WO2023226400A1 - 用于ercp手术机器人的操作系统与方法 - Google Patents

用于ercp手术机器人的操作系统与方法 Download PDF

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WO2023226400A1
WO2023226400A1 PCT/CN2022/140593 CN2022140593W WO2023226400A1 WO 2023226400 A1 WO2023226400 A1 WO 2023226400A1 CN 2022140593 W CN2022140593 W CN 2022140593W WO 2023226400 A1 WO2023226400 A1 WO 2023226400A1
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operating
endoscope
handle
end device
catheter
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PCT/CN2022/140593
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English (en)
French (fr)
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虞忠伟
刘文明
孙宇成
徐常恺
杨晓义
狄小涛
张亚东
刘道志
刘奕琨
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上海奥朋医疗科技有限公司
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Publication of WO2023226400A1 publication Critical patent/WO2023226400A1/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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy

Definitions

  • the present invention relates to the technical field of medical devices, and specifically to an operating system and method for an ERCP surgical robot.
  • ERCP is a very mature endoscopic minimally invasive surgery for the treatment of bile and pancreatic diseases, also called endoscopic retrograde cholangiopancreatography.
  • ERCP can be used to diagnose and treat gallstones, biliary obstruction, cholangitis, biliary tumors, pancreatic tumors and other diseases.
  • a duodenoscope is inserted into the patient's descending duodenum, a contrast catheter is inserted into the biopsy tract to the opening of the duodenal papilla, and then contrast agent is injected and observed under X-ray films.
  • the specific situation of the pancreaticobiliary duct is determined to determine whether there is a lesion, and then the corresponding surgery is performed.
  • ERCP surgery has the advantages of small trauma, short operation time, few complications, and high safety. This surgery is a minimally invasive surgery. The surgical trauma is very small, it does not cause too much pain to the patient, and the postoperative recovery is relatively fast.
  • the existing Chinese patent with publication number CN213075919U discloses a new type of ERCP surgical instrument workbench, which belongs to the field of medical technology and includes a support base. Several connecting rods are vertically fixed at the top four corners of the support base. , a box is supported between several connecting rods, and a number of slots are provided on the front surface of the box. Drawer chutes are fixedly installed on the inner wall surfaces of several slots, and the surfaces of the drawer chutes slide. The installation is equipped with several drawers for placing objects, and universal wheels are fixedly installed at the four corners of the bottom of the supporting base.
  • the purpose of the present invention is to provide an operating system and method for an ERCP surgical robot.
  • An operating system for an ERCP surgical robot includes: an operating table: the patient lies on the operating table; an endoscope execution device: including a forceps lifter control module and a knob The endoscope execution end operating platform of the control module, the catheter drive module and the water vapor suction control module, and the auxiliary structure that can adjust the position and attitude of the endoscope; the endoscope auxiliary operating end device: including the auxiliary operating platform with a guidewire drive module , used to drive the guide wire for forward and backward or locking operations; the operating console: includes an operating handle: the operating handle is used to control the forceps lift control module, the knob control module and the water vapor suction control module; the foot switch and 3D handle: The foot switch is used to switch the driving functions of the catheter driving module and the guide wire driving module, the 3D handle is used to feedback the push and pull force of the catheter driving module or the guide wire driving module; and a display screen is used for human-computer interaction.
  • the auxiliary structure includes a trailing arm and a U-shaped arm, the trailing arm is a multi-degree-of-freedom mechanical arm, and the U-shaped arm is suspended and installed at the execution end of the trailing arm.
  • the endoscope auxiliary part operating end device further includes a cooperation arm, and the auxiliary part operating platform is provided at the execution end of the cooperation arm.
  • both the endoscope execution end device and the endoscope auxiliary operating end device include a trolley.
  • the structure of the operating handle is an operating part structure that simulates endoscopic operation.
  • an X-ray machine is provided on one side of the operating table.
  • the X-ray machine is used to scan the patient on the operating table, and the scanning results of the X-ray machine are synchronized to the display screen.
  • a touch screen is also provided on the operating table, and the touch screen is used to control the endoscope execution device and the endoscope auxiliary operating device.
  • the operating table, the endoscope execution end device and the endoscope auxiliary operating end device are all arranged in the operating room, and the operating table is arranged outside the operating room.
  • console controls the endoscope execution device and the endoscope auxiliary operating device through the EtherCT bus.
  • the operating method includes the following steps: S1. Reset the machine, with the patient lying on his side on the operating table; S2. Pass the insertion part of the duodenoscope through the patient's mouth, Insert the esophagus and stomach into the duodenum, then drag the U-shaped arm to the patient's head, install the endoscope operating part handle into the endoscope base, and then fix the position of the U-shaped arm; S3, insert the guide wire into the catheter, Then insert it into the duodenum, and install the catheter body into the catheter drive module; S4, use the collaborative arm to adjust the auxiliary operating platform to the appropriate position, and then fix the auxiliary operating platform; S5, put the operating handle of the catheter on the auxiliary operating platform On the table, the hose on the operating table is inserted into the guide wire and connected to the guide wire outlet of the catheter to achieve fixation of the catheter; S6, install the guide wire into the guide wire driving module, and the surgical preparations are completed;
  • Figure 1 is a schematic diagram of the overall structure of a surgical robot operating device mainly embodied in one embodiment of the present invention
  • FIG. 2 is a logical block diagram mainly embodying the console control system in one embodiment of the present invention.
  • Endoscope auxiliary operating end device 3 X-ray machine 7
  • an operating system for an ERCP surgical robot including an operating table 1, an endoscope execution end device 2, an endoscope auxiliary operating end device 3, and an operating table 4 And a display screen 5 for human-computer interaction.
  • the endoscope execution end device 2 includes an endoscope execution end operation platform with a forceps lift control module 21, a knob control module 22, a catheter drive module 23 and a water vapor suction control module 24, and an auxiliary structure capable of adjusting the position and attitude of the endoscope.
  • the endoscope auxiliary operating end device 3 includes an auxiliary operating platform with a guidewire driving module 31, which is used to drive the guidewire to perform forward and backward or locking operations.
  • the operating console 4 includes an operating handle 41, a foot switch 42 and a 3D handle 43.
  • the operating handle 41 is used to control the forceps lift control module 21, the knob control module 22 and the water vapor suction control module 24.
  • the structure of the operating handle 41 is a simulated endoscope. The operating part structure is convenient for doctors to operate.
  • the foot switch 42 is used to switch the driving functions of the catheter driving module 23 and the guide wire driving module 31.
  • the 3D handle 43 is used to feedback the push and pull force of the catheter driving module 23 or the guide wire driving module 31.
  • the catheter driving module 23 and the guide wire driving module The modules 31 all have push-pull force feedback, which can be fed back on the 3D handle 43, and the doctor can make judgments and reactions based on the size of the force.
  • the auxiliary structure includes a trailing arm 25 and a U-shaped arm 26.
  • the trailing arm 25 is a multi-degree-of-freedom mechanical arm.
  • the U-shaped arm 26 is suspended and installed at the execution end of the trailing arm 25.
  • the U-shaped arm 26 is connected to the cantilever at the execution end of the drag arm 25 through a connecting rod, and the cantilever at the execution end of the drag arm 25 is connected with an explosive device.
  • a control handle is provided on the U-shaped arm 26, and a duodenum is fixedly installed on the U-shaped arm 26. mirror. Under normal conditions, the execution ends of the U-shaped arm 26 and the drag arm 25 are relatively fixed.
  • the endoscope execution end device 2 includes a cart 6, and the trailing arm 25 is installed on the cart 6, so that the endoscope execution end device 2 can move.
  • the endoscope auxiliary part operating end device 3 also includes a cooperative arm 32 , and the auxiliary part operating platform is installed on the execution end of the cooperative arm 32 .
  • the guide wire driving module 31 is installed on the auxiliary parts operating platform.
  • the endoscope auxiliary part operating end device 3 also includes a cart 6, and the cooperation arm 32 is installed on the cart 6, so that the endoscope auxiliary part operating end device 3 can move.
  • An X-ray machine 7 is provided on one side of the operating table 1 .
  • the X-ray machine 7 is used to scan the patient on the operating table 1 , and the scanning results of the X-ray machine 7 are synchronized to the display screen 5 .
  • the X-ray machine 7 of this application is preferably a C-arm X-ray machine.
  • the operating console 4 controls the endoscope execution end device 2 and the endoscope auxiliary operating end device 3 through the EtherCT bus.
  • the operating console 4 is also provided with a touch screen 44, which is used to control the endoscope execution end device 2 and the endoscope auxiliary operating end device 3.
  • the doctor can control the endoscope execution end device 2 and the endoscope auxiliary operation end device 3 through the operation handle 41, the foot switch 42 and the 3D handle 43.
  • the endoscope execution end device 2 and the endoscope auxiliary operating end device 3 can also be controlled through the touch screen 44 .
  • the operating table 1, the endoscope execution end device 2 and the endoscope auxiliary operating end device 3 of this application are all set up in the operating room, and the operating table 4 is set up outside the operating room. This allows doctors to operate remotely outside the operating room, reduces the harm to operators caused by long-term radiation during surgery, and avoids hand tremors when doctors operate.
  • an operating method for an ERCP surgical robot is provided according to one embodiment of the present invention. Using the above operating system for an ERCP surgical robot, the operating method includes the following steps:
  • the doctor sits on the operating console 4 and remotely controls the insertion and feeding of the guidewire or catheter through the operating handle 41, foot switch 42, 3D handle 43 and touch screen 44. Then complete a series of surgeries such as balloon dilation, stone removal, stent placement, and drainage.
  • control system of the operating console 4 is a Linux system, which specifically includes the IPC module, the operating console 4 control module, the endoscope handle operating unit and the guide wire operating unit.
  • the IPC module includes EtherCAT master card, 485 port 1, and 485 port 2. It is connected to the straight pole motor of the handle pliers lifter, the straight pole motor of the handle air and water supply button, and the straight pole motor of the handle suction button through the 485 bus 2. It is connected to the handle main hand large knob encoder, handle main hand small knob encoder and handle main hand pliers lift encoder through 485 bus 2.
  • the console 4 includes an IO module and a lift motor of the console 4.
  • the IPC module is connected to the IN end of the IO module of the console 4 through the EtherCAT bus.
  • the OUT end of the IO module of the console 4 is connected to the IN end of the lift motor of the console 4.
  • the endoscope handle operating unit includes an IO module, a robotic arm lifting motor, a handle large knob control motor, a handle small knob control motor, and an instrument push control motor.
  • the IO module of the endoscope handle operating unit is connected to the OUT end of the lifting motor of console 4.
  • the OUT end of the IO module of the endoscope handle operating unit is connected to the IN end of the robotic arm lifting motor.
  • the OUT end of the robotic arm lifting motor is connected to the handle.
  • the IN end of the knob controlled motor is connected, the OUT end of the large knob controlled motor is connected to the IN end of the small knob controlled motor, and the OUT end of the small knob controlled motor is connected to the IN end of the instrument push control motor.
  • the guidewire operating unit includes an IO module and a guidewire push control motor.
  • the IN end of the IO module of the guidewire operating unit is connected to the OUT end of the instrument push control motor.
  • the OUT end of the IO module of the guidewire operating unit is connected to the guidewire push control motor. IN terminal connection.
  • the system and its various devices, modules, and units provided by the present invention can be completely implemented by logically programming the method steps. , modules, and units implement the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules and units provided by the present invention can be regarded as a kind of hardware component, and the devices, modules and units included in it for realizing various functions can also be regarded as hardware components.
  • the structure; the devices, modules, and units used to implement various functions can also be regarded as either software modules for implementing methods or structures within hardware components.
  • the present invention has the following beneficial effects:
  • the present invention uses the operating handle, foot switch, 3D handle and touch screen on the operating table to control the forceps lift control module, knob control module, catheter drive module and water vapor suction control module on the endoscope execution end device.
  • the guidewire drive module on the operating end device of the scope auxiliary device can remotely control the insertion and feeding of the guidewire or catheter, thereby completing a series of operations such as balloon dilation, stone removal, stent placement, and drainage, which helps to reduce the long-term operation Radiation damage to operators, and avoidance of doctor's hand tremors during operation.
  • the present invention facilitates the doctor to adapt to the handle control method with a small learning process and improves the convenience of using the surgical robot operating system.
  • the present invention helps to improve the accuracy of the doctor's operation, thereby helping to improve the success rate of the operation.

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Abstract

一种用于ERCP手术机器人的操作系统与方法，包括：手术台（1）：病人躺在手术台（1）上；内镜执行端装置（2）；内镜辅件操作端装置（3）；操作台（4）：包括操作手柄（41）、脚踏开关（42）和3D手柄（43）；以及用于人机交互的显示屏（5）。通过操作台（4）上的操作手柄（41）、脚踏开关（42）、3D手柄（43）以及触摸屏（44），控制内镜执行端装置（2）上的抬钳器控制模块（21）、旋钮控制模块（22）、导管驱动模块（23）以及水汽吸引控制模块（24），通过内镜辅件操作端装置（3）上的导丝驱动模块（31）实现远程控制导丝或导管的插入和进给，进而完成手术，减少了手术长期辐射对操作人员造成的伤害，避免了医生操作时的手部颤动。将操作手柄（41）设置为内镜操作部结构，便于医生通过很少的学习即可适应手柄操控方式，提高使用的便捷性。

Description

用于ERCP手术机器人的操作系统与方法 技术领域
本发明涉及医疗器械技术领域，具体地，涉及一种用于ERCP手术机器人的操作系统与方法。
背景技术
ERCP是一种非常成熟的内镜微创治疗胆胰系统疾病的手术，也叫做经内镜逆行性胰胆管造影术。ERCP可用于诊断和治疗胆结石、胆梗阻、胆管炎、胆肿瘤、胰腺肿瘤等疾病。在手术的过程中，将一条十二指肠镜插入患者的十二指肠降部，在活检管道中插入造影导管到十二指肠乳头开口处，接着注入造影剂，在X光线片下观察胰胆管的具体情况，确定是否存在病变，然后进行相应的手术。ERCP手术具有创伤小、手术时间短、并发症少、安全性高等优点，这种手术属于微创手术，手术创伤非常小，不会给患者带来太多的痛苦，术后恢复也比较快。
目前，国内的ERCP手术都是由医生及其团队手工操作完成，但是，ERCP手术需要在X射线的辅助下完成，手术医生长期暴露于X射线下，手术时操作人员需要穿戴厚重的防辐射服，手臂部分需外露操作无法进行防辐射保护，经年累月长期的手术辐射会对操作人员造成严重的辐射伤害。
现有ERCP手术需要的操作及协作人员多，在本就空间不大的手术室内略显拥堵，医生及操作人员需一整天站立进行手术，工作强度大，容易疲劳，进而影响手术精确性甚至导致出错，手术过程中，在将十二指肠镜插入人体后，需要通过抬钳器对导丝导管在人体内的角度进行调节，医生及操作人员难以保证手不抖动，插入人体器械定位后发生移位的情况时有发生，无法对抬钳器实现精准的调节，同时直接对抬钳器进行调节的话，会使操作人员暴露在X射线下，对操作人员造成伤害。
现有公开号为CN213075919U的中国专利，其公开了一种新型ERCP手术器械工作台，属于医疗技术领域，包括支撑底座，支撑底座的顶部四个边角处均竖直固定安装有若干根连接杆，若干根连接杆的之间均支撑放置有箱体，箱体的正表面均开设有若干个开槽，若干个开槽的内壁表面均固定安装有抽屉滑槽，抽屉滑槽的表面 均滑动安装设有若干个物放置抽屉，支撑底座的底部四边角处均固定安装有万向轮。
发明人认为，现有技术中的工作台需要放置在手术室内，供医生取用设备，难以减少手术长期辐射对操作人员造成的伤害，以及医生操作时的手部颤动，存在待改进之处。
发明内容
针对现有技术中的缺陷，本发明的目的是提供一种用于ERCP手术机器人的操作系统与方法。
根据本发明其中一个或多个实施例提供的一种用于ERCP手术机器人的操作系统,包括：手术台：病人躺在手术台上；内镜执行端装置：包括具有抬钳器控制模块、旋钮控制模块、导管驱动模块以及水汽吸引控制模块的内镜执行端操作平台，和能够调整内镜位置和姿态的辅助结构；内镜辅件操作端装置：包括具有导丝驱动模块的辅件操作平台，用于驱动导丝进行进退或锁死操作；操作台：包括操作手柄：所述操作手柄用于控制抬钳器控制模块、旋钮控制模块以及水汽吸引控制模块；脚踏开关和3D手柄：所述脚踏开关用于导管驱动模块和导丝驱动模块的驱动功能的切换，所述3D手柄用于反馈导管驱动模块或导丝驱动模块的推拉力；以及用于人机交互的显示屏。
进一步地，所述辅助结构包括拖曳臂和U型臂，所述拖曳臂为多自由度机械臂，所述U型臂悬挂安装在拖曳臂的执行端。
进一步地，所述内镜辅件操作端装置还包括协作臂，所述辅件操作平台设置在协作臂的执行端。
进一步地，所述内镜执行端装置和内镜辅件操作端装置均包括推车。
进一步地，所述操作手柄的结构为模拟内镜操的作部结构。
进一步地，所述手术台的一侧设置有X光机，所述X光机用于扫描手术台上的病人，且所述X光机的扫描结果同步至显示屏。
进一步地，所述操作台上还设置有触摸屏，触摸屏用于控制内镜执行端装置和内镜辅件操作端装置。
进一步地，所述手术台、内镜执行端装置以及内镜辅件操作端装置均设置在手术室内，所述操作台设置在手术室外。
进一步地，所述控制台通过EtherCT总线对内镜执行端装置和内镜辅件操作端装置进行控制。
根据本发明提供的一种用于ERCP手术机器人的操作方法，操作方法包括如下步骤：S1、机器复位，病人侧躺在手术台上；S2、将十二指肠镜的插入部通过病人口腔、食道以及胃插入十二指肠，再将U型臂拖至病人头部，将内镜操作部手柄装入内镜底座，之后再将U型臂的位置固定；S3、将导丝插入导管，再插入十二指肠，导管管体装入导管驱动模块；S4、借助协作臂调整辅件操作平台至合适位置，再将辅件操作平台固定；S5、把导管的操作手柄放在辅件操作台上，操作台上的软管插入导丝并连接导管的导丝出口，实现导管的固定；S6、把导丝装入导丝驱动模块，手术准备工作完成；S7、医生坐在操作台通过操作手柄、脚踏开关、3D手柄以及触摸屏，远程控制导丝或导管的插入和进给。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1为本发明其中一个实施例主要体现手术机器人操作装置整体结构示意图；
图2为本发明其中一个实施例主要体现操作台控制系统的逻辑框图。
图中所示：
手术台1                       协作臂32
内镜执行端装置2               操作台4
抬钳器控制模块21              操作手柄41
旋钮控制模块22                脚踏开关42
导管驱动模块23                3D手柄43
水汽吸引控制模块24            触摸屏44
拖曳臂25                      显示屏5
U型臂26                       推车6
内镜辅件操作端装置3           X光机7
导丝驱动模块31
具体实施方式
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技 术人员来说，在不脱离本发明构思的前提下，还可以做出若干变化和改进。这些都属于本发明的保护范围。
实施例一
如图1所示，根据本发明其中一个实施例提供的一种用于ERCP手术机器人的操作系统，包括手术台1、内镜执行端装置2、内镜辅件操作端装置3、操作台4以及用于人机交互的显示屏5。内镜执行端装置2包括具有抬钳器控制模块21、旋钮控制模块22、导管驱动模块23以及水汽吸引控制模块24的内镜执行端操作平台，和能够调整内镜位置和姿态的辅助结构。内镜辅件操作端装置3包括具有导丝驱动模块31的辅件操作平台，其用于驱动导丝进行进退或锁死操作。
操作台4包括操作手柄41、脚踏开关42和3D手柄43，操作手柄41用于控制抬钳器控制模块21、旋钮控制模块22以及水汽吸引控制模块24，操作手柄41的结构为模拟内镜的操作部结构，便于医生进行操作。脚踏开关42用于导管驱动模块23和导丝驱动模块31的驱动功能的切换，3D手柄43用于反馈导管驱动模块23或导丝驱动模块31的推拉力，导管驱动模块23和导丝驱动模块31均具有推拉力反馈，能反馈在3D手柄43上，医生可根据力的大小做出评判和反应。
辅助结构包括拖曳臂25和U型臂26，拖曳臂25为多自由度机械臂，U型臂26悬挂安装在拖曳臂25的执行端。U型臂26通过连接杆与拖曳臂25执行端的悬臂连接，且拖曳臂25执行端的悬臂连接有爆炸器，U型臂26上设置有控制手柄，U型臂26上固定安装有十二指肠镜。常规状态下，U型臂26与拖曳臂25的执行端相对固定，当需要调整U型臂26的位置和姿态时，通过按住控制手柄，控制手柄上的光电传感器发送解锁信号，悬臂上的爆炸器松开，使用者能够在一定的范围内移动U型臂26及内窥镜座。内镜执行端装置2包括推车6，拖曳臂25安装在推车6上，从而使内镜执行端装置2能够移动。
如图1所示，内镜辅件操作端装置3还包括协作臂32，辅件操作平台安装在协作臂32的执行端。导丝驱动模块31安装在辅件操作平台上。内镜辅件操作端装置3还包括推车6，协作臂32安装在推车6上，从而使内镜辅件操作端装置3能够移动。
手术台1的一侧设置有X光机7，X光机7用于扫描手术台1上的病人，且X光机7的扫描结果同步至显示屏5。本申请的X光机7优选C型臂X光机。
操作台4通过EtherCT总线对内镜执行端装置2和内镜辅件操作端装置3进行控制。操作台4上还设置有触摸屏44，触摸屏44用于控制内镜执行端装置2和内镜辅件 操作端装置3。医生进行操作时可以通过操作手柄41、脚踏开关42和3D手柄43控制内镜执行端装置2和内镜辅件操作端装置3。还可以通过触摸屏44控制内镜执行端装置2和内镜辅件操作端装置3。
本申请的手术台1、内镜执行端装置2以及内镜辅件操作端装置3均设置在手术室内，操作台4设置在手术室外。从而使医生能够在手术室外远程操作，减少手术长期辐射对操作人员造成的伤害，以及避免医生操作时的手部颤动。
实施例二
基于实施例1，根据本发明其中一个实施例提供的一种用于ERCP手术机器人的操作方法，采用上述用于ERCP手术机器人的操作系统，操作方法包括如下步骤：
S1、机器复位，病人侧躺在手术台1上。
S2、将十二指肠镜的插入部通过病人口腔、食道以及胃插入十二指肠，再将U型臂26拖至病人头部，将内镜操作部手柄装入内镜底座，之后再将U型臂26的位置固定。其中十二指肠镜的插入部为软管部分，通过按压控制手柄解锁拖曳臂25将U型臂26拖至病人头部，调整位置后松开控制手柄开关即实现U型臂26固定。
S3、将导丝插入导管，再通过钳道口插入十二指肠，插到位后导管先放入U型臂26上的导槽并盖上导槽盖，导管管体装入导管驱动模块23。
S4、借助协作臂32调整辅件操作平台至合适位置，再将辅件操作平台固定。通过按住协作臂32的调整按钮把辅件操作平台调整到一个合适的位置后松开，辅件操作平台即实现固定。
S5、把导管的操作手柄41放在辅件操作台4上，操作台4上的软管插入导丝并连接导管的导丝出口，实现导管的固定；
S6、把导丝装入导丝驱动模块31，实现导丝的固持或输送，手术准备工作完成；
S7、医生坐在操作台4通过操作手柄41、脚踏开关42、3D手柄43以及触摸屏44，远程控制导丝或导管的插入和进给。进而完成球囊扩张和取石，支架放置，引流等一些列手术。
如图2所示，其中操作台4的控制系统为linux系统，具体如下包括IPC模块、操作台4控制模块、内镜手柄操作单元以及导丝操作单元。
IPC模块包括EtherCAT主站卡、485口1、485口2。其通过485总线2连接手柄抬钳器直杆电机、手柄送气送水按钮直杆电机以及手柄吸引按钮直杆电机。其通过485总 线2连接手柄主手大旋钮编码器、手柄主手小旋钮编码器以及手柄主手抬钳器编码器。
操作台4包括IO模块和操作台4升降电机，IPC模块通过EtherCAT总线与操作台4的IO模块的IN端连接，操作台4的IO模块的OUT端与操作台4升降电机的IN端连接。
内镜手柄操作单元包括IO模块、机械臂升降电机、手柄大旋钮控制电机、手柄小旋钮控制电机以及器械推送控制电机。内镜手柄操作单元的IO模块与操作台4升降电机的OUT端连接，内镜手柄操作单元的IO模块的OUT端与机械臂升降电机的IN端连接，机械臂升降电机的OUT端与手柄大旋钮控制电机的IN端连接，手柄大旋钮控制电机的OUT端与手柄小旋钮控制电机的IN端连接，手柄小旋钮控制电机的OUT端与器械推送控制电机的IN端连接。
导丝操作单元包括IO模块和导丝推送控制电机，导丝操作单元的IO模块的IN端与器械推送控制电机的OUT端连接，导丝操作单元的IO模块的OUT端与导丝推送控制电机的IN端连接。
工作原理
手术时，先将机器复位，使病人侧躺在手术台1上；再将十二指肠镜的插入部通过病人口腔、食道以及胃插入十二指肠，再将U型臂26拖至病人头部，将内镜操作部手柄装入内镜底座，之后再将U型臂26的位置固定；然后将导丝插入导管，再插入十二指肠，导管管体装入导管驱动模块23；之后再借助协作臂32调整辅件操作平台至合适位置，再将辅件操作平台固定；再后把导管的操作手柄41放在辅件操作台4上，操作台4上的软管插入导丝并连接导管的导丝出口，实现导管的固定；再之后把导丝装入导丝驱动模块31，手术准备工作完成；最后医生坐在操作台4通过操作手柄41、脚踏开关42、3D手柄43以及触摸屏44，远程控制导丝或导管的插入和进给。
本领域技术人员知道，除了以纯计算机可读程序代码方式实现本发明提供的系统及其各个装置、模块、单元以外，完全可以通过将方法步骤进行逻辑编程来使得本发明提供的系统及其各个装置、模块、单元以逻辑门、开关、专用集成电路、可编程逻辑控制器以及嵌入式微控制器等的形式来实现相同功能。所以，本发明提供的系统及其各项装置、模块、单元可以被认为是一种硬件部件，而对其内包括的用于实现各种功能的装置、模块、单元也可以视为硬件部件内的结构；也可以将用于实现各种功能的装置、模块、 单元视为既可以是实现方法的软件模块又可以是硬件部件内的结构。
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
与现有技术相比，本发明具有如下的有益效果：
1、本发明通过操作台上的操作手柄、脚踏开关、3D手柄以及触摸屏，控制内镜执行端装置上的有抬钳器控制模块、旋钮控制模块、导管驱动模块以及水汽吸引控制模块，内镜辅件操作端装置上的导丝驱动模块，从而实现远程控制导丝或导管的插入和进给，进而完成球囊扩张和取石，支架放置，引流等一些列手术，有助于减少手术长期辐射对操作人员造成的伤害，以及避免医生操作时的手部颤动。
2、本发明通过将操作手柄的形状设置为内镜操作部结构，便于医生通过很少的学习过程即可适应手柄操控方式，提高手术机器人操作系统使用的便捷性。
3、本发明通过将X光机的扫描结果同步至显示屏，有助于提高医生操作的准确性，进而有助于提高手术成功率。
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变化或修改，这并不影响本发明的实质内容。在不冲突的情况下，本申请的实施例和实施例中的特征可以任意相互组合。

Claims (10)

  1. 一种用于ERCP手术机器人的操作系统，其特征在于，包括：
    手术台(1)：病人躺在手术台(1)上；
    内镜执行端装置(2)：包括具有抬钳器控制模块(21)、旋钮控制模块(22)、导管驱动模块(23)以及水汽吸引控制模块(24)的内镜执行端操作平台，和能够调整内镜位置和姿态的辅助结构；
    内镜辅件操作端装置(3)：包括具有导丝驱动模块(31)的辅件操作平台，用于驱动导丝进行进退或锁死操作；
    操作台(4)：包括操作手柄(41)：所述操作手柄(41)用于控制抬钳器控制模块(21)、旋钮控制模块(22)以及水汽吸引控制模块(24)；
    脚踏开关(42)和3D手柄(43)：所述脚踏开关(42)用于导管驱动模块(23)和导丝驱动模块(31)的驱动功能的切换，所述3D手柄(43)用于反馈导管驱动模块(23)或导丝驱动模块(31)的推拉力；
    以及用于人机交互的显示屏(5)。
  2. 如权利要求1所述的用于ERCP手术机器人的操作系统，其特征在于，所述辅助结构包括拖曳臂(25)和U型臂(26)，所述拖曳臂(25)为多自由度机械臂，所述U型臂(26)悬挂安装在拖曳臂(25)的执行端。
  3. 如权利要求1所述的用于ERCP手术机器人的操作系统，其特征在于，所述内镜辅件操作端装置(3)还包括协作臂(32)，所述辅件操作平台设置在协作臂(32)的执行端。
  4. 如权利要求1所述的用于ERCP手术机器人的操作系统，其特征在于，所述内镜执行端装置(2)和内镜辅件操作端装置(3)均包括推车(6)。
  5. 如权利要求1所述的用于ERCP手术机器人的操作系统，其特征在于，所述操作手柄(41)的结构为模拟内镜操的作部结构。
  6. 如权利要求1所述的用于ERCP手术机器人的操作系统，其特征在于，所述手术台(1)的一侧设置有X光机(7)，所述X光机(7)用于扫描手术台(1)上的病人，且所述X光机(7)的扫描结果同步至显示屏(5)。
  7. 如权利要求1所述的用于ERCP手术机器人的操作系统，其特征在于，所述操作台(4)上还设置有触摸屏(44)，触摸屏(44)用于控制内镜执行端装置(2)和内镜辅 件操作端装置(3)。
  8. 如权利要求1所述的用于ERCP手术机器人的操作系统，其特征在于，所述手术台(1)、内镜执行端装置(2)以及内镜辅件操作端装置(3)均设置在手术室内，所述操作台(4)设置在手术室外。
  9. 如权利要求1所述的用于ERCP手术机器人的操作系统，其特征在于，所述操作台(4)通过EtherCT总线对内镜执行端装置(2)和内镜辅件操作端装置(3)进行控制。
  10. 一种用于ERCP手术机器人的操作方法，其特征在于，采用权利要求1-6任一项所述的用于ERCP手术机器人的操作系统，操作方法包括如下步骤：
    S1、机器复位，病人侧躺在手术台(1)上；
    S2、将十二指肠镜的插入部通过病人口腔、食道以及胃插入十二指肠，再将U型臂(26)拖至病人头部，将内镜操作部手柄装入内镜底座，之后再将U型臂(26)的位置固定；
    S3、将导丝插入导管，再插入十二指肠，导管管体装入导管驱动模块(23)；
    S4、借助协作臂(32)调整辅件操作平台至合适位置，再将辅件操作平台固定；
    S5、把导管的操作手柄(41)放在辅件操作台(4)上，操作台(4)上的软管插入导丝并连接导管的导丝出口，实现导管的固定；
    S6、把导丝装入导丝驱动模块(31)，手术准备工作完成；
    S7、医生坐在操作台(4)通过操作手柄(41)、脚踏开关(42)、3D手柄(43)以及触摸屏(44)，远程控制导丝或导管的插入和进给。
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CN115919474B (zh) * 2023-01-09 2023-06-16 北京云力境安科技有限公司 软式内镜操控机器人系统

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