WO2021254126A1

WO2021254126A1 - Surgical robot actuator and surgical robot system

Info

Publication number: WO2021254126A1
Application number: PCT/CN2021/096632
Authority: WO
Inventors: 张学斌; 李汉忠
Original assignee: 张学斌; 李汉忠
Priority date: 2020-06-19
Filing date: 2021-05-28
Publication date: 2021-12-23

Abstract

A surgical robot actuator (0012), the surgical robot actuator (0012) comprising an actuator body, a driving system, a fixing system, and a percutaneous nephroscope surgical manipulator (2); the actuator body is configured to provide an installation position and space for the driving system, the fixing system and the percutaneous nephroscope operation manipulator (2); the driving system is configured to drive the percutaneous nephroscope operation manipulator (2) to perform reciprocating motion so as to push an end of the manipulator to perform surgical operations; and the fixing system is configured to fix the percutaneous nephroscope operation manipulator (2) to the actuator body.

Description

Surgical robot actuator and surgical robot system

This application requires a patent application number of 202010568811.7 filed with the State Intellectual Property Office of China on June 19, 2020, titled "Percutaneous Nephroscope Surgery Robot Execution System and Actuator", and submitted to the State Intellectual Property Office of China on June 19, 2020 The patent application number is 202021152239.8, the name is "Percutaneous Nephroscope Surgery Robot Actuator", and the patent application number that was submitted to the State Intellectual Property Office of China on July 6, 2020 is 202021300630.8, the previous one named "Surgical Robot System" Priority of application. The full text of the earlier application is incorporated into this application by reference.

Technical field

The invention belongs to the technical field of medical devices. Specifically, it relates to a surgical robot actuator and a surgical robot system.

Background technique

Percutaneous nephrostolithotomy (PCNL) is to locate the target renal calyx via ultrasound or X-ray, puncture and enter the target renal calyx in real time, establish a channel between the skin incision and the kidney, and place it through this channel. Enter the gravel energy platform for gravel fetching treatment. It is one of the main methods for treating kidney stones and upper ureteral stones. The surgical trauma is small, the stone removal rate is high, and the postoperative recovery is quick. The key point of PCNL is accurate positioning and precise puncture, which is also its difficulty. The learning curve is long and difficult to master. And it is easy to damage nearby organs such as the pleura, lungs, intestines, liver and spleen.

Summary of the invention

In the process of percutaneous nephrostolithotomy (PCNL), the puncture site is not accurate, the channel expansion process is not appropriate, the puncture is too deep, etc., may cause hemorrhage or damage the nearby organs such as the pleura, lung, intestine, and liver. Severe complications such as the spleen and spleen; secondly, the operation takes a long time, and the intraoperative perfusion pressure is too high to cause the absorption of bacteria and toxins, which may cause the occurrence of postoperative infections. The severe complications mentioned above may even endanger the life of the patient.

For this reason, improving the accuracy of puncture, establishing the channel and standardizing the lithotripsy operation process not only reduces the surgeon's intensity, but also reduces the incidence of intraoperative and postoperative complications for patients.

Surgical robots assist surgeons to solve the above problems. Chinese Patent Application No. 201910490275.0 provides a percutaneous nephroscope robotic system that performs three-dimensional modeling of the patient’s kidneys and presets the puncture path, which solves the problems of difficulty in positioning caused by the lack of experience of the surgeon and low puncture success rate, and achieves the pass Navigation-guided precise puncture and lithotripsy, with the help of a robotic arm to ensure the accuracy of the operation, and automatically expand the channel to improve the efficiency and quality of the operation.

However, there is a lack of surgical robot actuators connecting the surgical robot and the percutaneous nephroscope in the prior art.

In view of this, the embodiment of the present invention proposes a surgical robot actuator, which is used to connect the surgical robot and the surgical manipulator.

An embodiment of the present invention provides a surgical robot actuator, which includes an actuator body, a driving system, a fixing system, and a percutaneous nephroscope surgical manipulator;

The actuator body is configured to provide an installation position and space for the driving system, the fixing system, and the percutaneous nephroscope operation manipulator;

The driving system is configured to drive the percutaneous nephroscope operation manipulator to perform a reciprocating motion to push the end of the manipulator to perform surgical operations;

The fixing system is configured to fix the percutaneous nephroscope operation manipulator on the actuator body.

According to an embodiment of the present invention, for example, the actuator body includes an upper platform (1) and a low groove (45), and the upper platform (1) and the low groove (45) are enclosed to define the lower The bottom has an opening accommodating cavity, the accommodating cavity provides accommodating space for each part of the surgical robot actuator; the upper platform (1) is in the shape of a flat plate, and a V-shaped installation for mounting the mirror body is provided on it The seat (38) provides an installation location for the mirror body.

According to an embodiment of the present invention, for example, the actuator body further includes a sealing element, and the upper platform (1) and the low groove (45) are hermetically connected by the sealing element, such as Is a sealing ring;

The distal end of the actuator body is provided with a shutter (6). When the upper platform (1) moves, the shutter (6) seals the exposed part of the upper platform (1) to prevent patient body fluids or medical reagents Enter the low slot (45).

According to an embodiment of the present invention, for example, the driving system includes an optical fiber driving system and a platform driving system;

The optical fiber driving system includes a first motor (7), a first motor seat (8) and an optical fiber transmission device; the first motor (7) is fixedly installed on the upper platform by the first motor seat (8) (1) Top; The first motor (7) provides power for the movement of the optical fiber; the first motor (7) is a servo motor.

According to an embodiment of the present invention, for example, the optical fiber transmission device includes a first screw nut (12), a first screw (13), a sliding rail (17) and a sliding block (43); the first The lead screw (13) can be rotated in both forward and reverse directions under the drive of the first motor (7). When the first lead screw (13) rotates, the first lead screw nut (12) is driven along the The first screw (13) performs axial reciprocating motion; the optical fiber drive system is connected to the optical fiber clamping seat (5) on the baffle (37) through the screw nut seat (10), and the first thread The linear motion of the lever nut (12) is transmitted to the optical fiber clamping seat (5), and the optical fiber (41) is pushed to complete the reciprocating motion.

According to an embodiment of the present invention, for example, a guide bar (15) is further provided to guide the screw nut seat (10) to move linearly to prevent rotation, thereby pushing the optical fiber (41) to complete the reciprocating movement; The platform drive system includes a second motor (18), a second motor seat (19), a coupling (20) and a platform transmission device; the second motor (18), the second motor seat (19) and the The platform transmission device is arranged beside the optical fiber (41); the second motor (18) is fixedly installed on the low groove (45) by the motor support (19); the second motor (18) ) Provides power for the movement of the actuator components of the surgical robot; the second motor (18) is a servo motor; the platform transmission device includes a second screw (25), a nut mounting seat (27) and a second screw Bar nut (28).

According to an embodiment of the present invention, for example, the coupling (20) connects the second motor (18) and the second screw (25), and the second screw nut (28) connects The rotary motion of the second screw (25) is converted into linear motion, which is transmitted to the upper platform (1) through the nut mounting seat (27), and the second screw (25) is connected to the second motor ( 18) is driven to rotate in both forward and reverse directions, driving the upper platform (1) to perform axial reciprocating motion; the actuator body and the first screw nut (12), the first screw (13) The opposite side is provided with a third mounting seat (23) and a fourth mounting seat (30), the third mounting seat (23) fixedly installs the first bearing seat (22) in the low groove (45), the fourth mounting seat (30) fixes the second bearing seat (29) on the low groove (45); one end of the second screw (25) is locked by the screw The nut (21) is locked and fixed on the first bearing seat (22), and the other end is installed on the second bearing seat (29) through a second screw nut (28); the platform drive system is controlled by the The third mounting seat (23) and the fourth mounting seat (30) are fixedly connected in the low groove (45).

According to an embodiment of the present invention, for example, the percutaneous nephroscope manipulator (2) includes a mirror body (200) and a mirror body (201), and the tail end of the mirror body (200) is connected to the mirror body (201), the mirror body (200) and the mirror body (201) are provided with mutually communicating lumens, and the mirror body (201) is provided with an observation port (2011), an operating channel (2012), Water inlet valve (2013) and light source inlet (2014).

According to an embodiment of the present invention, for example, the fixation system includes an optical fiber fixation system and a percutaneous nephroscope operation manipulator fixation system;

The optical fiber fixing system includes a first compression nut (3), a clamping plate (4), a clamping seat (5), a drag chain (31) and a drag chain mounting seat (32); the clamping seat (5) ) Is fixedly installed on the baffle (37) of the upper platform (1), the first compression nut (3) is connected with the clamping seat (5) through threads, and the first compression nut is rotated (3) Make the clamping plate (4) fit the clamping seat (5) to complete the clamping and fixing of the optical fiber; the drag chain (31) and the drag chain mounting seat (32) are located In the cavity of the low groove (45), the drag chain mounting seat (32) fixes one end of the drag chain (31) on the upper platform (1), and the drag chain (31) is used for wire Cable routing to avoid cable entanglement;

The percutaneous nephroscope operation manipulator fixing system includes a V-shaped mounting seat (38), a second compression nut (39), a radial compression plate (40) and an axial compression plate (42); The second compression nut (39) is matched with the radial compression plate (40) and the first screw nut (12) to fix and compress the mirror body (201) on the V-shaped mounting seat ( 38), the radial compression plate (40) compresses the mirror body (201) to avoid radial movement of the mirror body (201), and the axial compression plate (42) compresses the mirror body (201). The mirror body (201) prevents axial movement of the mirror body (201); the radial pressing plate (40) and the axial pressing plate (42) can hug the mirror body (201), Therefore, the movement of the mirror body (201) away from the surface of the housing of the surgical robot actuator is restricted.

According to an embodiment of the present invention, for example, the actuator body further includes a first mounting seat (9), a second mounting seat (14), a third mounting seat (23), and a fourth mounting seat (30), The first mounting seat (9) and the second mounting seat (14) are provided on one side of the actuator body, and the first mounting seat (9) and the second mounting seat (14) are connected to the The upper platform (1) is fixedly connected; the two ends of the first screw (13) are respectively arranged on the first mounting seat (9) and the second mounting seat (14);

A first stroke is respectively provided between the first mounting seat (9) and the second mounting seat (14), and between the third mounting seat (23) and the fourth mounting seat (30) A switch and a second travel switch, the first travel switch is configured to control the limit of the first screw nut (12) between the first mounting seat (9) and the second mounting seat (14) Stroke to prevent the first screw nut (12) from hitting the first mounting seat (9) and the second mounting seat (14); the second travel switch is used to control the second screw nut (28) The limit stroke between the third mounting seat (23) and the fourth mounting seat (30) to prevent the second screw nut (28) from hitting the third mounting seat (23) And the fourth mounting seat (30);

The second travel switch is composed of a photoelectric switch (24), an optical fiber travel light barrier (11), and a platform travel light barrier (26).

Embodiments of the present invention also provide a surgical robot system, which includes a surgical robot device, a surgical monitoring device, and a surgical control device;

The surgical robot device includes a mechanical arm, a manipulator, and the surgical robot actuator as described above that connects and fixes the manipulator on the mechanical arm;

The surgery monitoring device is connected to the surgery control device, and is configured to obtain the location of the surgery in real time, send the information of the location of the surgery to the surgery control device, and display the information of the location of the surgery to the surgery control device in the form of images. Surgical operator

The surgery control device is configured to obtain the scan data of the lesion location from an external scanning device, and build a three-dimensional model based on the scan data of the lesion location, generate a surgery control instruction based on the three-dimensional model, and send the surgery control instruction to In the surgical robot device, surgical operations are performed by the surgical robot device.

Description of the drawings

Fig. 1 is a schematic structural diagram of a percutaneous nephroscope manipulator in the art.

Fig. 2 is a schematic structural diagram of a surgical robot actuator proposed by an embodiment of the present invention.

Fig. 3 is an external side view (top view) and a top view (bottom view) of the internal structure of the actuator body of the surgical robot actuator proposed by the embodiment of the present invention, wherein the bottom view is a structural view along the B-B section of the top view.

Fig. 4 is a side view of the internal structure of the actuator body of the surgical robot actuator proposed by the embodiment of the present invention, that is, a structural view along the D-D section of Fig. 5.

Fig. 5 is a top view of the surgical robot actuator proposed by an embodiment of the present invention.

Fig. 6 is a bottom view of the surgical robot actuator proposed by an embodiment of the present invention.

Fig. 7 is a rear view of the surgical robot actuator proposed by the embodiment of the present invention.

Fig. 8 is a structural view taken along the E-E section of Fig. 6 of the surgical robot actuator proposed by the embodiment of the present invention.

Fig. 9 is a schematic diagram of a surgical robot system proposed by an embodiment of the present invention;

Fig. 10 is a schematic structural diagram of a surgical robot device proposed by an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail in conjunction with specific embodiments and with reference to the accompanying drawings. However, those skilled in the art know that the present invention is not limited to the drawings and the following embodiments.

In the description of the invention, it should be noted that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near", etc., is based on The orientation or positional relationship shown in the drawings is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the present invention. The specific scope of protection of the invention. In addition, the terms "first" and "second" are only used for descriptive purposes, used to distinguish technical features, do not have substantial meaning, and cannot be understood as indicating or implying relative importance or implicitly specifying the number of technical features.

1, the general percutaneous nephroscope manipulator 2 includes a mirror body 200, a mirror body 201, the end of the mirror body is connected to the mirror body 201, the mirror body 200 and the mirror body 201 are provided with mutually communicating lumens, the mirror body 201 is provided with an observation port 2011, an operating channel 2012, a water inlet valve 2013 and a light source inlet 2014. When the above-mentioned percutaneous nephroscope manipulator is used to perform surgery, the doctor holds the scope next to the patient to operate it, which is easily contaminated by the patient’s body fluid; secondly, the effect of the operation is greatly affected by the individual doctor, and it is difficult to ensure the accuracy and safety of the operation, and it is impossible to achieve the operation. Standardization and standardization. If the doctor lacks experience, complications such as puncture damage to nearby organs or large blood vessels may cause bleeding.

2-8, the embodiment of the present invention proposes a percutaneous nephroscope surgical robot actuator, the surgical robot actuator can be connected to the robotic arm of the surgical robot and the percutaneous nephroscope manipulator 2 to perform percutaneous kidney Endoscopic lithotripsy, complete the lithotripsy and removal of kidney stones or upper ureteral stones and other surgical operations.

The surgical robot actuator includes an actuator body, a driving system, a fixing system and a percutaneous nephroscope manipulator. The main body of the actuator includes an upper platform 1 and a low groove 45 (see Figures 1 and 6). The percutaneous nephroscope operation manipulator 2 is fixed on the upper platform 1, and is powered by a drive system for linear reciprocating motion. The low groove 45 accommodates various components of the surgical robot actuator, such as motors, transmission devices, electrical components, and so on. The driving system is used to drive the percutaneous nephroscope operation manipulator to reciprocate to push the end of the manipulator to perform operations such as puncture, channel expansion, and lithotripsy. The fixing system is used to fix the percutaneous nephroscope operation manipulator on the main body of the actuator.

As a result, the reciprocating movement of the percutaneous nephroscope operation manipulator (that is, the action of lithotripsy and fetching) is driven by the surgical robot actuator, while other movements of the percutaneous nephroscope operation manipulator (such as position adjustment, posture adjustment, rotation, etc.) ) The surgical robot's mechanical arm drives the surgical robot actuator, and then drives the percutaneous nephroscope to complete. Taking rotation as an example, the rotation of the percutaneous nephroscope actuator such as a stone basket can be realized by rotating the surgical robot actuator.

The actuator body includes an upper platform 1 and a low groove 45. The upper platform 1 and the low groove 45 enclose and define a containing cavity with an opening at the lower bottom. The bottom opening of the actuator body can be connected by a mechanical arm for connecting a surgical robot. The system is closed.

The upper platform 1 is roughly in the shape of a flat plate, and is provided with a V-shaped mounting seat 38 for mounting the mirror body 201 on it to provide a mounting position for the mirror body 201; an opening is provided on it (not shown in the figure, located under the baffle 37) The optical fiber drive system is connected to the optical fiber clamping base 5 on the baffle 37 (see FIG. 5) through the screw nut base 10 (see FIG. 3), and transmits the linear motion of the first screw nut 12 to the optical fiber clamping base 5. Push the optical fiber 41 to complete the reciprocating motion.

The low groove 45 is surrounded by a bottom plate, two opposite side plates and a proximal wall plate to form a groove-shaped structure with an opening on the bottom plate. The bottom opening of the low groove 45 can be closed by a connection system for connecting the robotic arm of the surgical robot.

The upper platform 1 and the low groove 45 are fixedly connected in a sealed manner. For example, a seal, such as a sealing ring, is arranged at the junction of the upper platform and the low groove 45. The sealed connection can prevent body fluids, medical reagents (such as washing fluid), etc. from splashing into the low groove 45 and damaging the components installed in the low groove 45. A shutter 6 (see FIG. 3) is provided at the distal end of the actuator body. The shutter 6 seals the exposed part of the upper platform when the upper platform moves, which can prevent patient body fluids or medical reagents from entering the interior of the low tank 45.

The driving system includes an optical fiber driving system and a platform driving system, and the optical fiber driving system and the platform driving system are installed in the housing in parallel.

The optical fiber drive system includes a first motor 7, a first motor base 8, and an optical fiber transmission device. The first motor 7, the first motor base 8 and the optical fiber transmission device are arranged in the housing. The first motor 7 is fixedly installed on the upper platform 1 by the first motor base 8. The first motor 7 provides power for the movement of the optical fiber. Preferably, the first motor 7 is a servo motor. The optical fiber transmission device includes a first screw nut 12, a first screw 13, a sliding rail 17, and a sliding block 43 (see Fig. 8). The first screw 13 can be driven by the first motor 7 to rotate in both forward and reverse directions. When the first screw 13 rotates, the first screw nut 12 is driven to reciprocate axially along the first screw 13.

Referring to Figures 3, 5 and 7, the optical fiber transmission device of the optical fiber drive system is connected to the optical fiber clamping seat 5 on the baffle 37 through the screw nut base 10, and transmits the linear motion of the first screw nut 12 to the optical fiber clamp In the tight seat 5, the guide bar 15 guides the screw nut seat 10 to move linearly to prevent rotation, thereby pushing the optical fiber 41 to complete the reciprocating movement.

Referring to FIG. 3, a first mounting seat 9 and a second mounting seat 14 are provided on one side of the actuator body, and the first mounting seat 9 and the second mounting seat 14 are fixedly connected to the upper platform 1. The two ends of the first screw 13 are respectively arranged on the first mounting seat 9 and the second mounting seat 14.

Referring to Fig. 3, the platform driving system includes a second motor 18, a second motor base 19, a coupling 20 and a platform transmission device. The second motor 18, the second motor base 19 and the platform transmission device are arranged beside the optical fiber system. The second motor 18 is fixedly installed on the low groove 45 by a motor support 19. The second motor 18 provides power for the movement of the platform. Preferably, the second motor 18 is a servo motor. The platform transmission device includes a second screw 25, a nut mounting seat 27, and a second screw nut 28. The coupling 20 connects the second motor 18 and the second lead screw 25, and the second lead screw nut 28 converts the rotational motion of the second lead screw 25 into linear motion, which is transmitted to the upper platform 1 through the nut mounting seat 27. The second lead screw 25 is driven by the second motor 18 to rotate in both forward and reverse directions, driving the upper platform 1 to perform axial reciprocating motion.

3, the other side of the actuator body is provided with a third mounting seat 23 and a fourth mounting seat 30, the third mounting seat 23 fixedly installs the first bearing seat 22 on the low groove 45, and the fourth mounting seat 30 The second bearing seat 29 is fixedly mounted on the low groove 45. One end of the second screw 25 is locked and fixed on the first bearing housing 22 by a screw lock nut 21, and the other end is installed on the second bearing housing 29 by a second screw nut 28. The platform driving system is fixedly connected in the low groove 45 by the third mounting base 23 and the fourth mounting base 30.

3, a first travel switch (not shown in the figure) and a second travel are provided between the first mounting seat 9 and the second mounting seat 14, and between the third mounting seat 23 and the fourth mounting seat 30, respectively Switch (composed of photoelectric switch 24, optical fiber travel light barrier 11, platform travel light barrier 26), the first travel switch is used to control the first screw nut 12 between the first mounting seat 9 and the second mounting seat 14 To prevent the first screw nut 12 from hitting the first mounting base 9 and the second mounting base 14; the second travel switch is used to control the second screw nut 28 between the third mounting base 23 and the fourth mounting base 30 The limit of travel between. Prevent the second screw nut 28 from hitting the third mounting seat 23 and the fourth mounting seat 30.

As a result, the upper platform 1 is connected to the platform support 16, and then connected to the slider 43. Driven by the second motor 18, it slides along the guide rail, thereby driving the percutaneous nephroscope manipulator (Figure 1) 2 to perform puncture, Surgical operations such as expanding channels; the optical fiber 41 is fixed on the upper platform 1, and the first motor 7 mounted on the upper platform 1 drives the optical fiber 41 to move back and forth to complete the surgical operations such as lithotripsy and stone removal.

The fixation system is used to fix the optical fiber 41 and the percutaneous nephroscope operation manipulator (Figure 1) 2 on the surgical robot actuator. The fixation system includes an optical fiber fixation system and a percutaneous nephroscope operation manipulator fixation system.

The optical fiber fixing system includes a first compression nut 3, a clamping plate 4, a clamping seat 5, a drag chain 31, and a drag chain mounting seat 32 (see FIG. 2, FIG. 4, and FIG. 7). The clamping seat 5 is fixedly installed on the baffle 37 of the upper platform 1, the first compression nut 3 and the clamping seat 5 are connected by threads, and the first compression nut 3 is rotated to make the clamping plate 4 and the clamping seat 5 adhere to each other. Close, complete the clamping and fixing of the optical fiber (see Figure 2). The drag chain 31 and the drag chain mounting seat 32 are located in the cavity of the low groove 45. The drag chain mounting seat 32 fixes one end of the drag chain 31 on the upper platform 1. The drag chain 31 is used for cable routing to avoid cable entanglement ( See Figure 4).

Referring to FIGS. 2, 3 and 5, the percutaneous nephroscope operation manipulator fixing system includes a V-shaped mounting seat 38, a second compression nut 39, a radial compression plate 40 and an axial compression plate 42. The second compression nut 39 cooperates with the radial compression plate 40 and the first screw nut 12 to fix and compress the lens body 201 on the V-shaped mounting seat 38, and the radial compression plate 40 compresses the lens body 201 to avoid the lens The body 201 undergoes radial movement, and the axial pressing plate 42 compresses the lens body 201 to avoid axial movement of the lens body 201. The radial pressing plate 40 and the axial pressing plate 42 can hold the mirror body 201, thereby restricting the movement of the mirror body 201 in a direction away from the surface of the housing of the surgical implement.

The hollow thread quick-change adjusting plate 33, the hollow thread quick-change head 34, the hollow thread quick-change locking ring 35, the hollow thread quick-change seat 36 and the quick-change positioning pin 44 constitute a mounting seat, which is used for surgical robot actuators and surgical robot machinery For the connection of the arm, the quick-change positioning pin 44 is used to fix the hollow-thread quick-change head 34 and the hollow-thread quick-change seat 36 to avoid relative rotation. The robotic arm of the surgical robot has multiple degrees of freedom, and can complete the position adjustment, posture adjustment, and rotation of the surgical robot's actuator. The operation of the percutaneous nephroscope can be controlled by controlling the operation of the surgical robot's actuator. The connection system can be detachably connected with various connection modes in the prior art. The above-mentioned other electrical components and connection systems can all adopt mature solutions in the prior art.

When working, the surgical robot actuator of the embodiment of the present invention can stably and firmly connect the surgical robot's mechanical arm and surgical instrument, such as percutaneous nephroscope. Under the control of the control system, the surgical robot actuator controls the percutaneous nephroscope The linear movement of the surgical manipulator 2 controls the overall movement of the surgical robot actuator through a mechanical arm to control the position and posture of the manipulator of the percutaneous nephroscope, thereby realizing an automated surgical process.

Fig. 9 is a schematic structural diagram of a surgical robot system provided by an embodiment of the present invention. In particular, the surgical robot system can be suitable for surgeons to perform percutaneous nephrolithotomy operations. As shown in FIG. 9, the surgical robot system includes: a surgical robot device 001, a surgical monitoring device 002, and a surgical control device 003.

The surgical robot device 001 is connected to the surgical control device 003, and according to the surgical control instructions sent by the surgical control device 003, the puncture operation (for example, skin-kidney puncture) is performed according to the puncture path, the channel is expanded, and the lithotripsy operation is performed .

The surgical monitoring device 002 is connected to the surgical control device 003, performs real-time scanning of the current surgical location during the operation, and sends the acquired scan data of the current surgical implementation location to the surgical control device 003, and then The scan data is shown to the surgical operator (for example, doctor) in the form of an image.

The operation control device 003 obtains scan data of an operation site (for example, kidney) from an external scanning device, and establishes a three-dimensional model of a diseased site (for example, kidney and stones) according to the scan data of the operation site; according to the three-dimensional model and presets According to the matching result of the model, the puncture path is determined, the navigation information is determined according to the puncture path and the scan data, the operation control instruction is generated according to the navigation information and sent to the surgical robot device 001, and the surgical robot device 001 performs the operation operate.

Before performing surgery, the patient’s diseased part (for example, kidney) is scanned by an external scanning device, and then the scanning data obtained by the external scanning device is obtained through the operation control device 003 to establish the patient’s diseased part (for example, kidney and kidney). The three-dimensional model of the stone. For example, the surgical control device 003 may be a computer device and installed with software for building a three-dimensional model based on scan data, and the external scanning device may be at least one of a magnetic resonance examination device, an electronic computed tomography device, and an ultrasound scanning device. kind. After the three-dimensional model is established, the three-dimensional model can be displayed to the doctor through the display connected to the surgical control device 003, so that the doctor can determine the surgical plan based on the three-dimensional model, and use the computer software for surgical planning and simulated pre-puncture verification. The input device (for example, mouse and keyboard) of the operation control device 003 is configured to input the puncture path for the patient during the operation, and the operation plan formulation software installed in the operation control device 003 can also be used according to the three-dimensional model and advance The stored surgical model determines the puncture path. After that, the doctor is required to confirm the plan drawn by the software or modify the plan drawn from the software. The surgical control device 003 determines the navigation information for puncture or lithotripsy according to the set puncture path and the scan data sent by the surgical monitoring device 002, and sends a surgical control instruction to the surgical robot device 001. The surgical robot The resection device configured in the device 001 is inserted into the preset operation position of the lesion (for example, kidney) according to the puncture path, completes the puncture and expands the channel, and then performs lithotripsy.

Optionally, the surgical robot device 001 and the surgical control device 003 can be connected in a wireless manner, so that the doctor can set the surgical plan at the end of the surgical control device 003 to monitor the operation process. The surgical robot device 001 and the surgical control device 003 are more flexible in position placement, and the doctor does not need to sit close to the subject to perform the operation, which improves the doctor's operating environment.

It can be seen from the above content that the technical solution provided by the above-mentioned embodiment 1 of the present invention solves the difficulty in positioning and the success rate of puncture caused by the lack of experience of the surgeon by performing three-dimensional modeling of the patient’s diseased part (for example, kidney) and presetting the puncture path. The problem is not high. The precise puncture and lithotripsy guided by navigation avoids vascular damage, hemorrhage and adjacent tissue damage, improves the safety of the operation, avoids the omission of stones, improves the stone removal rate, and avoids blood and urine contamination. Improve the operating environment and the comfort of the operator.

FIG. 10 shows a further structure of the surgical robot device 001. As shown in FIG. 10, the surgical robot apparatus 001 includes a mechanical arm 0011, an operator 2 (for example, a percutaneous nephroscope manipulator), and a surgical robot actuator 0012 that connects the mechanical arm 0011 and the manipulator 2 together.

Claims

A surgical robot actuator, characterized in that the surgical robot actuator includes an actuator main body, a driving system, a fixing system, and a surgical manipulator;

The main body of the actuator is configured to provide an installation position and space for the driving system, the fixing system, and the surgical manipulator;

The driving system is configured to drive the surgical manipulator to perform reciprocating motion, so as to push the end of the manipulator to perform the surgical operation;

The fixing system is configured to fix the surgical manipulator on the actuator body.
The surgical robot actuator according to claim 1, wherein the actuator body includes an upper platform (1) and a low groove (45), and the upper platform (1) and the low groove (45) surround The upper platform (1) is in the shape of a flat plate, and a mounting mirror is provided on the upper platform (1). The V-shaped mounting seat (38) of the body provides a mounting position for the mirror body.
The surgical robot actuator according to claim 2, wherein the actuator body further comprises a sealing element, and the upper platform (1) and the low groove (45) are connected in a sealed manner by the sealing element, The sealing element is, for example, a sealing ring;

The distal end of the actuator body is provided with a shutter (6). When the upper platform (1) moves, the shutter (6) seals the exposed part of the upper platform (1) to prevent patient body fluids or medical reagents Enter the low slot (45).
The surgical robot actuator according to claim 1 or 2, wherein the driving system comprises an optical fiber driving system and a platform driving system;

The optical fiber driving system includes a first motor (7), a first motor seat (8) and an optical fiber transmission device; the first motor (7) is fixedly installed on the upper platform by the first motor seat (8) (1) Top; The first motor (7) provides power for the movement of the optical fiber; the first motor (7) is a servo motor.
The surgical robot actuator according to claim 4, wherein the optical fiber transmission device comprises a first screw nut (12), a first screw (13), a sliding rail (17) and a sliding block (43) The first screw (13) can rotate in both directions under the drive of the first motor (7), and when the first screw (13) rotates, the first screw nut is driven (12) Perform axial reciprocating movement along the first screw (13); the optical fiber drive system is connected to the fiber clamping base (5) on the baffle (37) through the screw nut base (10), and connects The linear motion of the first screw nut (12) is transmitted to the optical fiber clamping seat (5), and the optical fiber (41) is pushed to complete the reciprocating motion.
The surgical robot actuator according to claim 5, characterized in that a guide bar (15) is further provided to guide the screw nut seat (10) to move linearly to prevent rotation, thereby pushing the optical fiber (41) to complete Reciprocating motion; the platform drive system includes a second motor (18), a second motor seat (19), a coupling (20) and a platform transmission device; the second motor (18), the second motor seat (19) and the platform transmission device are arranged beside the optical fiber (41); the second motor (18) is fixedly installed on the low groove (45) by the motor support (19); The second motor (18) provides power for the movement of the actuator components of the surgical robot; the second motor (18) is a servo motor; the platform transmission device includes a second screw (25), a nut mounting seat (27) ) And the second lead screw nut (28).
The surgical robot actuator according to claim 6, characterized in that the coupling (20) connects the second motor (18) and the second screw (25), and the second screw The nut (28) converts the rotary motion of the second screw (25) into linear motion, and transmits it to the upper platform (1) through the nut mounting seat (27), and the second screw (25) is located at the The second motor (18) is driven to rotate in both forward and reverse directions, driving the upper platform (1) to perform axial reciprocating motion; the actuator body and the first screw nut (12), the The opposite side of the first screw (13) is provided with a third mounting seat (23) and a fourth mounting seat (30), and the third mounting seat (23) fixes the first bearing seat (22) On the low groove (45), the fourth mounting seat (30) fixes the second bearing seat (29) on the low groove (45); one end of the second screw (25) It is locked and fixed on the first bearing seat (22) through a screw lock nut (21), and the other end is installed on the second bearing seat (29) through a second screw nut (28); The platform driving system is fixedly connected in the low groove (45) by the third mounting seat (23) and the fourth mounting seat (30).
The surgical robot actuator according to any one of claims 1-3, wherein the manipulator (2) comprises a mirror body (200), a mirror body (201), and a tail of the mirror body (200) The end is connected to the mirror body (201), the mirror body (200) and the mirror body (201) are provided with mutually communicating lumens, and the mirror body (201) is provided with an observation port (2011), Operation channel (2012), water inlet valve (2013) and light source inlet (2014).
The surgical robot actuator according to any one of claims 1 to 3, wherein the fixing system comprises an optical fiber fixing system and a surgical manipulator fixing system;

The optical fiber fixing system includes a first compression nut (3), a clamping plate (4), a clamping seat (5), a drag chain (31) and a drag chain mounting seat (32); the clamping seat (5) ) Is fixedly installed on the baffle (37) of the upper platform (1), the first compression nut (3) is connected with the clamping seat (5) through threads, and the first compression nut is rotated (3) Make the clamping plate (4) fit the clamping seat (5) to complete the clamping and fixing of the optical fiber; the drag chain (31) and the drag chain mounting seat (32) are located In the cavity of the low groove (45), the drag chain mounting seat (32) fixes one end of the drag chain (31) on the upper platform (1), and the drag chain (31) is used for wire Cable routing to avoid cable entanglement;

The surgical manipulator fixing system includes a V-shaped mounting seat (38), a second compression nut (39), a radial compression plate (40) and an axial compression plate (42); the second compression nut (39) Cooperate with the radial compression plate (40) and the first screw nut (12) to fix and compress the mirror body (201) on the V-shaped mounting seat (38), The radial pressing plate (40) compresses the mirror body (201) to avoid radial movement of the mirror body (201), and the axial pressing plate (42) compresses the mirror body (201) ) Avoid axial movement of the mirror body (201); the radial pressing plate (40) and the axial pressing plate (42) can hug the mirror body (201), thereby restricting all The mirror body (201) moves in a direction away from the surface of the housing of the surgical robot actuator.
The surgical robot actuator according to any one of claims 1-3, characterized in that:

The actuator body further includes a first mounting seat (9), a second mounting seat (14), a third mounting seat (23), and a fourth mounting seat (30). The actuator body is provided with the first mounting seat on one side. A mounting seat (9) and the second mounting seat (14), the first mounting seat (9) and the second mounting seat (14) are fixedly connected to the upper platform (1); the first Two ends of a lead screw (13) are respectively arranged on the first mounting seat (9) and the second mounting seat (14);

A first stroke is respectively provided between the first mounting seat (9) and the second mounting seat (14), and between the third mounting seat (23) and the fourth mounting seat (30) A switch and a second travel switch, the first travel switch is configured to control the limit of the first screw nut (12) between the first mounting seat (9) and the second mounting seat (14) Stroke to prevent the first screw nut (12) from hitting the first mounting seat (9) and the second mounting seat (14); the second travel switch is used to control the second screw nut (28) The limit stroke between the third mounting seat (23) and the fourth mounting seat (30) to prevent the second screw nut (28) from hitting the third mounting seat (23) And the fourth mounting seat (30);

The second travel switch is composed of a photoelectric switch (24), an optical fiber travel light barrier (11), and a platform travel light barrier (26).
A surgical robot system, characterized in that the surgical robot system includes a surgical robot device, a surgical monitoring device, and a surgical control device;

The surgical robot device includes a mechanical arm, a manipulator, and the surgical robot actuator according to any one of claims 1-10 that connects and fixes the manipulator on the mechanical arm;

The surgery monitoring device is connected to the surgery control device, and is configured to obtain the location of the surgery in real time, send the information of the location of the surgery to the surgery control device, and display the information of the location of the surgery to the surgery control device in the form of images. Surgical operator

The operation control device is configured to obtain scan data of the lesion location from an external scanning device, and build a three-dimensional model based on the scan data of the lesion location, generate a surgical control instruction according to the three-dimensional model, and send the surgical control instruction to the The surgical robot device performs surgical operations by the surgical robot device.