WO2023116577A1 - Système chirurgical, procédé de commande de force d'occlusion et support d'enregistrement lisible par ordinateur - Google Patents

Système chirurgical, procédé de commande de force d'occlusion et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2023116577A1
WO2023116577A1 PCT/CN2022/139720 CN2022139720W WO2023116577A1 WO 2023116577 A1 WO2023116577 A1 WO 2023116577A1 CN 2022139720 W CN2022139720 W CN 2022139720W WO 2023116577 A1 WO2023116577 A1 WO 2023116577A1
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WIPO (PCT)
Prior art keywords
opening
mode
closing
closing assembly
bite
Prior art date
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PCT/CN2022/139720
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English (en)
Chinese (zh)
Inventor
上官希坤
王深辉
王建辰
Original Assignee
深圳市精锋医疗科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from CN202111604314.9A external-priority patent/CN116370096A/zh
Priority claimed from CN202111602840.1A external-priority patent/CN116370093A/zh
Application filed by 深圳市精锋医疗科技股份有限公司 filed Critical 深圳市精锋医疗科技股份有限公司
Publication of WO2023116577A1 publication Critical patent/WO2023116577A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots

Definitions

  • the present invention relates to the technical field of medical devices, in particular to an operation system, a bite force control method and a computer-readable storage medium.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • Minimally invasive surgical robots usually include a main operating console and slave operating equipment.
  • the main operating console is used to send control commands to the slave operating equipment according to the doctor's operation to control the slave operating equipment.
  • the slave operating equipment is used to respond to the control commands sent by the main operating console. , and carry out the corresponding surgical operation.
  • the surgical instrument from the operating device includes a driving device and a terminal instrument for performing surgery.
  • the transmission assembly drawn from the driving device is connected to the terminal instrument, and the movement of the transmission assembly is controlled by the driving device, thereby driving the terminal instrument to achieve a predetermined action.
  • the bite force of the terminal instrument usually needs to be adjusted in a small range by the operator's intuition, but this kind of fine-tuning action is difficult to provide a significantly different bite force, which increases the difficulty of the operation.
  • the present invention provides a surgical system, a bite force control method, and a computer-readable storage medium, which can switch to different gears of bite force according to the needs of the operation, so as to meet the needs of biological tissues with different characteristics. Or the clamping requirements of substances, which reduces the threshold of surgical operation and improves the efficiency of surgery.
  • a surgical system comprising:
  • the command input port is used to obtain control commands in real time
  • the end effector includes an opening and closing assembly for performing a snapping action according to the control command, the snapping mode of the opening and closing assembly includes a first mode and a second mode, and the snapping force of the opening and closing assembly when closed in the second mode is greater than that in Bite force when closing in the first mode;
  • a control device configured to:
  • control device is further configured to:
  • the bite mode of the opening and closing assembly is maintained in the second mode.
  • control device is further configured to:
  • the engagement mode of the opening and closing assembly is switched to the first mode according to the second trigger instruction obtained from the instruction input port.
  • electrodes are formed on the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly
  • the control device is further configured to:
  • the electrodes of the opening and closing assembly are energized according to the energization instruction.
  • control device is further configured to:
  • the initial occlusal mode is the first mode, increasing the occlusal force of the opening and closing assembly
  • the electrodes of the opening and closing assembly are energized according to the energization instruction.
  • control device is further configured to:
  • control device is further configured to:
  • the opening and closing state of the opening and closing assembly is changed according to the third trigger instruction obtained from the instruction input port.
  • control device is further configured to:
  • the end effector includes a first base, a first booster wheel and a second booster wheel, a first opening and closing flap and a second opening and closing flap, the first boosting wheel,
  • the second booster wheels are respectively rotatably connected to the first base, and the axial direction of the rotation axis of the first booster wheel and the second booster wheel relative to the rotation of the first base Same;
  • the first opening and closing flap and the second opening and closing flap intersect each other and are hinged at the intersection, the proximal end of the first opening and closing flap rotates with the first eccentric part on the first afterburning wheel connected, the proximal end of the second opening and closing flap is rotationally connected with the second eccentric portion on the second booster wheel;
  • the control device is further configured to:
  • control device is further configured to:
  • the first booster wheel and the second booster wheel are respectively driven to rotate by cables; the control device is further configured as:
  • the present invention also provides a bite force control method, which is used to control the opening and closing assembly of the end effector of the surgical system, the bite mode of the opening and closing assembly includes the first mode and the second mode, and the opening and closing assembly the snap force when closing in the second mode is greater than the snap force when closing in the first mode;
  • the bite force control method includes:
  • the bite force control method further includes:
  • the bite mode of the opening and closing assembly is maintained in the second mode.
  • the bite force control method further includes:
  • the engagement mode of the opening and closing assembly is switched to the first mode.
  • electrodes are formed on the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly
  • the bite force control method also includes:
  • the electrodes of the opening and closing assembly are energized according to the energization instruction.
  • the bite force control method before the step of energizing the electrodes of the opening and closing assembly according to the energization instruction, the bite force control method further includes:
  • the initial occlusal mode is the first mode, increasing the occlusal force of the opening and closing assembly
  • the electrodes of the opening and closing assembly are energized according to the energization instruction.
  • the bite force control method further includes:
  • the bite force control method further includes:
  • the opening and closing state of the opening and closing assembly is changed.
  • the process of determining the opening and closing state of the opening and closing assembly includes:
  • the end effector includes a first base, a first booster wheel and a second booster wheel, a first opening and closing flap and a second opening and closing flap, the first boosting wheel,
  • the second booster wheels are respectively rotatably connected to the first base, and the axial direction of the rotation axis of the first booster wheel and the second booster wheel relative to the rotation of the first base Same;
  • the first opening and closing flap and the second opening and closing flap intersect each other and are hinged at the intersection, the proximal end of the first opening and closing flap rotates with the first eccentric part on the first afterburning wheel connected, the proximal end of the second opening and closing flap is rotationally connected with the second eccentric portion on the second booster wheel;
  • the bite force control method includes:
  • the process of determining the opening and closing state of the opening and closing assembly includes:
  • the first booster wheel and the second booster wheel are respectively driven to rotate by cables, and the process of determining the opening and closing state of the opening and closing assembly includes:
  • the present invention also provides a bite force control method, which is used to control the opening and closing assembly of the end effector of the surgical system, electrodes are formed on the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly, and the opening and closing
  • the occlusal mode of the closure assembly includes a first mode and a second mode, and the occlusal force of the opening and closing assembly when it is closed in the second mode is greater than the occlusal force when it is closed in the first mode;
  • the bite force control method includes:
  • the initial occlusal mode is the first mode, increasing the occlusal force of the opening and closing assembly
  • the electrodes of the opening and closing assembly are energized according to the energization instruction.
  • the present invention also provides a computer-readable storage medium, wherein a plurality of instructions are stored in the computer-readable storage medium, and the instructions are suitable for being loaded by a processor and executing any one of the above-mentioned interlocking The steps of the force control method.
  • the surgical system and the occlusal force control method provided by the present invention can realize the on-demand switching between the two modes with obvious occlusal force differences in different opening and closing states of the opening and closing components, so as to meet the requirements for biological tissues or substances with different characteristics.
  • the clamping requirement reduces the surgical operation threshold and improves the surgical efficiency.
  • FIG. 1 is a schematic structural view of a slave operating device of a surgical robot according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic structural view of a main operating console of a surgical robot according to Embodiment 1 of the present invention
  • FIG. 3 is a schematic structural view of a mechanical arm of a slave operating device according to Embodiment 1 of the present invention.
  • FIG. 4 is a schematic structural view of a surgical instrument according to Embodiment 1 of the present invention.
  • FIG. 5 is a schematic perspective view of the three-dimensional structure of an end effector in a closed state according to Embodiment 1 of the present invention.
  • Fig. 6 is a three-dimensional structural schematic diagram of an end effector in an expanded state according to Embodiment 1 of the present invention.
  • FIG. 7 is a schematic exploded view of the structure of an end effector according to Embodiment 1 of the present invention.
  • Fig. 8A is a front view of an end effector in a closed state according to Embodiment 1 of the present invention.
  • Fig. 8B is a front view of an end effector in an expanded state according to Embodiment 1 of the present invention.
  • Fig. 9 is a side view of an end effector according to Embodiment 1 of the present invention.
  • Fig. 10 is a schematic structural view of a booster wheel according to Embodiment 1 of the present invention.
  • Fig. 11 shows a schematic diagram of the routing of the internal wires of an end effector according to Embodiment 1 of the present invention
  • FIG. 12 is a schematic structural diagram of a surgical system according to Embodiment 2 of the present invention.
  • Fig. 13 is a structural schematic diagram of a bite force control method according to Embodiment 3 of the present invention.
  • Fig. 14 is a schematic structural diagram of another bite force control method according to Embodiment 3 of the present invention.
  • Fig. 15 is a schematic diagram of an opening and closing state change process of the opening and closing assembly according to Embodiment 3 of the present invention.
  • 16A is a schematic diagram of a method for determining the opening and closing state of the opening and closing assembly according to Embodiment 3 of the present invention.
  • 16B is a schematic diagram of another method for determining the opening and closing state of the opening and closing assembly according to Embodiment 3 of the present invention.
  • 16C is a schematic diagram of yet another method for determining the opening and closing state of the opening and closing assembly according to Embodiment 3 of the present invention.
  • Fig. 17A is a structural schematic diagram of yet another bite force control method according to Embodiment 3 of the present invention.
  • Fig. 17B is a structural schematic diagram of yet another bite force control method according to Embodiment 3 of the present invention.
  • FIG. 18 is a structural block diagram of a computing device according to Embodiment 3 of the present invention.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • a minimally invasive surgical robot generally includes a slave operating device and a master operating console.
  • Fig. 1 shows a slave operating device 100 according to an embodiment of the present invention
  • Fig. 2 shows a master operating console 200 according to an embodiment of the present invention.
  • the operation console 200 performs related control operations on the slave operation device 100
  • the slave operation device 100 performs surgical operations on the human body according to the control instructions of the master operation console 200 .
  • the master operating console 200 and the slave operating equipment 100 can be placed in the same operating room, or in different rooms, and even the master operating console 200 and the slave operating equipment 100 can be far apart, such as the master operating console 200 and the slave operating equipment.
  • the devices 100 are respectively located in different cities.
  • the master operation console 200 and the slave operation device 100 can transmit data through wired or wireless methods.
  • the master operation console 200 and the slave operation device 100 are located In an operating room, data transmission is performed between the two through wired methods.
  • the master operation console 200 and the slave operation device 100 are in different cities, and the two perform long-distance data transmission through 5G wireless signals.
  • the slave operating device 100 includes a plurality of mechanical arms 101, each of which includes a plurality of joints and a holding arm 103, and multiple joints are linked to realize the movement of multiple degrees of freedom of the holding arm 103
  • a surgical instrument 102 for performing surgery is installed on the holding arm 103.
  • the surgical instrument 102 enters the human body through a trocar 104 fixed at the far end of the holding arm 103.
  • the mechanical arm 101 is used to manipulate the movement of the surgical instrument 102 to Perform surgery.
  • the surgical instrument 102 is detachably installed on the holding arm 103 , so that different types of surgical instruments 102 can be replaced at any time or the surgical instrument 102 can be removed to wash or disinfect the surgical instrument 102 .
  • the holding arm 103 includes the holding arm body 1031 and the instrument mounting frame 1032, the instrument mounting frame 1032 is used to install the surgical instrument 102, the instrument mounting frame 1032 can slide on the holding arm body 1031, and then drives the operation The instrument 102 advances or withdraws along the arm body 1031 .
  • the surgical instrument 102 includes a driving device 140 located at the proximal end of the surgical instrument 102 and an end effector 150 at the distal end, and a long shaft 130 located between the driving device 140 and the end effector 150.
  • the driving device 140 Used to be connected with the instrument mounting frame 1032 of the holding arm 103, there are multiple actuators (not shown in the figure) in the instrument mounting frame 1032, and the multiple actuators are engaged with the driving device 140, so that the actuator The driving force is transmitted to the driving device 140.
  • the long shaft 130 is used to connect the driving device 140 and the end instrument 150, the long shaft 130 is hollow, and the transmission assembly of the driving device 140 passes through, and the driving device 140 moves through the end effector 150 manipulated by the driving transmission assembly, so that the The instrument 150 performs the relevant surgical operation.
  • the end effector 150 of this embodiment includes a first base 11, a booster wheel assembly 12, and an opening and closing assembly 13, and the booster wheel assembly 12 includes a first booster wheel 12a and a second booster wheel 12b, the opening and closing assembly 13 includes a first opening and closing flap 13a and a second opening and closing flap 13b for engaging with each other, and the first booster wheel 12a and the second booster wheel 12b are rotatably connected to the first base on the seat 11, and the axis of rotation of the first afterburner wheel 12a relative to the first base 11 and the axis of rotation of the second afterburner wheel 12b relative to the first base 11 have the same axial direction.
  • the first opening and closing flap 13a and the second opening and closing flap 13b intersect each other and are hinged at the intersection by the hinge axis X1, each opening and closing flap has a proximal end and a distal end, and the hinge is located between the proximal end and the distal end,
  • the proximal end of the first opening and closing flap 13a is rotationally connected with the first eccentric part P1 on the first booster wheel 12a, and the proximal end of the second opening and closing flap 13b is rotated with the second eccentric part P2 on the second boosting wheel 12b. connect.
  • the driving device 140 includes a transmission assembly 160, the transmission assembly 160 is connected to the first afterburner wheel 12a and the second afterburner wheel 12b, and is used to drive the first afterburner wheel 12a and the second afterburner wheel 12b relative to the first base 11 respectively. Rotate to drive the first opening and closing flap 13a and the second opening and closing flap 13b to open and engage with each other.
  • the first opening and closing flap 13a and the second opening and closing flap 13b are hinged in the middle of each other , the first base 11, each booster wheel and the opening and closing petals rotatably connected to the corresponding booster wheel form an eccentric wheel transmission mechanism, and the first booster wheel 12a and the second booster wheel 12b are driven by the transmission assembly 160 By rotating respectively, the opening and occlusal of the distal ends of the first opening and closing flap 13a and the second opening and closing flap 13b can be realized.
  • the force required for the opening and closing of this embodiment is smaller, that is to say, under the condition that the driving device 140 uses the driving force of the same power, the first opening and closing of this embodiment
  • the bite force between the closing flap 13a and the distal end of the second opening and closing flap 13b is greater, and the clamping or shearing action is more reliable.
  • first opening and closing valve 13a and the second opening and closing valve 13b are bipolar grabbers, and the distal end of each opening and closing valve is wrapped with an insulating layer 13c near the hinged position, so as to Avoid unnecessary tissue conduction.
  • first opening and closing flap 13a and the second opening and closing flap 13b can be clamps for clamping tissue, staplers for suturing, or for Electric cauterization cautery, etc.
  • the structure of the first opening and closing flap 13a is basically the same as that of the second opening and closing flap 13b, and the first booster wheel 12a and the second opening and closing flap 13b have the same structure.
  • the booster wheels 12b have the same diameter and are concentrically arranged, and the two are rotationally connected with the first base 11 through the same booster wheel shaft 12c, so that the first booster wheel 12a and the second booster wheel 12b are relative to the first base 11. The axes of rotation of the rotation coincide.
  • the distance from the first eccentric part P1 to the rotation center of the first booster wheel 12a is equal to the distance from the second eccentric part P2 to the rotation center of the second booster wheel 12b, and the distance from the first eccentric part P1 to the first opening and closing
  • the distance between the flap 13a and the hinge portion of the second flap 13b, the distance from the second eccentric portion P2 to the hinge portion of the first flap 13a and the second flap 13b are also equal, the first eccentric portion P1, the second flap 13b
  • the eccentric portion P2 is respectively disposed on both sides of a line connecting the axis of the booster wheel rotation shaft 12c and the axis of the hinge axis X1.
  • the first eccentric part P1 and the second eccentric part P2 are through holes or grooves opened on the corresponding booster wheel, and the first opening and closing flap 13a is convexly provided with a first rotation on the surface facing the first booster wheel 12a.
  • Column Q1 the surface of the second opening and closing flap 13b facing the second force wheel 12b protrudes from the surface of the second rotating column Q2
  • the inner diameter of the first eccentric part P1 is larger than the diameter of the first rotating column Q1
  • the diameter of the second eccentric part P2 The inner diameter of the second rotating column Q2 is larger than that of the second rotating column Q2.
  • the first rotating column Q1 is inserted into the first eccentric part P1 from the outside
  • the second rotating column Q2 is inserted into the second eccentric part P2 from the outside.
  • the first opening The closing flap 13a can swing with the rotation of the first booster wheel 12a
  • the second opening and closing flap 13b can swing with the rotation of the second booster wheel 12b.
  • the first afterburning wheel 12a can be rotated clockwise, and the second afterburning wheel 12b can be turned counterclockwise; when the opening and closing assembly 13 needs to be opened, it can While turning the first booster wheel 12a counterclockwise, turn the second booster wheel 12b clockwise; While turning the first booster wheel 12a counterclockwise, the second booster wheel 12b can be rotated counterclockwise; While turning the first energizing wheel 12a clockwise, the second energizing wheel 12b is turned clockwise.
  • the transmission assembly 160 of this embodiment includes a first cable set 161 and a second cable set 162.
  • the first cable set 161 is fixed on the outer peripheral surface of the first booster wheel 12a, including winding
  • the first sub-cable 1611 and the second sub-cable 1612 are arranged on two opposite sides in the radial direction of the first booster wheel 12a, and the first sub-cable 1611 and the second sub-cable 1612 are respectively used to drive the first The tension force that the booster wheel 12a rotates in the opposite direction.
  • the second cable group 162 is fixed on the outer peripheral surface of the second booster wheel 12b, including the third sub-cable 1621 and the fourth sub-cable respectively wound on two opposite sides in the radial direction of the second booster wheel 12b 1622 , the third sub-cable 1621 and the fourth sub-cable 1622 are respectively used to generate a tension force that drives the second booster wheel 12b to rotate in opposite directions.
  • the outer peripheral surfaces of the first booster wheel 12a and the second booster wheel 12b are provided with recessed annular grooves, which can facilitate the winding of the cables of the first cable group 161 and the second cable group 162 in it without being easy. Slip.
  • the first sub-cable 1611 and the third sub-cable 1621 are located on one side in the opening and closing direction of the opening and closing assembly 13
  • the second sub-cable 1612 and the fourth sub-cable 1622 are located on one side in the opening and closing direction of the opening and closing assembly. The other side.
  • the transmission assembly 160 may not use cables to drive each of the booster wheels, for example, a link mechanism or a rack and pinion transmission may be used, but since this type of transmission assembly is of a rigid structure, during use It cannot be bent, resulting in limited freedom of the transmission assembly 160 .
  • this embodiment uses the first sub-cable 1611 and the second sub-cable 1612 are connected to each other at the far end, the third sub-cable 1621 and the fourth sub-cable 1622 are connected to each other at the far end, and then the far-end of the first cable set 161 is sleeved on the first the outer peripheral surface of the booster wheel 12a, and fix the junction of the first sub-cable 1611 and the second sub-cable 1612 on the far end of the first booster wheel 12a, and wrap the far end of the second cable set 162 On the outer peripheral surface of the second booster wheel 12b, the connection of the third sub-cable 1621 and the fourth sub-cable 1622 is fixed at the distal end of the second booster wheel 12b.
  • the first cable set 161 has a first card point 1613 at the distal end
  • the first afterburner wheel 12a includes a first clamping portion 1201 on the periphery
  • the first sub-cable The distal end of the wire 1611 and the distal end of the second sub-cable 1612 are respectively engaged with the first locking part 1201 through the first locking point 1613 .
  • the second cable set 162 also has a second clamping point 1623 at the distal end
  • the second force wheel 12b includes a second clamping portion 1202 on the periphery
  • the distal end of the third sub-cable 1621 and The distal ends of the fourth sub-cables 1622 are respectively clamped with the second clamping portion 1202 through the second clamping points 1623 .
  • first clamping point 1613 and the second clamping point 1623 can be formed to have a diameter larger than that of each sub-cable connecting column or connecting block, the first clamping part 1201 and the second clamping part 1202 can be formed as hollow cylinders, the second A clamping point 1613 and a second clamping point 1623 are clamped in the corresponding first clamping portion 1201 and second clamping portion 1202 with interference respectively.
  • the annular groove on the surface of each booster wheel can extend to communicate with the corresponding cylinder-shaped clamping portion, so as to better guide the limit of the cable on the surface of the booster wheel.
  • the distal end of the first sub-cable 1611 and the distal end of the second sub-cable 1612 are connected to a first card point 1613 at the same time, and the distal end of the third sub-cable 1621 and the fourth sub-cable 1622 The far end is connected with a second clamping point 1623 at the same time, which can save the number of clamping points and clamping parts, and simplify the manufacturing process.
  • the first sub-cable 1611 and the second sub-cable 1612 may not be connected to each other at the far end
  • the first cable set 161 has two first clamping points 1613
  • the second The distal end of a sub-cable 1611 and the distal end of the second sub-cable 1612 are respectively connected to a different first clamping point 1613
  • the first afterburner wheel 12a includes two first clamping portions arranged on the periphery of its distal end 1201 , the distal end of the first sub-cable 1611 and the distal end of the second sub-cable 1612 are respectively clamped in different first clamping parts 1201 through a first clamping point 1613 .
  • the third sub-cable 1621 and the fourth sub-cable 1622 may not be connected to each other at the far end, the second cable set 162 has two second clamping points 1623, the far end of the third sub-cable 1621 and the fourth sub-cable The distal ends of the sub-cables 1622 are respectively connected to a different second locking point 1623, the second force wheel 12b includes two second clamping parts 1202 on the periphery of its distal end, and the distal end of the third sub-cable 1621 The distal end of the fourth sub-cable 1622 is locked in different second locking parts 1202 through a second locking point 1623 respectively.
  • the first base 11 includes a base body 111 and two first cantilever arms 112 arranged at the distal end of the base body 111, a first booster wheel 12a, a second booster wheel 12b It is rotatably connected between the two first suspension arms 112 .
  • the first sub-cable 1611 is introduced from the left side of the distal end of the major axis 130, and after passing through the left side of the base body 111, the distal end is wound around the left peripheral surface of the first booster wheel 12a behind;
  • the second sub-cable 1612 is introduced from the right side of the distal end of the major axis 130, and after passing through the right side of the base body 111, the distal end is wound around the right outer peripheral surface of the first booster wheel 12a.
  • the first biasing wheel 12a rotates clockwise, the second sub-cable 1612 moves toward the distal end and elongates, and the distal end of the first opening and closing valve 13a moves toward the
  • the first afterburner wheel 12a rotates counterclockwise, and the first sub-cable 1611 moves toward the far end to elongate, and the first The distal end of the opening and closing valve 13a swings to the left to open.
  • the third sub-cable 1621 is introduced from the left side of the distal end of the major axis 130, and after passing through the left side of the base body 111, the distal end is wound around the left outer peripheral surface of the second front booster wheel 12b;
  • the fourth The sub-cable 1622 is introduced from the right side of the distal end of the major axis 130, and after passing through the right side of the base body 111, the distal end is wound around the right outer peripheral surface of the second booster wheel 12b.
  • the surgical instrument 102 also has two different sides of the base body 111 that are rotatably arranged in the opening and closing direction (left and right direction) of the first opening and closing flap 13a and the second opening and closing flap 13b.
  • the first sub-cable 1611 is wound on the first pulley R1, drawn out to the left side of the first booster wheel 12a through the outer peripheral surface of the first pulley R1, and then the second sub-cable 1611 connected
  • the sub-cable 1612 is drawn from the bottom (far end) of the first booster wheel 12a to the right side, then wound around the second pulley R2, and finally drawn to the proximal end;
  • the third sub-cable 1621 is wound around the third pulley On R3, it is drawn to the left side of the second booster wheel 12b through the outer peripheral surface of the third pulley R3, and then, the fourth sub-cable 1622 connected with the third sub-
  • the first base 11 also has cable guide grooves 1110 arranged on two different sides of the base body 111 along the opening and closing directions of the first opening and closing flap 13a and the second opening and closing flap 13b.
  • the groove 1110 runs through the far end of the base body 111, and is closer to the far end of the base body 111 relative to the first pulley set and the second pulley set, and the cables of the first cable set 161 and the second cable set 162 pass through the corresponding
  • the pulleys are inserted into the cable guide groove 1110 at the rear, and are led out from the cable guide groove 1110 to the outer peripheral surface of the corresponding booster wheel.
  • the two ends of the cable guide groove 1110 are respectively opposite to the outer peripheral surfaces of the pulleys at the proximal end and the outer peripheral surfaces of the booster wheels at the far end, so that the cables drawn from the pulleys can be naturally tangent to the outer peripheral surfaces of the booster wheels ,
  • the cable guide groove 1110 provides a shelter space for the cables and improves the compactness of the structure.
  • the surgical instrument 102 also includes a lead set 170 for conducting electricity, and the lead set 170 includes two leads that are electrically connected to the first opening and closing valve 13a and the second opening and closing valve 13b respectively , each wire is respectively connected to the power supply at the proximal end of the long axis 130 , introduced from the proximal end of the first base 11 , and connected to the corresponding opening and closing valve after being drawn out from the distal end of the first base 11 .
  • each of the first booster wheel 12a and the second booster wheel 12b of this embodiment includes a coaxially fixed wheel body 121 and a hub 122, and the wheel body 121 is used for The cables of the transmission assembly 160 are wound.
  • the diameter of the hub 122 is smaller than that of the wheel body 121, and at least partly protrudes outside the wheel body 121 in the axial direction.
  • each wire and the end connected to the opening and closing valve are respectively located on two different sides of the booster wheel shaft 12c in the opening and closing direction of the opening and closing assembly (the left and right directions in FIG. 11 ). That is to say, in Fig.
  • the lead wire connecting the second opening and closing valve 13b on the right is introduced from the left side of the booster wheel shaft 12c, and then tensioned on the proximal end (top) of the hub 122 of the second booster wheel 12b
  • the outer peripheral surface is finally connected to the second opening and closing flap 13b obliquely below; the wire connecting the first opening and closing flap 13a on the left is introduced from the right side of the booster wheel shaft 12c, and then tensioned on the side of the first booster wheel 12a.
  • the proximal (upper) peripheral surface of the hub 122 is finally connected to the obliquely lower first opening and closing valve 13a.
  • the two wires are arranged obliquely relative to the length direction of the first base 11 , so that they are arranged alternately in space.
  • the two wires are respectively fixed relative to the proximal ends of one cable of the first cable group 161 and one cable of the second cable group 162 .
  • the lead wire of the first opening and closing flap 13a is relatively fixed with the second sub-cable 1612
  • the lead wire of the second opening and closing flap 13b is relatively fixed with the third sub-cable 1621.
  • the two wires become loose, but because the wires of the first opening and closing valve 13a shrink toward the proximal end along with the second sub-cable 1612 under the rotation of the first force wheel 12a, the second The lead wires of the two opening and closing valves 13b shrink toward the proximal end with the third sub-cable 1621 under the rotation of the second booster wheel 12b, and the second sub-cable 1612 and the third sub-cable 1621 are in the process of shrinking toward the proximal end It will drive the wire to tighten, thereby avoiding the occurrence of excessively long distal end of the wire.
  • the first base 11 is also provided with two wire passages 113 that run through the distal end of the base body 111.
  • the distal ends of the wire passages 113 are located between the two first cantilever arms 112, and each wire is respectively After passing through a wire passing channel 113, it is connected to the corresponding opening and closing flap through the wire passing space of each booster wheel.
  • Each wire passing channel 113 is arranged obliquely with respect to the length direction of the first base 11, so that the far end of the wire passing channel 113 passing through the wire of the first opening and closing flap 13a is close to the first booster wheel 12a, and the proximal end is close to the first afterburner wheel 12a.
  • the second sub-cable 1612, the far end of the passageway 113 through which the wire of the second opening and closing valve 13b passes is close to the second force wheel 12b, and the proximal end is close to the third sub-cable 1621, so that the first opening and closing
  • the wires of the flap 13a are more conveniently fixed to the second sub-cable 1612
  • the wires of the second opening and closing flap 13b are more conveniently fixed to the third sub-cable 1621 .
  • the proximal end of the wire passing channel 113 for passing the wire of the second opening and closing valve 13b is arranged on the same side (left side) of the first pulley block for passing through the first opening and closing valve 13a
  • the near end of the wire passing channel 113 of the lead wire is arranged on the same side (right side) of the second pulley block, and the winding directions of the two lead wires on the respective booster pulleys are opposite.
  • the hub 122 has a guide edge 1220 extending radially on the proximal side, and a wire passing space for corresponding wires is formed between the guide edge 1220 and the wheel body 121 of each booster wheel .
  • the guide edge 1220 can guide the wire into the wire passing space, so as to prevent the wire from protruding out of the hub 122 loosely.
  • the end of the guide edge 1220 is further chamfered on the side facing the wheel body 121, so that the side of the guide edge 1220 in contact with the wire will not scratch the wire, and it is more convenient to guide the wire into the wire passing space.
  • the surface of the wheel body 121 facing the adjacent opening and closing flaps can also be recessed to form a wire receiving groove 1210 for corresponding wires to be accommodated.
  • the guide edge 1220 is facing the wire receiving groove 1210, and the space between the two can be further expanded. Therefore, more wires can be accommodated without increasing the axial length of the hub 122, which improves the compactness of the booster wheel.
  • the proximal end of at least one of the first opening and closing flap 13a and the second opening and closing flap 13b of this embodiment is also provided with a limiting ear 1300, and the limiting ear 1300 is relative to the opening and closing flap where it is located.
  • the rotation connecting part corresponding to the booster wheel faces away from the outside of the jaw of the opening and closing valve where it is located, as shown in Figure 7, the limiting ear 1300 on the first opening and closing valve 13a on the left is located at the leftmost side of its proximal end, and the right The limiting ear 1300 on the second opening and closing flap 13b on the side is located at the far right of its proximal end.
  • a notch 1301 is formed between the limiting ear 1300 and the rotational connection between the opening and closing flap and the booster wheel, and when the first opening and closing flap 13a and the second opening and closing flap 13b rotate to the limit position relative to the first base 11 During the process, the notch 1301 can be used for inserting the rotating shaft on the first base 11 for the rotation connection with the force wheel corresponding to the notch 1301, and the limit ear 1300 can be connected with the first when the corresponding opening and closing flap rotates to the limit position.
  • the base body 111 of the base 11 abuts to limit further deflection of the opening and closing flap.
  • each opening and closing flap has a limiting ear 1300 and a notch 1301, and the first booster wheel 12a and the second booster wheel 12b pass through the same booster wheel.
  • the limiting ear 1300 and the notch 1301 may be formed on only one opening and closing flap to limit the deflection limit position in one direction.
  • the rotation axes of the two relative to the first base 11 are parallel to each other, and the first afterburner wheel 12a
  • the notch 1301 of the first booster wheel 12a can accommodate the rotation shaft of the first booster wheel 12a
  • the notch 1301 of the second booster wheel 12b can accommodate the rotation shaft of the second booster wheel 12b.
  • the guide edge 1220 of this embodiment is fan-shaped, and the surface edge of the guide edge 1220 facing away from the wheel body 121 is provided with a thickened edge 1221, which is thicker than other parts of the guide edge 1220, and is different from the guide edge 1220.
  • the edge 1220 encloses a shelter space for the position-limiting ear 1300 to accommodate during rotation.
  • the limiting ear 1300 is located between the first cantilever 112 and the guide edge 1220, there is a gap between the proximal end of the limiting ear 1300 and the opening and closing flap where it is located, and the first cantilever 112 on the outside and/or the force wheel on the inside.
  • the limit ear 1300 increases the contact area between the opening and closing flap and the first cantilever 112 and/or the booster wheel, which can increase the rotation required for the opening and closing flap to a certain extent. moment, and suppress unnecessary deflection in the left and right direction of the opening and closing flap.
  • each of the first opening and closing flap 13a and the second opening and closing flap 13b is provided with a recessed receiving portion 1302, which can be a through hole or a groove, and the receiving portion 1302 is located on the surface of the opening and closing flap facing the corresponding booster wheel, and is located between the connection point on the opening and closing flap where it is located and the corresponding wire, and the rotation connection between the opening and closing flap where it is located and the corresponding booster wheel
  • a recessed receiving portion 1302 can be a through hole or a groove
  • the receiving portion 1302 is located on the surface of the opening and closing flap facing the corresponding booster wheel, and is located between the connection point on the opening and closing flap where it is located and the corresponding wire, and the rotation connection between the opening and closing flap where it is located and the corresponding booster wheel
  • the above end effector 150 can realize the opening and closing of the opening and closing assembly 13 and the deflection in the opening and closing direction. However, during the operation, it is often necessary to make the opening and closing assembly 13 perform a pitching and deflection action in a direction perpendicular to the opening and closing direction. , so as to achieve multi-angle deflection control.
  • the end effector 150 of the present embodiment further includes a second base 14, the proximal end of the second base 14 is fixed on the distal end of the major axis 130, and the distal end of the second base 14 is connected to the first base.
  • the proximal end of 11 is rotatably connected, and the rotation axis of first base 11 relative to second base 14 is perpendicular to the rotation axis of first afterburner wheel 12a and second afterburner wheel 12b relative to first base 11. axis.
  • the base 14 rotates.
  • the second base 14 includes a second base body 141 and two second cantilevers 142 disposed at the distal end of the second base body 141, and the proximal end of the first base 11 is rotatable through the base pin X2.
  • the third cable set 163 includes two base cables respectively fixed on the first base 11, and the two base cables are respectively located at the base pin X2
  • the two parts are on the same side, and are respectively used to drive the first base 11 to deflect in opposite directions.
  • the two ends of the base pin shaft X2 are respectively sleeved with a third pulley block (not shown in the figure) and a fourth pulley block (not shown in the figure).
  • the third pulley block includes the fifth pulley R5 and the sixth pulley R6.
  • the fourth pulley block Including the seventh pulley R7 and the eighth pulley R8, the fifth pulley R5, the sixth pulley R6, the seventh pulley R7, and the eighth pulley R8 are respectively connected with the first pulley R1, the second pulley R2, the third pulley R3, and the fourth pulley R4 is facing to clamp the corresponding cable between the two pulleys.
  • the cables drawn out from the major axis 130 pass through the gaps between the pulleys at both ends of the base pin X2 and the pulleys at the two ends of the base body 111 and then are sleeved and fixed to the corresponding booster wheels.
  • the reciprocating action of the opening and closing assembly 13 is precisely guided by the pulleys, thereby ensuring the reliability and accuracy of the opening and closing and deflection actions of the opening and closing assembly 13.
  • the first opening and closing flap and the second opening and closing flap of the end effector provided in this embodiment intersect with each other and are hinged at the intersection, and the proximal end of the first opening and closing flap is rotationally connected with the first eccentric part on the first booster wheel , the proximal end of the second opening and closing flap is rotatably connected with the second eccentric part on the second booster wheel, by driving the first booster wheel and the second booster wheel to rotate relative to the first base, the first booster wheel can be driven
  • the opening and closing flaps and the second opening and closing flaps open and engage with each other. Under the same driving force, the opening and closing force torque of the first and second opening and closing flaps is greater, so a greater bite can be provided. force.
  • the cables driving the opening and closing components and the wires connecting the opening and closing components are reliably guided and limited, so that the opening and closing components can be moved freely during the operation.
  • this embodiment provides a surgical system, which mainly includes:
  • Command input port 10 used for real-time acquisition of control commands
  • the end effector 150 includes an opening and closing assembly 13 for performing a snapping action according to a control instruction.
  • the snapping mode of the opening and closing assembly 13 includes a first mode and a second mode, and the snapping force of the opening and closing assembly when closed in the second mode is greater than bite force when closing in the first mode;
  • a control device 20, the control device 20 is configured to:
  • the bite mode of the opening and closing assembly 13 can also be configured to switch to the first mode.
  • the control device 20 is configured to: determine whether the first trigger command is terminated, and according to the continuous first trigger command obtained from the command input port 10, make the opening and closing assembly 13 Keep the second mode. After the first trigger instruction is terminated, it is determined according to the opening and closing state of the opening and closing assembly 13 whether to perform automatic mode switching.
  • the command input port 10 is a signal input port for actuating the opening and closing assembly 13 in the surgical system.
  • the command input port 10 is used for controlling the slave operating device 100 with the master operation.
  • the communication port of the platform 200 is used to actuate the end effector 150 according to the instruction input from the main operation console 200; when the surgical system is a system that controls the entire minimally invasive surgical robot, the instruction input port 10 is the main operation console
  • the human-computer interaction port at terminal 200 is used for interacting with the operator, and the human-computer interaction signal enters the slave operation device 100 after being processed by the master operation console 200 .
  • the command input port 10 is the man-machine interaction port at the main operation console 200
  • the control command is sent when the mode switch button is pressed
  • the operator can manually switch the occlusal mode by operating the mode switch button, if If the mode switching button is continuously pressed, it is considered that the same control instruction is continuously received.
  • the bite mode of the opening and closing assembly 13 is the first mode.
  • the end effector 150 receives the first trigger instruction, and the opening and closing assembly 13 is switched under the first trigger instruction.
  • the second mode is maintained until the first trigger command is terminated; when the first trigger command no longer continues, if the opening and closing assembly 13 is in an open state, then the snapping mode Then it automatically changes to the first mode, and if the opening and closing assembly 13 is in a closed state, the snapping mode remains in the second mode.
  • the mode switching button can also be in other forms, for example, it can be a physical switch, such as a button, knob, operating handle or foot pedal, or a virtual switch, such as a touch button, an inductive switch, or a voice control wait.
  • the control device 20 can be further configured to: after the termination of the first trigger instruction and when the opening and closing assembly 13 is in the closed state, according to the second trigger instruction obtained from the instruction input port 10, switch the bite mode of the opening and closing assembly 13 to The first mode, wherein the second trigger instruction is an instruction similar to the first trigger instruction for switching the engagement mode of the opening and closing assembly 13 .
  • the control device further makes it possible to switch to the first mode by inputting a second trigger command in addition to exiting the second mode by opening the opening and closing assembly 13 after the termination of the first trigger command.
  • the operator can manually switch the occlusal mode from the second mode to the first mode by operating the mode switching button.
  • the mode switching button When the operator presses the mode switching button and releases it, the occlusal mode remains in the second mode under the first trigger command, and when the operator operates the mode switching button again, the occlusal mode switches from the second mode to the first mode.
  • the opening and closing state of the opening and closing assembly 13 can be controlled by the operator on the main operation console 200, and the control device 20 is further configured to: according to the third trigger instruction obtained from the instruction input port 10, change the opening and closing state of the opening and closing assembly 13. open and close state.
  • the third trigger instruction is a control instruction for controlling the opening and closing actions of the opening and closing assembly 13 .
  • the end effector 150 in this embodiment also includes a first base 11, a first booster wheel 12a and a second booster wheel 12b, a first opening and closing flap 13a and a second booster wheel.
  • Two opening and closing flaps 13b, the first afterburner wheel 12a and the second afterburner wheel 12b are rotatably connected to the first base 11 respectively, and the first afterburner wheel 12a and the second afterburner wheel 12b are relative to the first base 11
  • the axial direction of the axis of rotation that rotates is the same.
  • the first opening and closing flap 13a and the second opening and closing flap 13b cross each other and are hinged at the intersection.
  • the proximal end of the flap 13b is rotatably connected to the second eccentric portion P2 on the second booster wheel 12b.
  • the control device 20 of this embodiment is further configured to: after the bite mode of the opening and closing assembly 13 is switched from the first mode to the second mode, when the opening and closing assembly 13 is in the closed state, increase the Torque of the power wheels: after the engagement mode of the opening and closing assembly 13 is switched from the second mode to the first mode, when the opening and closing assembly is in the closed state, the torque applied to each power wheel is reduced.
  • the control device 20 is further configured to: respectively obtain the first pressing force between the first eccentric part P1 and the first opening and closing flap 13a, the second eccentric part P2 and the first opening and closing valve 13a respectively.
  • the control device 20 has a function of specifying the opening and closing state of the opening and closing unit.
  • pressure sensors can be respectively provided between the first eccentric part P1 and the first opening and closing flap 13a, and between the second eccentric part P2 and the second opening and closing flap 13b, so as to detect the extrusion force of the corresponding parts.
  • the control device 20 of this embodiment can also be It is configured to obtain the cables (first sub-cable 1611, fourth sub-cable) for driving the first eccentric part P1 of the first booster wheel 12a and the second eccentric part P2 of the second booster wheel 12b to be close to each other respectively. 1622), and when the obtained tension is greater than the preset tension threshold, it is determined that the opening and closing assembly 13 is in the closed state.
  • the first eccentric part P1 and the second eccentric part P2 are close to each other, indicating that the opening and closing assembly 13 is gradually closing, otherwise, it means that the opening and closing assembly 13 is gradually opening.
  • the cable that controls the engagement of the opening and closing assembly 13, that is, the first On the first sub-cable 1611 and the fourth sub-cable 1622 devices for detecting cable tension are respectively fixed. When the tension on the first sub-cable 1611 and the fourth sub-cable 1622 is greater than the set limit tension threshold, then It is illustrated that the opening and closing assembly 13 is in a closed state.
  • devices for detecting the tension of the cables can be fixed respectively, when the second sub-cable 1612, the third sub-cable 1621
  • the tension on the third sub-cable 1621 is greater than the set limit tension threshold, which means that the opening and closing assembly 13 is in the open state
  • the control device 20 can also be configured to: respectively acquire The tension of the cables (second sub-cable 1612, third sub-cable 1621) away from the first eccentric part P1 and the second eccentric part P2 of the second booster wheel 12b, and when the obtained tension is greater than the preset tension
  • the threshold value it is determined that the opening and closing assembly 13 is in the state of the maximum opening angle. But this method can only detect the state when the opening and closing assembly 13 is in the opening limit, and cannot detect whether the opening and closing assembly 13 is in the closed state, and can only be used as an auxiliary detection means.
  • control device 20 in order to determine the opening and closing state of the opening and closing assembly 13, can also be further configured to: obtain the pressure of the occlusal surfaces of the two opening and closing flaps of the opening and closing assembly 13, and When the acquired pressure is greater than the first pressure threshold, it is determined that the opening and closing assembly 13 is in a closed state.
  • a sensor for detecting pressure can be arranged on at least one occlusal surface, and the clamping force received by the occlusal surface can be detected by the sensor.
  • the control instruction obtained from the instruction input port 10 also includes an energization instruction, and the control device 20 of this embodiment is further configured to: when the opening and closing assembly 13 is in a closed state, according to the energization instruction of the instruction input port 10, the opening and closing The electrodes of assembly 13 are energized.
  • the advantages of the above-mentioned mode switching function are particularly obvious in some special application scenarios that need to energize the clamped object during the clamping process.
  • the clamping force should not be too large, so it is necessary to automatically adjust the clamping force when using the bipolar coagulation function.
  • the control device 20 is further configured to: after the command input port 10 obtains the power-on command, detect the initial bite mode of the opening and closing assembly 13, and reduce the bite force of the opening and closing assembly 13 when the initial engagement mode is the second mode. When the bite mode is the first mode, increase the bite force of the opening and closing assembly 13; Coagulation operation.
  • this embodiment can be directly realized by detecting the high and low level signals of the switching circuit, without specially detecting the opening and closing assembly 13 bite force sizes. For example, when the switch circuit is at a high level, it is determined that the mode switching switch has switched to the second mode; The initial bite mode of the opening and closing assembly 13 improves detection efficiency and simplifies the detection process.
  • the torque applied to each booster wheel increases, which can be achieved by increasing the tension of the cable driving the booster wheel
  • the output torque or output angle or current of the motor is realized; in the closed state of the opening and closing assembly, when the bite mode of the opening and closing assembly is switched from the second mode to the first mode, the torque applied to each booster wheel is reduced, which can be achieved by Reducing the output torque or output angle or current of the electric motor driving the tensioning wheel is achieved.
  • the process of detecting the bite mode of the opening and closing assembly 13 it can be realized by detecting the output angle, output torque, or current of the cable drive motor. This method can reduce the number of force feedback sensors used in the system and reduce the cost of the end effector. size.
  • control device 20 is further configured to: determine whether the power-on process is completed, and after the power-on process is completed, restore the bite mode of the opening and closing assembly 13 to the first mode , that is, restore the "initial occlusal mode" before electrocoagulation.
  • the fourth triggering instruction may be an instruction indicating that the electrocoagulation stops, or an instruction indicating that the timing device reaches a triggering condition.
  • the control device 20 of this embodiment is further configured to: detect whether there is a fourth trigger command at the command input port 10, and determine that the power-on process is completed when the fourth trigger command is detected. For another example, by detecting whether the impedance, temperature, color, etc.
  • control device 20 is further configured to: detect that the opening and closing components 13 are engaged Whether at least one of impedance, temperature, color, etc. of the occlusal tissue reaches a threshold condition, and when the threshold condition is met, it is determined that the electrification process is completed.
  • the bite force control method of this embodiment mainly includes:
  • various input commands in the bite force control process are input signals for actuating the opening and closing assembly 13 in the surgical system.
  • the input commands are obtained from the slave operating device 100, which is The signal sent after being processed by the main operation console 200;
  • the surgical system is a system that controls the entire minimally invasive surgical robot, the input command is obtained from the main operation console 200, which is a human-computer interaction signal.
  • the first trigger instruction is an input instruction for actuating the opening and closing assembly 13, and when the object receiving the first trigger instruction is the slave operation device 100, the first trigger instruction is an instruction processed by the master operation console 200; When the object of the trigger instruction is the main operation console 200 , the first trigger instruction is an input instruction/action of the operator on the main operation console 200 .
  • the input signal is a human-computer interaction signal obtained from the main operation console 200, and the control instruction is sent when the mode switching button is pressed
  • the operator can manually switch the occlusal mode by operating the mode switching button, If the mode switching button is continuously pressed, it is considered that the same control instruction is continuously received.
  • the bite mode of the opening and closing assembly 13 is the first mode.
  • the end effector 150 receives the first trigger instruction, and the opening and closing assembly 13 is switched under the first trigger instruction.
  • the second mode is maintained until the first trigger command is terminated; when the first trigger command no longer continues, if the opening and closing assembly 13 is in an open state, then the snapping mode Then it automatically changes to the first mode, and if the opening and closing assembly 13 is in a closed state, the snapping mode remains in the second mode.
  • the mode switching button can also be in other forms, for example, it can be a physical switch such as a button, a knob, an operating handle or a foot pedal, or a virtual switch such as a touch button or a sensor switch.
  • the end effector 150 includes the first base 11, the first afterburner wheel 12a and the second afterburner wheel 12b, the first opening and closing flap 13a and the second opening and closing flap 13b, the first afterburning wheel 12a, the second afterburning wheel 12a
  • the force wheels 12b are rotatably connected to the first base 11 respectively, and the axial directions of the first force wheels 12a and the second force wheels 12b relative to the rotation axis of the first base 11 are the same; the first opening and closing petals 13a
  • the second opening and closing flap 13b intersects each other and is hinged at the intersection.
  • the proximal end of the first opening and closing flap 13a is rotationally connected with the first eccentric portion P1 on the first booster wheel 12a, and the proximal end of the second opening and closing flap 13b It is rotatably connected with the second eccentric part P2 on the second booster wheel 12b.
  • the above bite force control method can be open-loop control, which is completed after one cycle is completed; it can also be closed-loop control, which returns to step S01 from steps S05 and S06 after one cycle is completed, and continues the first trigger command detection.
  • step S06 the method further includes:
  • the opening and closing assembly 13 After the termination of the first trigger command, the opening and closing assembly 13 is in the closed state, and when the bite mode remains in the second mode, judge whether the second trigger command is received, wherein the second trigger command is similar to the first trigger command. Instructions for switching the snapping mode of the opening and closing assembly 13;
  • bite force control method can be open-loop control, which is completed after one cycle is completed, or closed-loop control. After one cycle is completed, steps S05 and S08 return to step S01 to continue the first trigger command detection.
  • the opening and closing state of the opening and closing assembly 13 can be controlled by the operator on the main operation console 200. Therefore, as one of the methods for changing the opening and closing state of the opening and closing assembly 13, as shown in FIG. 15
  • the method mainly includes:
  • the third trigger command is generally issued in response to the operator operating the corresponding handle on the main operation console 200 , and it can be understood that the implementation is not limited thereto.
  • the method includes:
  • FIG. 16B it is another method for determining the opening and closing state of the opening and closing assembly 13 according to this embodiment, and the method includes:
  • the method includes:
  • the bite force control method of this embodiment also includes:
  • the bite force control method of this embodiment also includes:
  • this embodiment also adjusts the bite force of the opening and closing assembly 13 in real time during the electrocoagulation process, and repeats the above steps. Steps S22-23.
  • step S4 judges in real time whether the electrocoagulation process is over, and after the electrocoagulation energization process is completed, perform step S5: restore the occlusal mode of the opening and closing assembly 13 to the initial occlusal mode.
  • the step of judging whether the power-on process is completed may include: detecting whether there is a fourth trigger instruction, and determining that the power-on process is completed when the fourth trigger instruction is detected.
  • the fourth trigger instruction is an instruction to stop active electrocoagulation, or an automatic instruction that the timing device reaches a trigger condition.
  • the step of judging whether the energization process is completed may also include: detecting whether the impedance and/or temperature and/or color of the tissue engaged between the opening and closing components 13 reaches a threshold condition, and when the corresponding feature reaches the threshold value condition, it is judged that the power-on process is completed.
  • this embodiment also provides a computer-readable storage medium, where a plurality of instructions are stored in the computer-readable storage medium, and the instructions are suitable for being loaded by at least one processor and executing the steps of the above-mentioned bite force control method.
  • a computer readable storage medium is part of the bite force control system.
  • the processor may be a Central Processing Unit, a CPU, a controller, a microcontroller, a microprocessor, or other data processing chips.
  • the processor is typically used to control the overall operation of the computing device.
  • the processor is configured to run program codes stored in the storage medium or process data.
  • this embodiment also provides a computing device, which includes a memory 1 and a processor 2, the memory 1 can be the above-mentioned computer-readable storage medium, and there are multiple instructions stored therein, and the instructions are suitable for use by At least one processor 2 loads and executes the steps of the above-mentioned bite force control method.

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  • Life Sciences & Earth Sciences (AREA)
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  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
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Abstract

La présente invention concerne un système chirurgical, un procédé de commande de force d'occlusion et un support d'enregistrement lisible par ordinateur. Le système chirurgical comprend : un port d'entrée d'instruction, qui est utilisé pour acquérir une instruction de commande en temps réel ; un organe terminal, qui comprend un ensemble d'ouverture et de fermeture utilisé pour exécuter une action d'occlusion selon l'instruction de commande, un mode d'occlusion de l'ensemble d'ouverture et de fermeture comprenant un premier mode et un second mode, et la force d'occlusion dans le second mode étant supérieure à la force d'occlusion dans le premier mode lorsque l'ensemble d'ouverture et de fermeture est fermé ; et un appareil de commande, qui est conçu pour : commuter le mode d'occlusion de l'ensemble d'ouverture et de fermeture vers le second mode selon une première instruction de déclenchement qui est acquise en provenance du port d'entrée d'instruction ; et commuter le mode d'occlusion vers le premier mode une fois la première instruction de déclenchement terminée et une fois l'ensemble d'ouverture et de fermeture dans un état ouvert. Au moyen de la présente invention, un ensemble d'ouverture et de fermeture peut être commuté entre deux modes avec une différence de force d'occlusion évidente dans différents états d'ouverture et de fermeture selon les besoins, de façon à pouvoir satisfaire les exigences de serrage de tissus biologiques ou de substances de différentes caractéristiques, à réduire le seuil d'actionnement chirurgical, et d'améliorer l'efficacité chirurgicale.
PCT/CN2022/139720 2021-12-24 2022-12-16 Système chirurgical, procédé de commande de force d'occlusion et support d'enregistrement lisible par ordinateur WO2023116577A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202111604314.9A CN116370096A (zh) 2021-12-24 2021-12-24 手术系统、咬合力控制方法及计算机可读存储介质
CN202111604314.9 2021-12-24
CN202111602840.1A CN116370093A (zh) 2021-12-24 2021-12-24 手术器械、从操作设备及手术机器人
CN202111602840.1 2021-12-24

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