.
  • the surgical tool auxiliary robot includes a supporting base 10, a tool body 20 and a control module 30.
  • two supporting side plates 11 are provided on the left and right sides of the supporting base 10, and the surfaces of the two supporting side plates 11 are vertical.
  • the cutter body 20 is connected to the supporting side plate 11.
  • the tool body 20 includes a tool housing 21, a tool turntable 22 and a first drive assembly 23.
  • the left and right side surfaces of the cutter housing 21 are respectively connected to the supporting side plate 11.
  • the tool turntable 22 is arranged on the top of the tool housing 21, and the top surface of the tool turntable 22 has a plurality of tool storage holes 221 downwardly, and these tool storage holes 221 are evenly distributed along the circumferential direction of the tool turntable 22.
  • the first drive assembly 23 is arranged inside the tool housing 21, and the output end of the first drive assembly 23 is fixedly connected to the bottom of the tool turntable 22.
  • the operation of the first drive assembly 23 drives the tool turntable 22 to rotate, thereby reducing the needs of the physician
  • the knife storage hole 221 corresponding to the surgical knife is rotated to the side close to the doctor, so that the doctor can easily take the surgical knife without arranging a special nurse to deliver the knife.
  • control module 30 includes a voice input unit, a voice recognition unit, an information storage unit, and a control unit.
  • the input unit is used to communicate with the voice recognition unit, the voice recognition unit and the information storage unit are respectively connected to the control unit in communication, and the control unit is electrically connected to the first drive assembly 23.
  • the voice input unit inputs the voice needs of the doctor, the voice recognition unit recognizes the type and model of the surgical tool required by the doctor, and the information storage unit stores the type and model of the surgical tool and the serial number of the tool storage hole 221 corresponding to the surgical tool; the control unit is based on the identified doctor
  • the information of the required surgical tool controls the operation of the first drive assembly 23 to rotate the tool turntable 22 and rotate the tool storage hole 221 corresponding to the surgical tool required by the doctor to the side close to the doctor, so that the doctor can conveniently take the required surgical tool.
  • the intelligent control of the control module 30 the automation of the surgical tool demand to the acquisition is realized, and the risk of the surgical tool searching time being too long or searching errors during the operation is further reduced, thereby reducing the surgical risk.
  • the first driving assembly 23 includes a first motor 231, a first reducer 232, and a driving sleeve 233.
  • the housing of the first motor 231 is fixedly connected to the housing of the first reducer 232; and the output end of the first motor 231 is fixedly connected to the input end of the first reducer 232.
  • the first motor 231 and the first reducer 232 are both located in the cutter housing 21; and the outer shell of the first reducer 232 is fixedly connected to the inner wall of the top surface of the cutter housing 21.
  • the drive shaft sleeve 233 is fixedly connected to the output end of the first reducer 232.
  • a tool rotation shaft 222 is fixed at the bottom center of the tool turntable 22, and the bottom end of the tool rotation shaft 222 extends downward and is inserted into the drive shaft sleeve 233.
  • the drive sleeve 233 is driven to rotate after being decelerated by the first reducer 232, and the drive sleeve 233 drives the cutter shaft 222 to rotate to rotate the cutter dial 22.
  • the cutter dial 22 rotates to remove the surgical tools required by the doctor. Rotate to the side close to the doctor so that the doctor can easily take the surgical knife.
  • the tool body 20 further includes a plurality of upward movement components 24.
  • the number of upward moving components 24 is equal to the number of tool storage holes 221.
  • the upward movement assembly 24 includes an upward movement cylinder 241 and an upward movement tray 242.
  • the upward-moving cylinder 241 is arranged vertically, the top end surface of the cylinder body of the upward-moving cylinder 241 is fixedly connected with the bottom of the tool turntable 22, and the upward-moving cylinder 241 is vertically corresponding to the tool storage hole 221 one by one.
  • the telescopic rod of the upward-moving air cylinder 241 extends upward into the tool storage hole 221.
  • the upward moving tray 242 has a circular structure, and the diameter of the upward moving tray 242 is equal to the inner diameter of the tool storage hole 221.
  • the upward movement tray 242 is located in the tool storage hole 221 and the bottom center of the upward movement tray 242 is fixedly connected with the top of the telescopic rod of the upward movement air cylinder 241.
  • the telescopic rod of the upward movement cylinder 241 extends and pushes the upward movement tray 242 to eject the surgical tool from the tool storage hole 221, so that the handle of the surgical tool is moved out of the tool storage hole. Hole 221, so that the doctor can take it easily.
  • the space between the upward movement tray 242 is slightly smaller than the inner diameter of the tool storage hole 221, so as to minimize the friction between the upward movement tray 242 and the tool storage hole 221.
  • the surgical tool auxiliary robot further includes a dust removal assembly 40.
  • the dust removal assembly 40 includes a dust removal gas tank 41 and a dust removal nozzle 42.
  • the dust removal gas tank 41 stores high-pressure gas, and the bottom of the dust removal gas tank 41 is fixedly connected with the center of the top surface of the cutter turntable 22.
  • the dust removal nozzle 42 is fixedly connected to the side wall of the dust removal gas tank 41.
  • the number of dust removal nozzles 42 is equal to the number of tool storage holes 221; Point to the tool storage hole 221.
  • the high-pressure gas in the dust removal gas tank 41 is ejected through the dust removal nozzle 42 and blows the surgical knives in the knife storage hole 221, thereby removing dust and contaminants on the surgical knives, ensuring the cleanliness of the surgical knives, and reducing the patient’s burden. The risk of surgical infection during surgery.
  • the dust removal assembly 40 further includes a barometer 43, which is provided on the top of the dust removal gas tank 41.
  • the air pressure in the dust removal gas tank 41 is measured in real time through the air pressure gauge 43 to remove the high-pressure gas content in the dust gas tank 41.
  • the high-pressure gas content is insufficient, it is supplemented to prevent the reduction of the dust removal effect of the surgical knife due to insufficient air pressure. risk.
  • the tool body 20 further includes a second drive assembly 25, and the tool body 20 is rotatably connected with the supporting side plate 11.
  • the second driving assembly 25 includes a second motor 251, a second reducer 252 and a connecting side plate 253.
  • a supporting hole 111 is formed along the horizontal direction at one end of the supporting side plate 11 close to the top.
  • the housing of the second motor 251 is fixedly connected to the housing of the second reducer 252; and the output end of the second motor 251 is fixedly connected to the input end of the second reducer 252.
  • the outer shell of the second speed reducer 252 is fixedly connected to a surface of the supporting side plate 11.
  • the output end of the reducer penetrates the supporting hole 111 of the supporting side plate 11 and is fixedly connected to the connecting side plate 253; at the same time, the connecting side plate 253 is fixedly connected to the left side of the cutter housing 21.
  • a supporting shaft 211 is fixed on the right side of the cutter housing 21, and the supporting shaft 211 is rotatably inserted into the supporting hole 111 of another supporting plate.
  • the second motor 251 runs through the second speed reducer 252 to drive the connecting side plate 253 to rotate, and the connecting side plate 253 rotates to drive the cutter housing 21 to rotate; thus, the cutter turntable 22 is inclined to the doctor's side, so that the doctor can take the surgical knife.
  • Working principle Before the operation, insert all the sterilized surgical tools according to the type and model into the designated tool storage hole 221 on the tool turntable 22, and then start the surgical tool auxiliary robot. During the operation, the chief surgeon issues a voice command for the surgical tool according to the surgical process.
  • the input unit of the control module 30 inputs the voice demand of the doctor, and the voice recognition unit recognizes the doctor’s voice to obtain the type and model of the surgical tool required by the doctor.
  • the control unit controls the operation of the first drive assembly 23 to rotate the knife turntable 22 according to the identified doctor's demand.
  • the first motor 231 runs through the first reducer 232 to drive the drive shaft sleeve 233 to rotate, and the drive shaft sleeve 233 drives the tool turntable 22 to rotate through the tool shaft 222, and rotates the tool storage hole 221 corresponding to the surgical tool required by the doctor to a position close to the doctor. side.
  • the upward movement air cylinder 241 operates to move the telescopic rod of the upward movement air cylinder 241 upward, and the upward movement tray 242 moves upward and pushes the surgical tool upward to move the handle of the surgical tool out of the tool storage hole 221.
  • the dust removal nozzle 42 is opened, and the high-pressure gas in the dust removal gas tank 41 is drawn to blow the surgical knife and dust the surgical knife.
  • the second motor 251 is driven by the second reducer 252 to decelerate and drives the connecting side plate 253 to rotate.
  • the connecting side plate 253 drives the cutter housing 21 to rotate so that the cutter turntable 22 tilts toward the surgeon's side, so that the surgeon can easily pick up the surgical knife.
  • the surgical tool assist robot recognizes the needs of the doctor through voice, and realizes the automatic delivery of surgical tools. There is no need to set up a separate nurse to search and deliver the surgical tools. It can reduce the surgical risk caused by human error, and at the same time reduce the work pressure of nurses and reduce labor costs.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)

Abstract

一种手术刀具辅助机器人，包括支撑底座（10）、刀具主体（20）以及控制模块（30）。其中，刀具主体（20）包括刀具转盘（22），刀具转盘（22）上设有插放手术刀具的刀具存孔（221）。通过控制模块（30）的语音录入单元录入医生的语音需求，语音识别单元识别医生需求的手术刀具种类和型号，控制单元根据识别结果控制第二驱动组件（25）运行使刀具转盘（22）转动将医生需求的手术刀具对应的刀具存孔（221）转动至靠近医生的一侧，便于医生顺手拿起。本申请提供的手术刀具辅助机器人能够通过语音识别医生需求，实现手术刀具的自动化递送，无需设置单独的护士进行手术刀具搜寻和递送，能够降低人为失误造成的手术风险，同时降低护士的工作压力，降低人力成本。

Description

一种手术刀具辅助机器人及其辅助方法 技术领域
本发明涉及一种手术辅助设备技术领域，具体是一种手术刀具辅助机器人及其辅助方法。
 背景技术
在外科手术过程中，通常要使用到各种各样的辅助工具，例如手术刀、手术剪、手术钳、镊子以及持针器等，由于种类复杂，通常将这些辅助工具称为手术刀具。
在手术过程中，根据主刀医生的需求，通常设置专门的护士将手术刀具递送给主刀医生。在此过程中，不仅需要护士和医生之间保持一定的默契度，还对护士的工作状态具有较高的要求。由于手术刀具种类复杂，护士需要聚精会神，并准确将医生所要的手术刀具找出并递送给医生。
但是，由于手术时间较长，护士的工作状态难免会有波动，极易出现手术刀具找寻困难以及找寻错误的情况，这极大的增加了手术风险；同时，设置专门的护士递送手术刀具，还增大了人力成本。
 技术问题
提供一种手术刀具辅助机器人及其辅助方法，以解决现有技术存在的上述问题。
 技术解决方案
为了实现上述目的，本申请提供以下技术方案：
一种手术刀具辅助机器人，包括：
支撑底座，包括两块竖直设置的支撑侧板；
刀具主体，与支撑侧板连接，所述刀具主体包括刀具壳体、设于刀具壳体顶部的刀具转盘以及驱动刀具转盘转动的第一驱动组件，所述刀具转盘的顶面向下开有若干沿刀具转盘的周向分布刀具存孔，所述刀具存孔用于插放手术刀具；
控制模块，包括语音录入单元、语音识别单元、信息存储单元以及控制单元；所述语音录入单元录入医生的语音需求，所述语音识别单元识别医生需求的手术刀具种类和型号，所述信息存储单元中存储手术刀具种类、型号以及手术刀具对应的刀具存孔；所述控制单元根据医生需求的控制第一驱动组件运行使刀具转盘转动，将医生需求的手术刀具对应的刀具存孔转动至靠近医生的一侧。
在进一步的实施例中，所述第一驱动组件包括第一电机、与第一电机连接的第一减速机以及与第一减速机的输出端固定连接的驱动轴套；所述第一电机的外壳与第一减速机的外壳固定连接，所述第一电机的输出端与第一减速机的输入端固定连接，所述第一减速机的外壳与刀具壳体的顶面内壁固定连接，所述刀具转盘的底部中心固定有刀具转轴，所述刀具转轴的底端向下延伸并插于驱动轴套；第一电机通过第一减速机带动驱动轴套转动从而使刀具转盘转动，进而将医生所需的手术刀具转动至靠近医生的一侧，便于医生准确拿取手术刀具。
在进一步的实施例中，所述刀具主体还包括多个数量与刀具存孔相等的上移组件；所述上移组件包括上移气缸以及与上移气缸的伸缩杆的端部固定连接的上移托盘，所述上移气缸的竖直设置，所述上移气缸与刀具转盘的底面固定连接，所述上移气缸的伸缩杆向上延伸至刀具存孔内；所述上移托盘的直径等于刀具存孔的内径；上移气缸的伸缩杆伸长推动上移托盘上移将手术刀具从刀具存孔中顶出，便于医生拿取。
在进一步的实施例中，所述辅助机器人还包括除尘组件；所述除尘组件包括除尘气罐以及与除尘气罐固定连接的除尘喷嘴；所述除尘气罐的底部与刀具转盘的顶面中心固定连接；所述除尘喷嘴的数量与刀具存孔的数量相等，所述除尘喷嘴的喷口向下并指向刀具存孔；除尘气罐中的高压气体通过除尘喷嘴喷出对刀具存孔中的手术刀具进行除尘，降低患者手术感染风险。
在进一步的实施例中，所述除尘组件还包括用于测定除尘气罐内气压的气压表，所述气压表设于除尘气罐的顶部；通过设置气压表对除尘气罐中的气压进行监测。
在进一步的实施例中，所述刀具主体与支撑侧板转动连接，所述刀具主体包括第二驱动组件，所述第二驱动组件包括第二电机、与第二电机连接的第二减速机以及与第二减速机的输出端固定连接的连接侧板；所述支撑侧板沿水平方向开有支撑孔；所述第二电机的外壳与第二减速机的外壳固定连接，所述第二电机的输出端与第二减速机的输入端固定连接，所述减速机的外壳与一个支撑侧板固定连接，所述减速机的输出端贯穿该支撑侧板的支撑孔，所述连接侧板与刀具壳体的左侧面固定连接，所述刀具壳体的右侧面固定有支撑转轴，所述支撑转轴插于另一个支撑侧板的支撑孔；第二电机运行通过第二减速机带动连接侧板转动，连接侧板转动带动刀具壳体转动；从而使刀具转盘向医生一侧倾斜，从而便于医生顺手拿取手术刀具。
为了实现上述目的，本申请还提供以下技术方案：
一种手术刀具辅助机器人的辅助方法，其特征在于，包括以下步骤：
步骤1：手术前，将所有消毒后的手术刀具按种类和型号插入刀具转盘上指定的刀具存孔内，然后启动手术刀具辅助机器人；
步骤2：主刀医生在手术过程中根据手术进程下达手术刀具的需求语音指令，控制模块的运用录入单元录入医生的语音需求，语音识别单元对医生的语音进行识别获取医生所需的手术刀具种类和型号，控制单元根据识别的医生需求控制第一驱动组件运行使刀具转盘转动；
步骤3：第一电机运行通过第一减速机带动驱动轴套转动，驱动轴套通过刀具转轴带动刀具转盘转动，将医生需求的手术刀具对应的刀具存孔转动至靠近医生的一侧；
步骤4：上移气缸运行使上移气缸的伸缩杆向上移动，上移托盘进而上移并推动手术刀具向上移动，进而使手术刀具的手持部移出刀具存孔；
步骤5：在刀具转盘转动过程中，除尘喷嘴打开，将除尘气罐中的高压气体引出对手术刀具进行吹拂，对手术刀具进行除尘；
步骤6：第二电机运行通过第二减速机减速后带动连接侧板转动，连接侧板带动刀具壳体转动使刀具转盘向主刀医生一侧倾斜，便于医生顺手拿起手术刀具。
 有益效果
本发明公开了一种手术刀具辅助机器人，通过设计刀具转盘，所述刀具转盘上设有插放手术刀具的刀具存孔。通过控制模块的语音录入单元录入医生的语音需求，语音识别单元识别医生需求的手术刀具种类和型号，控制单元根据识别结果控制第二驱动组件运行使刀具转盘转动将医生需求的手术刀具对应的刀具存孔转动至靠近医生的一侧，便于医生顺手拿起。与现有技术相比，本申请提供的手术刀具辅助机器人通过语音识别医生需求，实现手术刀具的自动化递送，无需设置单独的护士进行手术刀具搜寻和递送，能够降低人为失误造成的手术风险，同时降低护士的工作压力，降低人力成本。
 附图说明
图1是本发明的手术刀具辅助机器人的结构示意图。
图2是本发明的刀具外壳和第一驱动组件的结构示意图。
图3是本发明的控制模块的工作流程图。
图4是本发明的刀具主体的侧视图。
图5是本发明的上移组件的结构示意图。
图6是本发明的刀具主体的结构示意图。
图7是本发明的第二驱动组件的结构示意图。
图8是本发明的支撑底座的结构示意图。
图9是本发明的刀具主体倾斜转动后的手术刀具辅助机器人的结构示意图。
附图标记为：支撑底座10、支撑侧板11、支撑孔111、刀具主体20、刀具壳体21、支撑转轴211、刀具转盘22、刀具存孔221、刀具转轴222、第一驱动组件23、第一电机231、第一减速机232、驱动轴套233、上移组件24、上移气缸241、上移托盘242、第二驱动组件25、第二电机251、第二减速机252、连接侧板253、控制模块30、除尘组件40、除尘气罐41、除尘喷嘴42、气压表43。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
经申请人研究发现，为提高手术效率，降低患者手术风险，在手术过程中，通过设置专门的护士，根据主刀医生的需求，将医生所需刀具快速递送给医生。通过这种分工协作，提高手术效率。在此过程中，不仅需要护士和医生的默契配合，更需要护士时刻保持聚精会神，由于手术刀具种类和数量较多，护士需要在听到医生的需求后，迅速将所需手术刀具找出，并递送给医生。当手术时间较长时，护士工作状态容易出现波动，难免发生手术刀具找寻困难以及错误的情况，极大了增加了手术风险，也增大了护士的工作压力。另外，由于设置专门的护士递送刀具，也额外增加了医疗单位的人力成本。
为了解决现有技术中存在的问题，本发明提出了一种手术刀具辅助机器人。该手术刀具辅助机器人包括：支撑底座10、刀具主体20以及控制模块30。
具体的，支撑底座10的左右两侧设有两块支撑侧板11，这两块支撑侧板11的板面垂直。
结合图2，刀具主体20与支撑侧板11连接。刀具主体20包括刀具壳体21、刀具转盘22以及第一驱动组件23。其中，刀具壳体21的左右侧面分别与支撑侧板11连接。刀具转盘22设于刀具壳体21的顶部，刀具转盘22的顶面向下开有若干刀具存孔221，这些刀具存孔221沿刀具转盘22的周向均匀分布。手术前将所有的手术刀具消毒后插放与刀具存孔221中。第一驱动组件23设于刀具壳体21的内部，并且第一驱动组件23的输出端与刀具转盘22的底部固定连接，通过第一驱动组件23的运行带动刀具转盘22转动，从而将医师需要的手术刀具对应的刀具存孔221转动至靠近医生的一侧，使医生顺手即可拿取手术刀具，而不需要安排专门的护士递送刀具。
结合图3，控制模块30包括语音录入单元、语音识别单元、信息存储单元以及控制单元。其中，运用录入单元与语音识别单元通讯连接，语音识别单元和信息存储单元分别与控制单元通讯连接，控制单元与第一驱动组件23电性连接。语音录入单元录入医生的语音需求，语音识别单元识别医生需求的手术刀具种类和型号，信息存储单元中存储手术刀具种类、型号以及手术刀具对应的刀具存孔221的序号；控制单元根据识别的医生需求手术刀具的信息控制第一驱动组件23运行使刀具转盘22转动，将医生需求的手术刀具对应的刀具存孔221转动至靠近医生的一侧，医生可以方便的拿取所需手术刀具。通过控制模块30的智能控制，实现手术刀具需求到获取的自动化，进一步降低手术过程中出现的手术刀具找寻时间过长或者找寻错误的风险，进而降低手术风险。
第一驱动组件23包括第一电机231、第一减速机232、驱动轴套233。其中，第一电机231的外壳第一减速机232的外壳固定连接；并且，第一电机231的输出端与第一减速机232的输入端固定连接。第一电机231和第一减速机232均位于刀具壳体21内；并且第一减速机232的外壳和刀具壳体21的顶面内壁固定连接。驱动轴套233与第一减速机232的输出端固定连接。结合图4，刀具转盘22的底部中心固定有刀具转轴222，刀具转轴222的底端向下延伸并插于驱动轴套233。当第一电机231运行时，通过第一减速机232减速后带动驱动轴套233转动，驱动轴套233带动刀具转轴222转动进而使刀具转盘22转动，刀具转盘22转动将医生所需的手术刀具转动至靠近医生的一侧，从而使医生便利的拿取手术刀具。
当刀具转盘22转动将医生所需的手术刀具转动至靠近医生的一侧时，医生从刀具存孔221中将手术刀具取出进行手术。由于手术刀具插放于刀具存孔221中，部分手术刀具的长度较短，需要医生将手伸入刀具存孔221中拿取刀具，这种情况会给医生带来不便。为了解决这一情况，结合图5，在进一步的实施例中，刀具主体20还包括多个上移组件24。上移组件24的数量与刀具存孔221的数量相等。上移组件24包括上移气缸241和上移托盘242。其中，上移气缸241竖直设置，上移气缸241的缸体的顶部端面与刀具转盘22的底部固定连接，上移气缸241与刀具存孔221一一竖直对应。上移气缸241的伸缩杆向上延伸至刀具存孔221内。上移托盘242为圆形结构，上移托盘242的直径等于刀具存孔221的内径。上移托盘242位于刀具存孔221内并且上移托盘242的底部中心与上移气缸241的伸缩杆的顶部固定连接。当需要将手术刀具从刀具存孔221中取出时，上移气缸241的伸缩杆伸长向上推动上移托盘242将手术刀具从刀具存孔221中顶出，使手术刀具的手持部移出刀具存孔221，从而便于医生拿取。为了便于上移托盘242在刀具存孔221中滑动，在实际运用中，上移托盘242的之间略小于刀具存孔221的内径，尽量降低上移托盘242与刀具存孔221的摩擦。
在手术过程中，需要保持手术刀具的清洁，虽然手术室经过一定的除尘处理，但是由于环境中仍旧存在大量的灰尘和污染物，会沉积与手术刀具上，如果不对手术刀具进行术前处理，极易造成手术患者伤口感染。为了避免这种情况，在进一步的实施例中，手术刀具辅助机器人还包括除尘组件40。除尘组件40包括除尘气罐41以及除尘喷嘴42。其中除尘气罐41中贮存有高压气体，除尘气罐41的底部与刀具转盘22的顶面中心固定连接。除尘喷嘴42与除尘气罐41的侧壁固定连接，除尘喷嘴42的数量与刀具存孔221的数量相等；且除尘喷嘴42与刀具存孔221一一上下对应，除尘喷嘴42的喷口向下并指向刀具存孔221。除尘气罐41中的高压气体通过除尘喷嘴42喷出并对刀具存孔221中的手术刀具进行吹拂，从而将手术刀具上沾染的灰尘和污染物去除，保证手术刀具的清洁，从而降低患者在手术过程中的手术感染风险。
为了对除尘气罐41中的气压进行监测，在进一步的实施例中，除尘组件40还包括气压表43，该气压表43设于除尘气罐41的顶部。通过气压表43对除尘气罐41中的气压进行实时测定从而了解除尘气罐41中的高压气体含量，当高压气体含量不足时对其进行补充注入，防止因气压不足导致手术刀具除尘效果降低的风险。
由于刀具转盘22水平转动，即使医生所需的手术刀具对应的刀具存孔221转动至靠近医生的一侧时，医生拿取手术刀具仍存在一定的不便，尤其是一些身高不是很高的医生。为了解决这一问题，结合图6至图9，在进一步的实施例中，刀具主体20还包括第二驱动组件25，并且刀具主体20与支撑侧板11转动连接。具体的，第二驱动组件25包括第二电机251、第二减速机252以及连接侧板253。支撑侧板11靠近顶部的一端沿水平方向开有支撑孔111。第二电机251的外壳与第二减速机252的外壳固定连接；并且，第二电机251的输出端与第二减速机252的输入端固定连接。第二减速机252的外壳与一个支撑侧板11的板面固定连接。减速机的输出端贯穿该支撑侧板11的支撑孔111并与连接侧板253固定连接；同时，该连接侧板253与刀具壳体21的左侧面固定连接。刀具壳体21的右侧面固定有支撑转轴211，该支撑转轴211转动插于另一个支撑板的支撑孔111内。第二电机251运行通过第二减速机252带动连接侧板253转动，连接侧板253转动带动刀具壳体21转动；从而使刀具转盘22向医生一侧倾斜，从而便于医生拿取手术刀具。
工作原理：手术前，将所有消毒后的手术刀具按种类和型号插入刀具转盘22上指定的刀具存孔221内，然后启动手术刀具辅助机器人。主刀医生在手术过程中根据手术进程下达手术刀具的需求语音指令，控制模块30的运用录入单元录入医生的语音需求，语音识别单元对医生的语音进行识别获取医生所需的手术刀具种类和型号，控制单元根据识别的医生需求控制第一驱动组件23运行使刀具转盘22转动。第一电机231运行通过第一减速机232带动驱动轴套233转动，驱动轴套233通过刀具转轴222带动刀具转盘22转动，将医生需求的手术刀具对应的刀具存孔221转动至靠近医生的一侧。上移气缸241运行使上移气缸241的伸缩杆向上移动，上移托盘242上移并推动手术刀具向上移动，进而使手术刀具的手持部移出刀具存孔221。在刀具转盘22转动过程中，除尘喷嘴42打开，将除尘气罐41中的高压气体引出对手术刀具进行吹拂，对手术刀具进行除尘。第二电机251运行通过第二减速机252减速后带动连接侧板253转动，连接侧板253带动刀具壳体21转动使刀具转盘22向主刀医生一侧倾斜，便于医生顺手拿起手术刀具。手术刀具辅助机器人通过语音识别医生需求，实现手术刀具的自动化递送，无需设置单独的护士进行手术刀具搜寻和递送，能够降低人为失误造成的手术风险，同时降低护士的工作压力，降低人力成本。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种等同变换，这些等同变换均属于本发明的保护范围。

Claims (7)

  1. 一种手术刀具辅助机器人，其特征在于，包括：
    支撑底座，包括两块竖直设置的支撑侧板；
    刀具主体，与支撑侧板连接，所述刀具主体包括刀具壳体、设于刀具壳体顶部的刀具转盘以及驱动刀具转盘转动的第一驱动组件，所述刀具转盘的顶面向下开有若干沿刀具转盘的周向分布刀具存孔，所述刀具存孔用于插放手术刀具；
    控制模块，包括语音录入单元、语音识别单元、信息存储单元以及控制单元；所述语音录入单元录入医生的语音需求，所述语音识别单元识别医生需求的手术刀具种类和型号，所述信息存储单元中存储手术刀具种类、型号以及手术刀具对应的刀具存孔；所述控制单元根据医生需求的控制第一驱动组件运行使刀具转盘转动，将医生需求的手术刀具对应的刀具存孔转动至靠近医生的一侧。
  2. 根据权利要求1所述的手术刀具辅助机器人，其特征在于，所述第一驱动组件包括第一电机、与第一电机连接的第一减速机以及与第一减速机的输出端固定连接的驱动轴套；所述第一电机的外壳与第一减速机的外壳固定连接，所述第一电机的输出端与第一减速机的输入端固定连接，所述第一减速机的外壳与刀具壳体的顶面内壁固定连接，所述刀具转盘的底部中心固定有刀具转轴，所述刀具转轴的底端向下延伸并插于驱动轴套。
  3. 根据权利要求1所述的手术刀具辅助机器人，其特征在于，所述刀具主体还包括多个数量与刀具存孔相等的上移组件；所述上移组件包括上移气缸以及与上移气缸的伸缩杆的端部固定连接的上移托盘，所述上移气缸的竖直设置，所述上移气缸与刀具转盘的底面固定连接，所述上移气缸的伸缩杆向上延伸至刀具存孔内；所述上移托盘的直径等于刀具存孔的内径。
  4. 根据权利要求1所述的手术刀具辅助机器人，其特征在于，所述辅助机器人还包括除尘组件；所述除尘组件包括除尘气罐以及与除尘气罐固定连接的除尘喷嘴；所述除尘气罐的底部与刀具转盘的顶面中心固定连接；所述除尘喷嘴的数量与刀具存孔的数量相等，所述除尘喷嘴的喷口向下并指向刀具存孔。
  5. 根据权利要求4所述的手术刀具辅助机器人，其特征在于，所述除尘组件还包括用于测定除尘气罐内气压的气压表，所述气压表设于除尘气罐的顶部。
  6. 根据权利要求1所述的手术刀具辅助机器人，其特征在于，所述刀具主体与支撑侧板转动连接，所述刀具主体包括第二驱动组件，所述第二驱动组件包括第二电机、与第二电机连接的第二减速机以及与第二减速机的输出端固定连接的连接侧板；所述支撑侧板沿水平方向开有支撑孔；所述第二电机的外壳与第二减速机的外壳固定连接，所述第二电机的输出端与第二减速机的输入端固定连接，所述减速机的外壳与一个支撑侧板固定连接，所述减速机的输出端贯穿该支撑侧板的支撑孔，所述连接侧板与刀具壳体的左侧面固定连接，所述刀具壳体的右侧面固定有支撑转轴，所述支撑转轴插于另一个支撑侧板的支撑孔。
  7. 一种手术刀具辅助机器人的辅助方法，其特征在于，包括以下步骤：
    步骤1：手术前，将所有消毒后的手术刀具按种类和型号插入刀具转盘上指定的刀具存孔内，然后启动手术刀具辅助机器人；
    步骤2：主刀医生在手术过程中根据手术进程下达手术刀具的需求语音指令，控制模块的运用录入单元录入医生的语音需求，语音识别单元对医生的语音进行识别获取医生所需的手术刀具种类和型号，控制单元根据识别的医生需求控制第一驱动组件运行使刀具转盘转动；
    步骤3：第一电机运行通过第一减速机带动驱动轴套转动，驱动轴套通过刀具转轴带动刀具转盘转动，将医生需求的手术刀具对应的刀具存孔转动至靠近医生的一侧；
    步骤4：上移气缸运行使上移气缸的伸缩杆向上移动，上移托盘进而上移并推动手术刀具向上移动，进而使手术刀具的手持部移出刀具存孔；
    步骤5：在刀具转盘转动过程中，除尘喷嘴打开，将除尘气罐中的高压气体引出对手术刀具进行吹拂，对手术刀具进行除尘；
    步骤6：第二电机运行通过第二减速机减速后带动连接侧板转动，连接侧板带动刀具壳体转动使刀具转盘向主刀医生一侧倾斜，便于医生顺手拿起手术刀具。
PCT/CN2020/093712 2020-05-28 2020-06-01 一种手术刀具辅助机器人及其辅助方法 WO2021237759A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010468329.6 2020-05-28
CN202010468329.6A CN111821040A (zh) 2020-05-28 2020-05-28 一种手术刀具辅助机器人及其辅助方法

Publications (1)

Publication Number Publication Date
WO2021237759A1 true WO2021237759A1 (zh) 2021-12-02

Family

ID=72913468

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/093712 WO2021237759A1 (zh) 2020-05-28 2020-06-01 一种手术刀具辅助机器人及其辅助方法

Country Status (2)

Country Link
CN (1) CN111821040A (zh)
WO (1) WO2021237759A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN213345854U (zh) * 2020-05-28 2021-06-04 皇润佳医疗科技南京有限责任公司 一种手术刀具辅助装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107647917A (zh) * 2017-10-27 2018-02-02 山东中医药大学 一种多功能手术器械自动递送消毒储存装置及其使用方法
WO2019121571A1 (fr) * 2017-12-18 2019-06-27 Sterimed Sas Machine et procédé pour l'emballage par au moins un materiau d'emballage de sterilisation
CN209074901U (zh) * 2018-08-03 2019-07-09 合肥市第二人民医院 一种骨科手术辅助装置
CN109986530A (zh) * 2019-04-23 2019-07-09 黄娉 一种用于临床手术的具有收纳和传递功能的医疗机器人
CN110464467A (zh) * 2019-08-30 2019-11-19 微创（上海）医疗机器人有限公司 传动、驱动、无菌、器械盒组件与手术器械系统、机器人
CN110464485A (zh) * 2019-08-26 2019-11-19 青岛市第三人民医院 一种医用肿瘤科临床治疗手术辅助装置
CN110711035A (zh) * 2019-11-24 2020-01-21 安徽创夫子科技有限公司 一种医疗外科手术用工具收纳装置
CN110786933A (zh) * 2019-11-15 2020-02-14 开化含硕医疗器械有限公司 一种外科专用手术工具的存放装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107647917A (zh) * 2017-10-27 2018-02-02 山东中医药大学 一种多功能手术器械自动递送消毒储存装置及其使用方法
WO2019121571A1 (fr) * 2017-12-18 2019-06-27 Sterimed Sas Machine et procédé pour l'emballage par au moins un materiau d'emballage de sterilisation
CN209074901U (zh) * 2018-08-03 2019-07-09 合肥市第二人民医院 一种骨科手术辅助装置
CN109986530A (zh) * 2019-04-23 2019-07-09 黄娉 一种用于临床手术的具有收纳和传递功能的医疗机器人
CN110464485A (zh) * 2019-08-26 2019-11-19 青岛市第三人民医院 一种医用肿瘤科临床治疗手术辅助装置
CN110464467A (zh) * 2019-08-30 2019-11-19 微创（上海）医疗机器人有限公司 传动、驱动、无菌、器械盒组件与手术器械系统、机器人
CN110786933A (zh) * 2019-11-15 2020-02-14 开化含硕医疗器械有限公司 一种外科专用手术工具的存放装置
CN110711035A (zh) * 2019-11-24 2020-01-21 安徽创夫子科技有限公司 一种医疗外科手术用工具收纳装置

Also Published As

Publication number Publication date
CN111821040A (zh) 2020-10-27

Similar Documents

Publication Publication Date Title
CN108938104B (zh) 一种多功能手术器械自动传递装置及传递方法
CN100486533C (zh) 鼻腔手术内窥镜辅助机械手
JP5459817B2 (ja) 多関節型ロボットを備えた自動細胞培養装置
WO2021237759A1 (zh) 一种手术刀具辅助机器人及其辅助方法
WO2021237760A1 (zh) 一种手术刀具辅助装置
US20090253998A1 (en) Skin biopsy with suturing prior to resection
CN203988268U (zh) 一种安全自动腔镜手术穿刺器
WO2024016382A1 (zh) 一种介入无人手术室系统
CN113878590B (zh) 一种具备自动规划抽脂功能的机器人系统
CN115721811A (zh) 麻醉注射装置及其自动控制方法和植发机器人
US20090253997A1 (en) Skin biopsy with automated lesion stabilization and resection
CN115281794A (zh) 一种介入手术穿刺机器人
CN215899893U (zh) 一种具有视觉指示功能的微创手术机器人
CN2812853Y (zh) 改进的微创植骨器
CN115770310B (zh) 一种用于外科医疗器械的消毒装置
CN214857265U (zh) 一种胸腔穿刺针定位装置
CN215018876U (zh) 一种图像被动伸缩臂
CN117257469B (zh) 一种内镜机器人诊室
CN115295131A (zh) 一种介入导管室手术耗材管理系统
CN110063838B (zh) 一种眼科手术刀及其操作系统
CN115211974A (zh) 一种介入手术更换导丝导管机器人
CN205041526U (zh) 一种用于临床手术的新型智能机器人
CN217043742U (zh) 一种医疗器械清洗装置
CN215160975U (zh) 预处理酶液使用装置
CN213667471U (zh) 一种呼吸内科临床用喷药器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20937272

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20937272

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 20937272

Country of ref document: EP

Kind code of ref document: A1