WO2023039930A1 - 一种内镜手术器械输送装置、控制方法及机器人系统 - Google Patents

一种内镜手术器械输送装置、控制方法及机器人系统 Download PDF

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Publication number
WO2023039930A1
WO2023039930A1 PCT/CN2021/120621 CN2021120621W WO2023039930A1 WO 2023039930 A1 WO2023039930 A1 WO 2023039930A1 CN 2021120621 W CN2021120621 W CN 2021120621W WO 2023039930 A1 WO2023039930 A1 WO 2023039930A1
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WIPO (PCT)
Prior art keywords
assembly
drive
instrument
insertion tube
surgical instrument
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PCT/CN2021/120621
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English (en)
French (fr)
Inventor
李凌
沈光国
辜嘉
李文超
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苏州中科华影健康科技有限公司
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Publication of WO2023039930A1 publication Critical patent/WO2023039930A1/zh

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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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0801—Prevention of accidental cutting or pricking
    • A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means

Definitions

  • the invention relates to the field of medical instruments, in particular to an endoscopic surgical instrument delivery device, a control method and a robot system.
  • Minimally invasive surgery refers to a new technology that performs surgery in the human body through endoscopes such as laparoscopy and thoracoscopic surgery. Minimally invasive surgery has the advantages of less trauma, less pain and faster recovery. With the extensive development of minimally invasive surgery, surgical assistant robots have played an increasingly important role in minimally invasive surgery. Hold an endoscope and operate with surgical instruments in your right hand. It reduces the difficulty of the operation, ensures the stability of the instrument during the operation, and prevents the shaking of the endoscope screen due to fatigue caused by the doctor's hand holding the mirror for a long time, thus affecting the safety and quality of the operation.
  • Patent Application No. 201410508069.5 discloses a robotic surgical platform for endoscopic surgery through the natural orifice, including delivery pipelines, spokes, robotic arms and a base plate, the delivery pipelines are connected in the base plate, and the spokes include upper spokes and lower spokes, and the upper spokes
  • the upper spoke-conveying pipe joint is connected to the conveying pipe
  • the robot shoulder joint is connected to the robot arm
  • the lower spoke is connected to the lower spoke slide through the conveying pipe joint
  • the robot arm is composed of a robot arm, a robot hand, a robot shoulder joint, and a robot wrist joint
  • the robot arm is connected with the upper spoke through the robot shoulder joint
  • the robot arm is connected with the robot hand through the wrist joint
  • the middle part of the robot arm is provided with a robot horizontal joint.
  • the flexible delivery tube cannot be well combined with the surgical instrument and applied to the surgical robot, nor can the position positioning and intracavitary delivery of the flexible delivery tube be well solved.
  • An instrument delivery device applied to a surgical robot that solves the above technical problems.
  • an endoscopic surgical instrument delivery device including:
  • a multi-degree-of-freedom mechanical arm is connected to the robot base, and the operating end of the multi-degree-of-freedom mechanical arm is provided with a pipe fitting delivery assembly, and the pipe fitting delivery assembly clamps one end of the mirror body insertion tube side wall;
  • a first driving platform the first driving platform is arranged on the robot base, and can slide relative to the robot base driven by the first driving assembly, the insertion tube control assembly is arranged on the first driving platform, The insertion tube control assembly is connected to the other end of the scope insertion tube for controlling the end angle of the scope insertion tube; a camera assembly and an instrument channel are arranged in the scope insertion tube;
  • the second drive platform, the second drive platform is arranged on the first drive platform, and can slide relative to the first drive platform driven by the second drive assembly, and the second drive platform is provided with an instrument control component, the instrument control component is used to control the execution action and angle of the surgical instrument, the surgical instrument is arranged in the instrument channel, and can be moved away when the second drive platform and the first drive platform slide relatively end protruding from the instrument channel;
  • the control module is used to calculate the sliding distance of the first driving platform according to the movement position conversion of the pipe conveying assembly of the multi-degree-of-freedom mechanical arm during the adjustment and alignment phase, and control the first driving assembly to drive the first driving platform.
  • a driving platform follows the movement of the multi-degree-of-freedom mechanical arm; and is used for keeping the multi-degree-of-freedom mechanical arm stationary during the tube body insertion stage, and controlling the first driving assembly to drive the first driving platform to slide, so as to Insert the scope insertion tube toward the distal end.
  • the tube delivery assembly includes an insertion guide tube, and the scope insertion tube passes through the insertion guide tube.
  • the first drive assembly includes a first motor and a first slide rail, and the first drive platform is slidably connected to the robot base through the first slide rail;
  • the second drive assembly includes a second motor and a second slide rail, and the second drive assembly is slidably connected to the first drive assembly through the second slide rail.
  • the distal end of the insertion tube of the mirror body includes a first bending mechanism, one end of the first adjustment pull cord set is connected to the first bending mechanism, and the other end is connected to the insertion tube control assembly for controlling the Lens body insertion tube distal angle.
  • the distal end of the surgical instrument includes a second bending mechanism, one end of the second adjustment pull cord set is connected to the second bending mechanism, and the other end is connected to the instrument control assembly, for controlling the distal end of the surgical instrument.
  • One end of the actuator driver is connected to the surgical instrument, and the other end is connected to the instrument control assembly for controlling the operation of the surgical instrument.
  • the surgical instrument includes an electric knife instrument and a surgical forceps instrument
  • the instrument control assembly includes an electric knife control assembly and a surgical forceps instrument control assembly
  • the instrument channel is correspondingly provided with an electric knife channel and a surgical forceps channel.
  • the tube delivery assembly includes a rolling delivery structure for driving the scope insertion tube to be delivered to the distal end, and the control module is also used for controlling the first driving assembly according to the rolling distance of the rolling delivery structure control distance.
  • the pipe conveying assembly further includes a torque sensor for detecting the rolling conveying structure, and the torque sensor is used for sending an alarm to the control module when the torque of the rolling conveying structure is greater than a preset value, so that The control module stops movement of the roller conveyor structure.
  • the present application also provides a method for controlling an endoscopic surgical instrument delivery device, the method is based on the above-mentioned endoscopic surgical instrument delivery device, including:
  • the spatial position calculate the sliding distance converted into the first driving platform, and control the first driving assembly to drive the sliding of the first driving platform according to the sliding distance;
  • the multi-degree-of-freedom mechanical arm is kept stationary, and the first driving assembly is controlled to drive the first driving platform to slide, so that the scope insertion tube is inserted toward the distal end.
  • the present application further provides an endoscopic surgical robot system, further preferably, including a display device, an operating device, and the above-mentioned endoscopic surgical instrument delivery device.
  • the first driving platform slides synchronously, maintaining the overall follow-up effect of the insertion tube of the mirror body, and will not cause any damage due to distance changes.
  • the insertion tube of the mirror body is straightened and tensioned, realizing a stable positioning process.
  • the pipe fitting conveying component is a conveying roller, and a pair of conveying rollers hold the mirror body insertion tube between the conveying rollers to maintain a certain friction force.
  • the multi-degree-of-freedom mechanical arm moves, it can drive the pipe fitting conveying component to move together , to achieve the effect of precise delivery, and after reaching the corresponding position, the multi-degree-of-freedom mechanical arm remains stable. At this time, the rotation of the delivery roller is controlled to realize the forward push of the insertion tube of the mirror body.
  • a torque sensor is provided for sending an alarm to the control module when the torque of the rolling conveying structure is greater than a preset value, so that the control module stops the movement of the rolling conveying structure.
  • the thrust of the tube delivery assembly is greater than the preset value, it means that the insertion of the lens body insertion tube is greatly hindered, in order to prevent further damage to the internal tissues of the human body.
  • Fig. 1 is a schematic diagram of the overall structure of the endoscopic surgery robot system according to the embodiment of the present application;
  • Fig. 2 is the end view of the mirror body insertion tube of the embodiment of the present application
  • Fig. 3 is a schematic structural view of the implementation end of the instrument in the embodiment of the present application after passing through the insertion tube of the mirror body;
  • Fig. 4 is a schematic diagram of the control structure corresponding to the scope insertion tube of the embodiment of the present application.
  • Fig. 5 is a top view structural schematic diagram of the surgical forceps instrument control assembly of the embodiment of the present application.
  • Fig. 6 is a three-dimensional structural schematic diagram of the surgical forceps instrument control assembly of the embodiment of the present application.
  • the present application designs a The endoscopic surgical instrument delivery device realizes the convenient delivery and effective positioning of the mirror body insertion tube and the instrument hose through the mutual cooperation between multiple drive components, combined with the control module to control the drive with a specific control method.
  • an endoscopic surgical instrument delivery device which belongs to one of the important components of the endoscopic surgical robot system, and is used to insert the mirror body into the endoscopic surgery process.
  • the tube and instrument hose are driven and inserted into the surgical channel, and corresponding surgical operations are performed at the lesion position.
  • the scope insertion tube 10 includes a plurality of functional channels, specifically a camera channel 21, a light source channel 22, an instrument channel 23, a magnetic navigation sensor channel 24, a biopsy channel 25, and a water vapor channel. 26.
  • the camera channel 21 is used to install the camera device for collecting the internal image of the human body, so that the image is transmitted to the external display 7 through the signal transmission line, so that the operator can observe the internal image of the human body in real time.
  • the light source channel 22 is used to place lighting elements, such as LED lights, so that the tissue part corresponding to the camera device can have sufficient light, so that the captured image is clearer.
  • the water vapor channel 26 can suck the smoke and interstitial fluid generated during the operation, reducing the visual interference of the smoke and interstitial fluid during the operation; the biopsy forceps can smoothly take out the excised tissue through the biopsy channel 25 .
  • a magnetic navigation sensor can be arranged in the magnetic navigation sensor channel 24, and the magnetic navigation sensor cooperates with a corresponding device outside the body to detect in real time the specific orientation of the current scope insertion tube 10 in the human body.
  • the instrument channel 23 is used to accommodate the instrument hose 19 and the instrument execution end 27 connected to the distal end of the instrument hose 19 through a turning portion 28.
  • the instrument hose 19 in the instrument channel 23 can be stretched out or retracted relative to the instrument channel 23.
  • the implementing end 27 can be driven to perform surgical actions, such as grabbing, cutting, etc., corresponding to different surgical actions according to the different functions of the implementing end 27 of the instrument.
  • the instrument hose in order to make the mirror body insertion tube positioned at the opening of the operation channel and be further transported to the lesion position, while ensuring the synchronous movement of the instrument hose and the mirror body insertion tube, the instrument hose is further driven relative to the scope.
  • the body insertion tube protrudes, and the above-mentioned process needs a set of driving mechanism to realize.
  • manual operation is usually required to control the insertion and positioning process of the tube.
  • the problem specifically adopted the following structure:
  • the robot base is used as the basis for connecting the multi-degree-of-freedom mechanical arm 3 and the entire driving device;
  • the multi-degree-of-freedom mechanical arm 3 provided on the robot base 5 is used to hold the mirror body insertion tube 10 to keep it in position and further realize the delivery.
  • the multi-degree-of-freedom mechanical arm 3 is connected to the robot base 5, and the multi-degree-of-freedom mechanical arm 3
  • the operating end is provided with a pipe fitting conveying assembly 8, and the pipe fitting conveying assembly 8 clamps the side wall of one end of the mirror body insertion pipe 10;
  • the tube delivery assembly 8 includes a rolling delivery structure for driving the scope insertion tube 10 to be delivered to the distal end, and the control module is also used for controlling the control distance of the first driving assembly 4 according to the rolling distance of the rolling delivery structure.
  • the pipe fitting conveying assembly 8 can be a conveying roller arranged on the multi-degree-of-freedom mechanical arm 3, and a pair of conveying rollers hold the mirror body insertion tube 10 between the conveying rollers to maintain a certain frictional force, and the multi-degree-of-freedom
  • the multi-degree-of-freedom mechanical arm 3 moves, it can drive the pipe fitting conveying assembly 8 to move together.
  • the multi-degree-of-freedom mechanical arm 3 remains stable.
  • the rotation of the conveying roller can be controlled to realize the orientation of the mirror body insertion tube 10. Push forward.
  • the delivery of the scope insertion tube 10 may also be realized by other clamping and pushing mechanical mechanisms, which will not be repeated here.
  • the pipe conveying assembly 8 also includes a torque sensor for detecting the rolling conveying structure, and the torque sensor is used to send the torque to the control module when the torque of the rolling conveying structure is greater than a preset value An alarm to cause the control module to stop movement of the rolling conveyor structure.
  • the thrust of the tube delivery assembly 8 is greater than the preset value, it means that the insertion of the scope insertion tube 10 has been greatly hindered.
  • the operation drive of the tube delivery assembly 8 can be directly stopped at this time. .
  • the rear end of the scope insertion tube 10 is also provided with a first drive platform 16 for synchronous movement, and the first drive platform 16 is arranged on the robot.
  • the insertion tube control assembly 12 is arranged on the first drive platform 16, and the insertion tube control assembly 12 is connected with the other end of the scope insertion tube 10 Therefore, driven by the first driving platform 16, the rear end of the scope insertion tube 10 can move back and forth in a correspondingly controlled manner.
  • the insertion tube control assembly 12 is also used to control the end angle of the scope insertion tube 10;
  • the scope insertion tube 10 is provided with a camera assembly and an instrument channel 12 located in the camera channel 21;
  • the end angle can control the image acquisition angle of the camera assembly and align the surgical instruments at the instrument channel 12 .
  • the front end of the lens body insertion tube 10 is provided with a snake bone, and a plurality of lens body insertion tube backguys 29 are connected to the snake bone, preferably four evenly distributed, and the lens body insertion tube 10 is controlled by driving the lens body insertion tube backguy 29.
  • the snake bones are bent to achieve angle control.
  • the second drive platform 13, the second drive platform 13 is arranged on the first drive platform 16, and can slide relative to the first drive platform 16 under the drive of the second drive assembly, the second drive platform 13 is provided with an instrument control assembly, the instrument The control assembly is used to control the execution action and angle of the surgical instrument.
  • the surgical instrument is arranged in the instrument channel, and the distal end can extend out of the instrument channel when the second drive platform 13 and the first drive platform 16 slide relatively; the second drive platform 13 It can move together with the first driving platform, and can also slide relative to the first driving platform 16, thereby realizing the synchronous movement of the surgical instrument and the scope insertion tube 10, and moving relative to the scope insertion tube 10 to extend out of the instrument channel. control.
  • a control module is also provided, which is used to convert and calculate the first driving platform according to the movement position conversion of the pipe conveying assembly 8 of the multi-degree-of-freedom mechanical arm 3 during the alignment phase 16, and control the first driving assembly 4 to drive the first driving platform 16 to follow the movement of the multi-degree-of-freedom mechanical arm 3;
  • the assembly 4 drives the first driving platform 16 to slide, so that the scope insertion tube 10 is inserted toward the distal end.
  • the multi-degree-of-freedom robotic arm 3 can be aligned manually, or it can be automatically aligned to the surgical channel.
  • the control module When the operator moves the multi-degree-of-freedom robotic arm 3 during the alignment process, the first driving platform 16 slides synchronously to maintain the overall follow-up effect of the scope insertion tube 10, and will not cause the scope insertion tube 10 to be straightened and stressed due to distance changes, thereby realizing a stable positioning process.
  • control module is also applicable to the process of the tube delivery assembly 8 driving the scope insertion tube 10 forward. Following the advancing distance of the scope insertion tube 10 , the control module synchronously controls the forward sliding of the first driving platform 16 .
  • the tube delivery assembly 8 includes an insertion guide tube 9 through which the lens body insertion tube 10 passes, further playing the role of protection and guidance of the lens body insertion tube 10 .
  • the first drive assembly 4 includes a first motor and a first slide rail, and the first drive platform 16 is slidably connected with the robot base 5 through the first slide rail;
  • the second drive assembly includes a second motor and a second slide rail. Slide rails, the second drive assembly is slidably connected with the first drive assembly 4 through the second slide rails. It can also be other ways of driving and sliding, which are not limited too much here. Both the first drive assembly 4 and the second drive assembly are electrically connected to the control module for sending control signals.
  • the distal end of the surgical instrument includes a second bending mechanism, one end of the second adjustment drawstring group is connected to the second bending mechanism, and the other end is connected to the instrument control assembly, which is used to control the angle of the distal end of the surgical instrument and perform driving.
  • One end of the piece is connected with the surgical instrument, and the other end is connected with the instrument control assembly, which is used to control the operation of the surgical instrument, that is, the angular position of the instrument execution end 27 at the distal end of the surgical instrument;
  • the second adjustment pull rope group includes A plurality of instrument pull wires 18, and a plurality of instrument pull wires 18 are connected to the second bending mechanism after passing through the instrument hose 19.
  • the second bending mechanism is preferably a snake bone, specifically a four-way snake bone, and is connected by four pull ropes. Drive in four directions.
  • the rear end of the instrument execution end 27 is welded on the second bending mechanism, and the second bending mechanism is driven to bend in a predetermined direction by applying a pulling force through the instrument pull wire 18.
  • the bending control principle of the mirror body insertion tube 10 is similar to it, here No longer.
  • the instrument control assembly specifically includes a winding wheel 20, on which the instrument backguy 18 is wound, and the pulling force of the instrument backguy 18 is controlled by driving the rotation of the winding wheel 20, so as to drive the second bending mechanism toward the predetermined direction. Set direction to bend.
  • the surgical instruments include electric knife instruments and surgical forceps instruments
  • the instrument control components include electric knife control components 14 and surgical forceps instrument control components 15, and the instrument channels are correspondingly provided with electric knife channels and surgical forceps channels.
  • Corresponding surgical instruments can also be selected according to other surgical needs.
  • this embodiment also provides a method for controlling an endoscopic surgical instrument delivery device, based on the endoscopic surgical instrument delivery device in Embodiment 1, including:
  • the multi-degree-of-freedom mechanical arm 3 is kept stationary, and the first driving assembly 4 is controlled to drive the first driving platform 16 to slide, so that the scope insertion tube 10 is inserted toward the distal end.
  • the present invention provides a computer-readable storage medium, at least one instruction, at least one program, code set or instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set Or the instruction set is loaded and executed by the processor to implement the above-mentioned control method of the endoscopic surgical instrument delivery device.
  • the foregoing storage medium may be located in at least one network server among multiple network servers of the computer network.
  • the above-mentioned storage medium may include but not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk Various media that can store program codes such as discs or optical discs.
  • the present invention also provides a device, the device includes a processor and a memory, at least one instruction, at least one program, code set or instruction set are stored in the memory, the at least one instruction, the at least one program, The code set or instruction set is loaded and executed by the processor to realize the above-mentioned control method of the endoscopic surgical instrument delivery device.
  • the memory can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory.
  • the memory can mainly include a program storage area and a data storage area, wherein the program storage area can store operating systems, application programs required by functions, etc.; the data storage area can store data created according to the use of the device, etc.
  • the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.
  • the memory may also include a memory controller to provide processor access to the memory.
  • an endoscopic surgery robot system which is used to drive and insert the scope insertion tube and the instrument hose into the surgical channel during the endoscopic surgery, and perform corresponding surgical operations at the lesion position. And it is equipped with an observable device and a device that can input corresponding instructions, as well as the endoscopic surgical instrument delivery device mentioned in Embodiment 1.
  • the robot system for endoscopic surgery includes a robot base 5 , a multi-degree-of-freedom robotic arm 3 , a first driving platform 16 , a second driving platform 13 , a control module, an operating console 6 and a display 7 .
  • the multi-degree-of-freedom mechanical arm 3 is connected to the robot base 5, and the operating end of the multi-degree-of-freedom mechanical arm 3 is provided with a pipe fitting delivery assembly 8, and the pipe fitting delivery assembly 8 clamps the side wall of one end of the mirror insertion tube 10;
  • the first drive platform 16 is located on the robot base 5, and can slide relative to the robot base 5 under the drive of the first drive assembly 4.
  • the first drive platform 16 is provided with an insertion tube control assembly 12, which is connected to the mirror.
  • the other end of the mirror body insertion tube 10 is connected to control the end angle of the mirror body insertion tube 10;
  • the mirror body insertion tube 10 is provided with a camera assembly and an instrument channel;
  • the second drive platform 13 is arranged on the first drive platform 16, and can slide relative to the first drive platform 16 under the drive of the second drive assembly.
  • the second drive platform 13 is provided with an instrument control assembly, which is used to control the operation The execution action and angle of the instrument, the surgical instrument is set in the instrument channel, and the distal end can extend out of the instrument channel when the second driving platform 13 and the first driving platform 16 slide relatively;
  • It is used to calculate the sliding distance of the first drive platform 16 according to the movement position conversion of the pipe conveying assembly 8 of the multi-degree-of-freedom manipulator 3 during the adjustment and alignment phase, and to control the first drive assembly 4 to drive the first drive platform 16 to follow the multi-degree-of-freedom and is used to keep the multi-degree-of-freedom mechanical arm 3 stationary during the tube body insertion stage, and control the first drive assembly 4 to drive the first drive platform 16 to slide, so that the mirror body insertion tube 10 is inserted toward the distal end .
  • the multi-degree-of-freedom mechanical arm 3 is arranged on the side of the robot base 5 close to the operating bed 1, and the operating bed is used for placing patients.
  • the monitor 7 is set on another desktop, and is electrically connected with the camera assembly for displaying images of the inside of the human body, and an operating console 6 is set in front of the monitor 7 for inputting control commands.
  • the multi-degree-of-freedom mechanical arm 3 is kept stationary, and the first driving assembly 4 is controlled to drive the first driving platform 16 to slide, so that the scope insertion tube 10 is inserted toward the distal end.
  • the torque sensor is used to send an alarm to the control module when the torque of the rolling conveying structure is greater than a preset value, so that the control module stops the movement of the rolling conveying structure.
  • the controller is also used to control the sliding distance of the first driving platform 16 according to the insertion depth of the scope insertion tube 10, and further, after reaching a predetermined position, the tube delivery assembly 8 stop, the controller controls the second drive platform 13 to continue to slide forward relative to the first drive platform 16, and the surgical instrument extends out of the instrument channel when the second drive platform 13 slides relative to the first drive platform 16;
  • the surgical instrument is controlled to perform the surgical operation, and after the surgical operation is completed, the tube delivery assembly 8 is reversely driven so that the mirror body insertion tube 10 exits the inside of the human body.

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Abstract

一种内镜手术器械输送装置、控制方法及机器人系统，包括：机器人底座（5）、多自由度机械臂（3）、第一驱动平台（16）、第二驱动平台（13）和控制模块，控制模块用于在调整对位阶段，根据多自由度机械臂（3）的管件输送组件（8）的运动位置转换计算第一驱动平台（16）的滑动距离，并且控制第一驱动组件（4）驱动第一驱动平台（16）跟随多自由度机械臂（3）运动；且用于在管体插入阶段，控制第一驱动组件（4）驱动第一驱动平台（16）滑动，以使得镜体插入管（10）朝远端插入；通过控制模块，使得在对位过程中，移动多自由度机械臂（3）时，第一驱动平台（16）同步滑动，保持镜体插入管（10）的整体随动效果，不会因为距离变化而造成镜体插入管（10）被拉直紧绷受力，实现了稳定的定位过程。

Description

一种内镜手术器械输送装置、控制方法及机器人系统 技术领域
本发明涉及医疗器械领域，具体涉及一种内镜手术器械输送装置、控制方法及机器人系统。
背景技术
微创手术，是指通过腹腔镜、胸腔镜等内窥镜在人体内施行手术的一种新技术。微创手术具有创伤小、疼痛轻、恢复快的优越性。随着微创手术的广泛发展，手术辅助机器人在内微创手术中扮演了越来越重要的角色，手术辅助机器人的出现，改变了以往在微创手术中，需要医生手动持镜，通过左手持内窥镜，右手持手术器械进行操作。减少了手术的难度，保证了手术过程中器械的稳定性，防止医生手部长时间的持镜会因疲劳而导致内窥镜画面的晃动，从而影响手术操作的安全性和质量。
例如专利申请号201410508069.5公开了一种经自然腔道内镜手术用的机器人手术平台，包括输送管道、辐条、机器人手臂和底板，输送管道连接在底板中，辐条包括上辐条和下辐条，上辐条通过上辐条－输送管道关节与输送管道连接，通过机器人肩关节与机器人臂连接，下辐条通过输送管道关节与下辐条滑道连接，机器人手臂由机器人臂、机器人手、机器人肩关节、机器人腕关节和机器人水平关节组成，机器人臂通过机器人肩关节与上辐条连接，机器人臂通过腕关节与机器人手连接，机器人臂的中部设有机器人水平关节。能够解决现有经自然腔道内镜机器人手术系统操作平台不稳定、手术操作三角狭小和手术器械少而简单的问题，能够胜任复杂的腹部外科手术。
然而现有技术中，无法将柔性输送管道很好地与手术器械结合并应用 到手术机器人中，也无法很好地解决柔性输送管道的位置定位以及腔内输送的问题，因此需要通过一种能够解决上述技术问题的应用于手术机器人上的器械输送装置。
发明内容
为了解决上述技术问题，本发明第一方面提供了一种内镜手术器械输送装置，包括：
机器人底座；
多自由度机械臂，所述多自由度机械臂与所述机器人底座连接，且所述多自由度机械臂的操作端设有管件输送组件，所述管件输送组件夹持镜体插入管一端的侧壁；
第一驱动平台，所述第一驱动平台设于所述机器人底座上，且能够在第一驱动组件驱动下与所述机器人底座相对滑动，所述第一驱动平台上设有插入管控制组件，所述插入管控制组件与镜体插入管的另一端连接，用于控制所述镜体插入管的端部角度；所述镜体插入管内设有摄像组件和器械通道；
第二驱动平台，所述第二驱动平台设于所述第一驱动平台上，且能够在第二驱动组件驱动下与所述第一驱动平台相对滑动，所述第二驱动平台设有器械控制组件，所述器械控制组件用于控制手术器械的执行动作和角度，所述手术器械设于所述器械通道内，且能够在所述第二驱动平台与所述第一驱动平台相对滑动时远端伸出所述器械通道；
控制模块，用于在调整对位阶段，根据所述多自由度机械臂的管件输送组件的运动位置转换计算所述第一驱动平台的滑动距离，并且控制所述第一驱动组件驱动所述第一驱动平台跟随所述多自由度机械臂运动；且用于在管体插入阶段，保持所述多自由度机械臂静止，且控制所述第一驱动组件驱动所述第一驱动平台滑动，以使得镜体插入管朝远端插入。
进一步优选地：所述管件输送组件包括插入导向管，所述镜体插入管 穿过所述插入导向管。
进一步优选地：所述第一驱动组件包括第一电机和第一滑轨，所述第一驱动平台通过所述第一滑轨与所述机器人底座滑动连接；
所述第二驱动组件包括第二电机和第二滑轨，所述第二驱动组件通过所述第二滑轨与所述第一驱动组件滑动连接。
进一步优选地：所述镜体插入管远端包括第一弯折机构，第一调节拉绳组一端与第一弯折机构连接，另一端与所述插入管控制组件连接，用于控制所述镜体插入管远端角度。
进一步优选地：所述手术器械远端包括第二弯折机构，第二调节拉绳组一端与第二弯折机构连接，另一端与所述器械控制组件连接，用于控制所述手术器械远端角度，执行驱动件一端与所述手术器械连接，一端与所述器械控制组件连接，用于控制所述手术器械动作。
进一步优选地：所述手术器械包括电刀器械和手术钳器械，所述器械控制组件包括电刀控制组件和手术钳器械控制组件，所述器械通道对应设有电刀通道与手术钳通道。
进一步优选地：所述管件输送组件包括滚动输送结构，用于驱动所述镜体插入管向远端输送，所述控制模块还用于根据滚动输送结构的滚动距离，控制所述第一驱动组件的控制距离。
进一步优选地：所述管件输送组件还包括用于检测滚动输送结构的转矩传感器，所述转矩传感器用于当滚动输送结构的扭矩大于预设值时向所述控制模块发送警报，以使得所述控制模块停止所述滚动输送结构的运动。
另一方面，本申请还提供一种内镜手术器械输送装置控制方法，所述方法基于如上所述的内镜手术器械输送装置，包括：
当处于调整对位阶段，控制调节多自由度机械臂的姿态；
实时获取多自由度机械臂上管件输送组件的空间位置；
根据所述空间位置，计算转换为所述第一驱动平台的滑动距离，根据 所述滑动距离控制第一驱动组件驱动所述第一驱动平台滑动；
完成镜体插入管的同步移动与对位；
在所述镜体插入管完成对位后，保持所述多自由度机械臂静止，且控制所述第一驱动组件驱动所述第一驱动平台滑动，以使得镜体插入管朝远端插入。
第三方面，本申请还提供一种内镜手术机器人系统，进一步优选地，包括显示装置、操作装置和如上所述的内镜手术器械输送装置。
实施本发明具有以下有益效果：
(1)通过控制模块，可以使得操作人员在对位过程中，移动多自由度机械臂时，第一驱动平台同步滑动，保持镜体插入管的整体随动效果，不会因为距离变化而造成镜体插入管被拉直紧绷受力，实现了稳定的定位过程。
(2)通过多个驱动组件之间的互相配合，结合控制模块以特定的控制方法来控制驱动，实现了镜体插入管和器械软管的便捷输送和有效定位，保证了镜体插入管和器械装置自身的随动效果以及相对运动的控制效果。
(3)管件输送组件为输送辊轮，一对输送辊轮将镜体插入管加持在输送辊轮之间，保持一定的摩擦力，多自由度机械臂移动时，可以带动管件输送组件共同运动，实现了精确输送的效果，并且在到达相应位置后，多自由度机械臂保持稳定不同，此时再控制输送辊轮转动，可以实现镜体插入管的向前推送。
(4)设置转矩传感器，用于当滚动输送结构的扭矩大于预设值时向控制模块发送警报，以使得控制模块停止滚动输送结构的运动。当管件输送组件推力大于预设值时，说明在镜体插入管插入过程中受到了较大的阻碍，为了防止进一步地损伤人体内部组织。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面 的描述中变得明显，或通过本发明的实践了解到。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。
图1是本申请实施例内镜手术机器人系统整体结构示意图；
图2为本申请实施例镜体插入管的端面视图；
图3为本申请实施例器械执行端穿出镜体插入管后的结构示意图；
图4为本申请实施例镜体插入管对应的控制结构示意图；
图5为本申请实施例手术钳器械控制组件的俯视结构示意图；
图6为本申请实施例手术钳器械控制组件的立体结构示意图；
手术床1、患者2、多自由度机械臂3、第一驱动组件4、机器人底座5、操作台6、显示器7、管件输送组件8、插入导向管9、镜体插入管10、控制组件连接块11、插入管控制组件12、第二驱动平台13、电刀控制组件14、手术钳器械控制组件15、第一驱动平台16、拉线驱动底板17、器械拉线18、器械软管19、绕线轮20、摄像头通道21、光源通道22、器械通道23、磁导航传感器通道24、活检通道25、水汽通道26、器械执行端27、转弯部28、镜体插入管拉线29。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提 下所获得的所有其他实施例，都属于本发明保护的范围。所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。
本申请为了解决现有技术中无法将柔性输送管道很好地与手术器械结合并应用到手术机器人中，也无法很好地解决柔性输送管道的位置定位以及腔内输送的问题，通过设计一种内镜手术器械输送装置，通过多个驱动组件之间的互相配合，结合控制模块以特定的控制方法来控制驱动，实现了镜体插入管和器械软管的便捷输送和有效定位。
具体结合以下实施例说明对应效果：
实施例1
如图1-6所示：在本实施例中，描述一种内镜手术器械输送装置，其属于内镜手术机器人系统的其中一部分重要部件，用于在内镜手术过程中，将镜体插入管和器械软管驱动并插入手术通道中，在病灶位置进行相应的手术操作。
具体地，结合图2可知，本实施例中，镜体插入管10包括多个功能通道，具体为摄像头通道21、光源通道22、器械通道23、磁导航传感器通道24、活检通道25和水汽通道26。其中，摄像头通道21用于安置摄像头装置，用于采集人体内部图像，从而通过信号传输线将图像输送至外部的显示器7上，使得操作者能够实时观察到人体内部影像，具体采集图像的功能为内窥镜现有技术，在此不再赘述；光源通道22中用于放置照明元件，例如LED灯，使得摄像头装置对应的组织部分能够具有充足的光线，使得采集到的图像更加地清晰。
水汽通道26可以抽吸手术过程中产生的烟雾和组织液，降低手术过程中烟雾和组织液对视觉的干扰；活检钳可以通过活检通道25将切下的组织顺利取出。磁导航传感器通道24中可以设置磁导航传感器，磁导航传感器配合体外的对应的装置，可以实时检测到当前镜体插入管10位于人体内的 具体方位。
器械通道23用于容纳器械软管19以及通过转弯部28连接在器械软管19远端的器械执行端27，器械通道23内的器械软管19能够相对器械通道23伸出或者缩进，器械执行端27能够在伸出后，被驱动执行手术动作，例如抓取、切割等，根据器械执行端27功能的不同对应不同的手术动作。
本实施例中，为了使得镜体插入管定位至手术通道口，并且进一步地被输送到达病灶位置，同时保证器械软管与镜体插入管的同步移动，再进一步地驱动器械软管相对于镜体插入管伸出，上述的过程需要一套驱动机构来实现，现有技术中，通常需要人工操作控制管道的插入以及定位过程，而在本申请中，为了解决人工操作精度差以及稳定性低的问题，具体采用了如下结构：
包括，机器人底座5，该机器人底座作为连接多自由度机械臂3和整个驱动装置的基础；
机器人底座5上设置的多自由度机械臂3用于加持镜体插入管10使其保持定位并且进一步地实现输送，多自由度机械臂3与机器人底座5连接，且多自由度机械臂3的操作端设有管件输送组件8，管件输送组件8夹持镜体插入管10一端的侧壁；
管件输送组件8包括滚动输送结构，用于驱动镜体插入管10向远端输送，控制模块还用于根据滚动输送结构的滚动距离，控制第一驱动组件4的控制距离。
具体地，管件输送组件8可以是设在多自由度机械臂3上的输送辊轮，一对输送辊轮将镜体插入管10加持在输送辊轮之间，保持一定的摩擦力，多自由度机械臂3移动时，可以带动管件输送组件8共同运动，在到达相应位置后，多自由度机械臂3保持稳定不同，此时再控制输送辊轮转动，可以实现镜体插入管10的向前推送。在其他实施例中，也可以是通过其他夹持和推送的机械机构来实现镜体插入管10的输送，在此不再赘述。进一 步地，为了保证在推送过程中的安全性，管件输送组件8还包括用于检测滚动输送结构的转矩传感器，转矩传感器用于当滚动输送结构的扭矩大于预设值时向控制模块发送警报，以使得控制模块停止滚动输送结构的运动。当管件输送组件8推力大于预设值时，说明在镜体插入管10插入过程中受到了较大的阻碍，为了防止进一步地损伤人体内部组织，此时可以直接停止管件输送组件8的运行驱动。
另外，由于在镜体插入管10前端随着多自由度机械臂3运动时，镜体插入管10的后端为了同步运动，还设有第一驱动平台16，第一驱动平台16设于机器人底座5上，且能够在第一驱动组件4驱动下与机器人底座5相对滑动，第一驱动平台16上设有插入管控制组件12，插入管控制组件12与镜体插入管10的另一端连接，因此，在第一驱动平台16的带动下，镜体插入管10的后端能够相应控制地前后运动。进一步地，插入管控制组件12还用于控制镜体插入管10的端部角度；镜体插入管10内设有位于摄像头通道21内的摄像组件和器械通道12；控制镜体插入管10的端部角度可以控制摄像组件的图像采集角度，以及使得位于器械通道12处的手术器械进行对位。镜体插入管10的前端设有蛇骨，蛇骨上连接有多根镜体插入管拉线29，优选为均布的四根，通过镜体插入管拉线29的驱动来控制镜体插入管10的蛇骨弯曲，从而实现角度的控制。
第二驱动平台13，第二驱动平台13设于第一驱动平台16上，且能够在第二驱动组件驱动下与第一驱动平台16相对滑动，第二驱动平台13设有器械控制组件，器械控制组件用于控制手术器械的执行动作和角度，手术器械设于器械通道内，且能够在第二驱动平台13与第一驱动平台16相对滑动时远端伸出器械通道；第二驱动平台13可以随着第一驱动平台共同运动，也可以相对于第一驱动平台16滑动，从而实现了手术器械与镜体插入管10的同步运动，以及相对镜体插入管10运动从而伸出器械通道的控制。
另外，为了实现上述过程的自动控制，本实施例中，还设有控制模块，用于在调整对位阶段，根据多自由度机械臂3的管件输送组件8的运动位置转换计算第一驱动平台16的滑动距离，并且控制第一驱动组件4驱动第一驱动平台16跟随多自由度机械臂3运动；且用于在管体插入阶段，保持多自由度机械臂3静止，且控制第一驱动组件4驱动第一驱动平台16滑动，以使得镜体插入管10朝远端插入。
多自由度机械臂3可以通过人工手持对位，也可以全自动对位到手术通道，通过控制模块，可以使得操作人员在对位过程中，移动多自由度机械臂3时，第一驱动平台16同步滑动，保持镜体插入管10的整体随动效果，不会因为距离变化而造成镜体插入管10被拉直紧绷受力，实现了稳定的定位过程。
并且控制模块同样适用于管件输送组件8驱动镜体插入管10前行的过程，跟随镜体插入管10的前进距离，控制模块同步控制第一驱动平台16的向前滑动。
进一步优选地，本实施例中，管件输送组件8包括插入导向管9，镜体插入管10穿过插入导向管9，进一步地起到了镜体插入管10的保护和引导的作用。
另外，本实施例中，第一驱动组件4包括第一电机和第一滑轨，第一驱动平台16通过第一滑轨与机器人底座5滑动连接；第二驱动组件包括第二电机和第二滑轨，第二驱动组件通过第二滑轨与第一驱动组件4滑动连接。也可以是其他的驱动滑动方式，在此不作过多限定。第一驱动组件4与第二驱动组件均与控制模块电通信连接，用于发送控制信号。
本实施例中，手术器械远端包括第二弯折机构，第二调节拉绳组一端与第二弯折机构连接，另一端与器械控制组件连接，用于控制手术器械远端角度，执行驱动件一端与手术器械连接，一端与器械控制组件连接，用于控制手术器械动作，即手术器械远端的器械执行端27的角度位置；具体 地，本实施例中，第二调节拉绳组包括多根器械拉线18，多根器械拉线18穿过器械软管19后与第二弯折机构连接，第二弯折机构优选为蛇骨，具体为四向蛇骨，通过四根拉绳连接进行四个方向的驱动。器械执行端27的后端焊接在第二弯折机构上，通过器械拉线18施加拉力驱动第二弯折机构朝预设方向弯折，镜体插入管10的弯折控制原理与其相似，在此不再赘述。
其中，器械控制组件具体包括绕线轮20，器械拉线18绕设在绕线轮20上，通过驱动绕线轮20的转动来控制器械拉线18的拉力，从而实现驱动第二弯折机构朝预设方向弯折。
本实施例中，手术器械包括电刀器械和手术钳器械，器械控制组件包括电刀控制组件14和手术钳器械控制组件15，器械通道对应设有电刀通道与手术钳通道。也可以根据其他手术需求对应选择相应的手术器械。
实施例2
另一方面，本实施例中，还提供了一种内镜手术器械输送装置控制方法，基于实施例1中的内镜手术器械输送装置，包括：
当处于调整对位阶段，控制调节多自由度机械臂3的姿态；
实时获取多自由度机械臂3上管件输送组件8的空间位置；
根据空间位置，计算转换为第一驱动平台16的滑动距离，根据滑动距离控制第一驱动组件4驱动第一驱动平台16滑动；
完成镜体插入管10的同步移动与对位；
在镜体插入管10完成对位后，保持多自由度机械臂3静止，且控制第一驱动组件4驱动第一驱动平台16滑动，以使得镜体插入管10朝远端插入。
本发明第提供了一种计算机可读存储介质，所述存储介质中存储有至少一条指令、至少一段程序、代码集或指令集，所述至少一条指令、所述至少一段程序、所述代码集或指令集由处理器加载并执行以实现上述的内 镜手术器械输送装置控制方法。
可选地，在本实施例中，上述存储介质可以位于计算机网络的多个网络服务器中的至少一个网络服务器。可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
本发明还供了一种设备，所述设备包括处理器和存储器，所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集，所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现上述的以实现上述的内镜手术器械输送装置控制方法。
存储器可用于存储软件程序以及模块，处理器通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、功能所需的应用程序等；存储数据区可存储根据设备的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器还可以包括存储器控制器，以提供处理器对存储器的访问。
实施例3：
本实施例中，提供一种内镜手术机器人系统，用于在内镜手术过程中，将镜体插入管和器械软管驱动并插入手术通道中，在病灶位置进行相应的手术操作。并且配合有可观察的装置以及可输入对应指令的装置以及包括实施例1中提到的内镜手术器械输送装置。
具体地，本实施例中，内镜手术机器人系统包括了机器人底座5、多自由度机械臂3、第一驱动平台16、第二驱动平台13、控制模块、操作台6和显示器7。
多自由度机械臂3与机器人底座5连接，且多自由度机械臂3的操作端设有管件输送组件8，管件输送组件8夹持镜体插入管10一端的侧壁；
第一驱动平台16设于机器人底座5上，且能够在第一驱动组件4驱动下与机器人底座5相对滑动，第一驱动平台16上设有插入管控制组件12，插入管控制组件12与镜体插入管10的另一端连接，用于控制镜体插入管10的端部角度；镜体插入管10内设有摄像组件和器械通道；
第二驱动平台13设于第一驱动平台16上，且能够在第二驱动组件驱动下与第一驱动平台16相对滑动，第二驱动平台13设有器械控制组件，器械控制组件用于控制手术器械的执行动作和角度，手术器械设于器械通道内，且能够在第二驱动平台13与第一驱动平台16相对滑动时远端伸出器械通道；
用于在调整对位阶段，根据多自由度机械臂3的管件输送组件8的运动位置转换计算第一驱动平台16的滑动距离，并且控制第一驱动组件4驱动第一驱动平台16跟随多自由度机械臂3运动；且用于在管体插入阶段，保持多自由度机械臂3静止，且控制第一驱动组件4驱动第一驱动平台16滑动，以使得镜体插入管10朝远端插入。
多自由度机械臂3设置在机器人底座5上靠近手术床1的一侧，手术床用于安置患者。显示器7设在另一张桌面上，并且与摄像组件电通信连接，用于显示人体内部图像，并且在显示器7前方设置操作台6，用于控制指令的输入。
本实施例中，具体的使用过程为：
将患者2安置在手术床1上，当处于调整对位阶段，手动或者自动控制调节多自由度机械臂3的姿态；
实时获取多自由度机械臂3上管件输送组件8的空间位置；
根据空间位置，计算转换为第一驱动平台16的滑动距离，根据滑动距离控制第一驱动组件4驱动第一驱动平台16滑动；
完成镜体插入管10的同步移动与对位；
在镜体插入管10完成对位后，保持多自由度机械臂3静止，且控制第一驱动组件4驱动第一驱动平台16滑动，以使得镜体插入管10朝远端插入。转矩传感器用于当滚动输送结构的扭矩大于预设值时向控制模块发送警报，以使得控制模块停止滚动输送结构的运动。
镜体插入管10朝远端插入过程中，控制器还用于根据镜体插入管10插入深度，控制第一驱动平台16的滑动距离，并且进一步地，在到达预定位置后，管件输送组件8停止，控制器控制第二驱动平台13继续向前相对于第一驱动平台16滑动，手术器械在第二驱动平台13与第一驱动平台16相对滑动时远端伸出器械通道；
控制手术器械进行手术操作，在手术操作完成后，反向驱动管件输送组件8使得镜体插入管10退出人体内部。
在上述实施例中，对各实施例的描述都各有侧重，某各实施例中没有详述的部分，可以参见其它实施例的相关描述。
本领域技术人员还可以了解到本发明实施例列出的各种说明性逻辑块(illustrative logical block)，单元，和步骤可以通过电子硬件、电脑软件，或两者的结合进行实现。为清楚展示硬件和软件的可替换性(interchangeability)，上述的各种说明性部件(illustrative components)，单元和步骤已经通用地描述了它们的功能。这样的功能是通过硬件还是软件来实现取决于特定的应用和整个系统的设计要求。本领域技术人员可以对于每种特定的应用，可以使用各种方法实现所述的功能，但这种实现不应被理解为超出本发明实施例保护的范围。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方 式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种内镜手术器械输送装置，其特征在于，包括：
    机器人底座(5)；
    多自由度机械臂(3)，所述多自由度机械臂(3)与所述机器人底座(5)连接，且所述多自由度机械臂(3)的操作端设有管件输送组件(8)，所述管件输送组件(8)夹持镜体插入管(10)一端的侧壁；
    第一驱动平台(16)，所述第一驱动平台(16)设于所述机器人底座(5)上，且能够在第一驱动组件(4)驱动下与所述机器人底座(5)相对滑动，所述第一驱动平台(16)上设有插入管控制组件(12)，所述插入管控制组件(12)与镜体插入管(10)的另一端连接，用于控制所述镜体插入管(10)的端部角度；所述镜体插入管(10)内设有摄像组件和器械通道；
    第二驱动平台(13)，所述第二驱动平台(13)设于所述第一驱动平台(16)上，且能够在第二驱动组件驱动下与所述第一驱动平台(16)相对滑动，所述第二驱动平台(13)设有器械控制组件，所述器械控制组件用于控制手术器械的执行动作和角度，所述手术器械设于所述器械通道内，且能够在所述第二驱动平台(13)与所述第一驱动平台(16)相对滑动时远端伸出所述器械通道；
    控制模块，用于在调整对位阶段，根据所述多自由度机械臂(3)的管件输送组件(8)的运动位置转换计算所述第一驱动平台(16)的滑动距离，并且控制所述第一驱动组件(4)驱动所述第一驱动平台(16)跟随所述多自由度机械臂(3)运动；且用于在管体插入阶段，保持所述多自由度机械臂(3)静止，且控制所述第一驱动组件(4)驱动所述第一驱动平台(16)滑动，以使得镜体插入管(10)朝远端插入。
  2. 根据权利要求1所述的内镜手术器械输送装置，其特征在于：
    所述管件输送组件(8)包括插入导向管(9)，所述镜体插入管(10) 穿过所述插入导向管(9)。
  3. 根据权利要求1所述的内镜手术器械输送装置，其特征在于：
    所述第一驱动组件(4)包括第一电机和第一滑轨，所述第一驱动平台(16)通过所述第一滑轨与所述机器人底座(5)滑动连接；
    所述第二驱动组件包括第二电机和第二滑轨，所述第二驱动组件通过所述第二滑轨与所述第一驱动组件(4)滑动连接。
  4. 根据权利要求1所述的内镜手术器械输送装置，其特征在于：
    所述镜体插入管(10)远端包括第一弯折机构，第一调节拉绳组一端与第一弯折机构连接，另一端与所述插入管控制组件(12)连接，用于控制所述镜体插入管(10)远端角度。
  5. 根据权利要求1所述的内镜手术器械输送装置，其特征在于：
    所述手术器械远端包括第二弯折机构，第二调节拉绳组一端与第二弯折机构连接，另一端与所述器械控制组件连接，用于控制所述手术器械远端角度，执行驱动件一端与所述手术器械连接，一端与所述器械控制组件连接，用于控制所述手术器械动作。
  6. 根据权利要求1或5所述的内镜手术器械输送装置，其特征在于：
    所述手术器械包括电刀器械和手术钳器械，所述器械控制组件包括电刀控制组件(14)和手术钳器械控制组件(15)，所述器械通道对应设有电刀通道与手术钳通道。
  7. 根据权利要求1所述的内镜手术器械输送装置，其特征在于：
    所述管件输送组件(8)包括滚动输送结构，用于驱动所述镜体插入管(10)向远端输送，所述控制模块还用于根据滚动输送结构的滚动距离，控制所述第一驱动组件(4)的控制距离。
  8. 根据权利要求7所述的内镜手术器械输送装置，其特征在于：
    所述管件输送组件(8)还包括用于检测滚动输送结构的转矩传感器，所述转矩传感器用于当滚动输送结构的扭矩大于预设值时向所述控制模块 发送警报，以使得所述控制模块停止所述滚动输送结构的运动。
  9. 一种内镜手术器械输送装置控制方法，其特征在于，所述方法基于如权利要求1-8任一项所述的内镜手术器械输送装置，包括：
    当处于调整对位阶段，控制调节多自由度机械臂(3)的姿态；
    实时获取多自由度机械臂(3)上管件输送组件(8)的空间位置；
    根据所述空间位置，计算转换为所述第一驱动平台(16)的滑动距离，根据所述滑动距离控制第一驱动组件(4)驱动所述第一驱动平台(16)滑动；
    完成镜体插入管(10)的同步移动与对位；
    在所述镜体插入管(10)完成对位后，保持所述多自由度机械臂(3)静止，且控制所述第一驱动组件(4)驱动所述第一驱动平台(16)滑动，以使得镜体插入管(10)朝远端插入。
  10. 一种内镜手术机器人系统，其特征在于，包括显示装置、操作装置和如权利要求1-8任一项所述的内镜手术器械输送装置。
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