WO2024020777A1 - 一种经呼吸道诊疗机器人系统及其控制方法 - Google Patents
一种经呼吸道诊疗机器人系统及其控制方法 Download PDFInfo
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
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Definitions
- the present application relates to the field of medical machinery technology, and in particular to a transrespiratory diagnosis and treatment robot system and its control method.
- Bronchoscopy biopsy and percutaneous puncture biopsy are two conventional biopsy methods.
- Bronchoscopy biopsy determines the location of lung lesions through CT or X-ray scanning.
- the diagnosis rate of central lesions located in the hilus is higher, and Compared with percutaneous biopsy, it causes less damage to the human body.
- doctors face patients with respiratory infectious diseases such as new coronavirus pneumonia, severe acute respiratory syndrome, and Middle East respiratory syndrome at close range, there is a certain risk of infection.
- a biopsy operation If a biopsy operation is performed, the patient will be infected during the operation.
- the opening of the airway further causes the high concentration of viruses in the mucus of the lower respiratory tract to be released to form a sol, putting medical staff at a higher risk of infection and causing nosocomial infections among medical staff.
- the main technical problem solved by this application is to provide a transrespiratory diagnosis and treatment robot system, which sends control instructions through the master control device, and the slave control device receives the control instructions from the master control device to perform operating actions, and is tracked and guided by the navigation device
- the slave controls the device to deliver the biopsy instrument and clip the lesion tissue; it also provides a control method for the trans-respiratory diagnosis and treatment robot.
- one technical solution adopted by this application is to provide a trans-respiratory diagnosis and treatment robot system, which includes:
- the main control device is used for operation control and issuing control instructions
- the slave control device is used to receive control instructions from the master control device and perform operating actions;
- Navigation device used to track and guide the slave control device
- the slave control device includes a slave robot and a slave embedded controller installed in the slave robot.
- the slave robot is provided with a mechanical arm and a propulsion support plate connected to the mechanical arm.
- a biopsy instrument introduction mechanism for delivering the biopsy instrument
- a bronchoscope rotation transmission mechanism for controlling the bronchoscope, which are connected to the advancement support plate.
- the slave-end robot is also provided with a bending control mechanism connected to the bronchoscope rotation transmission mechanism and used to adjust the end catheter of the bronchoscope.
- the bronchoscope rotation transmission mechanism includes a rotation mechanism motor, a worm, a bearing support, a worm gear and a rotation support shaft base, and the rotation mechanism motor is connected to the propulsion support plate through a motor support,
- the bearing support is fixedly connected to the propulsion support plate
- the rotating mechanism motor is connected to the bearing support through the worm
- the worm is meshed with the worm gear
- the rotation support shaft seat is connected to In the worm gear
- the rotary support shaft seat is connected to the propulsion support plate through a rotary support shaft.
- the bending control mechanism includes a bending control knob, a bending control knob slot, a worm gear rotating slide table, a bending control worm and a bending control motor.
- the bending control motor and the worm gear rotating slide table are connected to each other.
- the bending control motor is connected to the bending control worm
- the bending control worm is meshed with a worm gear provided in the worm gear rotating slide
- the bending control knob is connected to the bending control knob provided on the worm gear rotating slide.
- the bending control knob is in a slot in the worm gear rotating slide table and is used to clamp the rotating support shaft.
- the biopsy instrument introduction mechanism includes an introduction motor, a transmission roller, an idler wheel fixed shaft, an idler wheel, a guide rail, a spring and a guide rail limit block.
- the introduction motor is connected to a base plate, and the base plate Connected to the propulsion support plate, the transmission roller is connected to the introduction motor, the idler wheel shaft is connected to the idler wheel fixed shaft, the idler wheel fixed shaft is connected to the guide rail and is connected to the guide rail through a spring.
- the idler wheel and the transfer roller are used to guide the biopsy instrument to be rolled into the biopsy instrument channel of the terminal catheter of the bronchoscope.
- the main-end control device includes an electrically connected main-end computer host and a main-end robot, and the main-end computer host is provided with a motion controller for sending control instructions.
- the navigation device includes a visual display mechanism for display and an electromagnetic navigation terminal mechanism for guiding the slave control device.
- the visual display mechanism includes a visual flexible laryngoscope.
- the electromagnetic navigation terminal mechanism includes an electromagnetic sensor, and the electromagnetic navigation system is installed on the supporting board on the operating table, and the electromagnetic navigation system includes a magnetic field generator.
- a method for controlling a transrespiratory diagnosis and treatment robot which includes the following steps:
- Step S1 Fix the bronchoscope on the slave robot of the slave control device
- Step S2 Operate the master control device to send control instructions to control the slave robot to deliver the bronchoscope and biopsy instrument to the predetermined puncture and biopsy location in the patient's airway;
- Step S3 Control the biopsy instrument to operate and remove the lesion tissue
- Step S4 Place the removed lesion tissue on a glass slide, fix it with alcohol, and send it to pathological examination immediately;
- Step S5 Control the slave robot to withdraw the bronchoscope and biopsy instrument from the patient's respiratory tract;
- Step S6 Disinfect the slave robot.
- this application uses the master control device to issue control instructions, and the slave control device receives the control instructions from the master control device to perform operations, and at the same time, the navigation device tracks and guides the slave The control device is used to deliver biopsy instruments and clip the lesion tissue.
- Figure 1 is a schematic diagram of a transrespiratory diagnosis and treatment robot system according to an embodiment of the present application
- Figure 2 is a control schematic diagram of the trans-respiratory diagnosis and treatment robot system according to the embodiment of the present application
- Figure 3 is a schematic diagram of diagnosis and treatment of the slave robot according to the embodiment of the present application.
- Figure 4 is a schematic diagram of the geometric configuration of the propulsion part of the slave robot in the embodiment of the present application.
- Figure 5 is a schematic diagram of the bronchoscope rotation transmission mechanism of the slave robot in the embodiment of the present application.
- Figure 6 is a schematic diagram of the flexible end-bending mechanism of the bronchoscope of the slave-end robot in the embodiment of the present application;
- Figure 7 is a schematic diagram of the biopsy tool introduction mechanism of the slave robot in the embodiment of the present application.
- Figure 8 is a schematic diagram of the geometric configuration of the telescopic conduit of the slave-end robot in the embodiment of the present application.
- Figure 9 is a schematic diagram of the electromagnetic navigation terminal mechanism of the slave robot in the embodiment of the present application.
- the Ion robot is a new robotic platform from Intuitive, used for minimally invasive biopsies around the lungs.
- the system uses an ultra-thin articulated robotic catheter, and the intraoperative navigation method uses optical fiber shape sensing technology.
- the optical fiber needs to pass through the entire endoscope. , after navigation, the endoscope lens must be removed from the catheter so that the working channel can accommodate the sampling tool. Therefore, Ion cannot visualize the internal bronchial environment in real time during biopsy sampling, which poses a great threat to surgical safety.
- a trans-respiratory diagnosis and treatment robot system of this application includes:
- the main control device is used for operation control and issuing control instructions
- the slave control device is used to receive control instructions from the master control device and perform operating actions;
- Navigation device used to track and guide the slave control device
- the slave control device includes a slave robot and a slave embedded controller installed in the slave robot.
- the slave robot is provided with a mechanical arm 3, a propulsion support plate 14 connected to the mechanical arm and a propulsion support plate connected to the 14 on the biopsy instrument introduction mechanism 13 for delivering the biopsy instrument and the bronchoscope rotation transmission mechanism 11 for controlling the bronchoscope.
- the master control device issues control instructions
- the slave control device receives the control instructions from the master control device to perform operations.
- the navigation device tracks and guides the slave control device to deliver biopsy instruments and pick up diseased tissue.
- the doctor operates the main control device of the surgical robot, detects the instruction information of the main control device in real time, and sends the control instructions to the slave control device through the wireless network, and the slave control device controls the flexible bronchial endoscope.
- the corresponding advancement and retreat, rotation and tip-controlled bending actions are performed.
- the slave robot adopts electromagnetic navigation technology and is used in conjunction with the visual navigation function of the bronchoscope to accurately locate the position of the bronchoscope in real time.
- the main-end control device includes an electrically connected main-end computer host and a main-end robot.
- the main-end computer host is equipped with a motion controller for sending control instructions.
- the main-end robot adopts a universal force feedback device;
- the end computer host is connected to the main end robot through the IEEE1394 interface;
- the motion controller is connected to the main end computer host through a network card.
- the motion controller receives the operation command of the main robot, processes the operation command, calls the angle library motion instructions, and sends them to the slave control device. .
- the trans-respiratory diagnosis and treatment robot control system of this application uses a computer host as the development platform and adopts the control method of upper and lower computers.
- the trans-respiratory diagnosis and treatment robot control system of this application includes a main-end robot, a control system connected to the main-end robot, a motion database, a slave-end robot and a slave-end embedded controller.
- the slave-end robot receives The instructions sent by the embedded controller then complete the operations on the corresponding task objects through the driver, such as pushing and pulling, rotating, and controlling bends.
- the slave robot feeds back the position and speed information to the slave embedded controller through the driver.
- This application can also include a signal conversion unit.
- the signal conversion unit is used to set the initial value of the encoder and record.
- the signal conversion unit is connected to the industrial PC through the RS485 interface.
- the signal conversion unit is connected to the driver through the RS422 interface.
- the control system The host computer connects the main robot, motion controller, data acquisition card, etc.
- the host computer of the control system transmits the operating instructions of the main robot to the main control computer, and the main control computer receives the robot's motion status and controls it through
- the algorithm processes the operation commands; the motion instructions of the production robot are sent to the motion control card through the Ethernet card; the motion control card of the lower computer of the control system receives the control command from the main computer and drives the DC motor to make the robot complete the corresponding action; the lower computer will The current slave robot joint encoder value is sent to the master computer.
- This application provides an embodiment, which includes:
- the main control device is used for operation control and issuing control instructions
- the slave control device is used to receive control instructions from the master control device and perform operating actions;
- Navigation device used to track and guide the slave control device
- the slave control device includes a slave robot and a slave embedded controller installed in the slave robot.
- the slave robot is provided with a mechanical arm 3, a propulsion support plate 14 connected to the mechanical arm and a propulsion support plate connected to the 14, a biopsy instrument introduction mechanism 13 for delivering biopsy instruments, a bronchoscope rotation transmission mechanism 11 for controlling the bronchoscope, and a bending control mechanism 12 connected to the bronchoscope rotation transmission mechanism 11 and used to adjust the end catheter of the bronchoscope. .
- the bronchoscope rotation transmission mechanism 11 includes a rotation mechanism motor 111, a worm 112, a bearing support 113, a worm gear 114 and a rotation support shaft seat 115.
- the rotation mechanism motor 111 is connected to the propulsion support plate 14 through a motor support 116.
- the bearing support 113 is fixedly connected to the propulsion support plate 14
- the rotating mechanism motor 111 is connected to the bearing support 113 through the worm 112
- the worm 112 is meshed with the worm gear 114
- the rotation support shaft seat 115 is connected in the worm gear 114
- the rotation support The shaft seat 115 is connected to the propelling support plate 14 through a rotating support shaft.
- the bending control mechanism 12 includes a bending control knob 121, a bending control knob slot 122, a worm gear rotating slide table 123, a bending control worm 124 and a bending control motor 125.
- the bending control motor 125 is connected to the worm gear rotating sliding table 123.
- the propulsion support plate 14 the bending control motor 125 is connected to the bending worm 124, the bending worm 124 is meshed with the worm gear provided in the worm gear rotating slide table 123, and the bending control knob 121 is connected to the worm gear rotating slide table 123.
- the bending control knob is in the slot 122 and is used to block the rotating support shaft.
- the biopsy instrument introduction mechanism 13 includes an introduction motor 131, a transmission roller 132, an idler wheel fixed shaft 133, an idler wheel 134, a guide rail 135, a spring 136 and a guide rail limiter 137.
- the introduction motor 131 is connected to the bottom plate.
- the bottom plate is connected to the propulsion support plate 14, the transmission roller 132 is connected to the introduction motor 131, the idler wheel 134 is axially connected to the idler wheel fixed shaft 133, the idler wheel fixed shaft 133 is connected to the guide rail 135 and is limited by the guide rail through a spring 136 Block 137 is connected, and the idler wheel 134 and the transfer roller 132 are used to guide the biopsy instrument to be rolled into the biopsy instrument channel of the end catheter of the bronchoscope.
- the navigation device includes a visual display mechanism for display and an electromagnetic navigation end mechanism 19 for guiding the slave control device.
- the visual display mechanism includes a visual flexible laryngoscope; the electromagnetic navigation end mechanism 19 includes an electromagnetic sensor.
- the electromagnetic navigation system is installed on the pallet on the operating table 6, and the electromagnetic navigation system includes a magnetic field generator; specifically, the electromagnetic navigation system is placed on the pallet fixed on the operating table 6 with bolts, and communicates with the electromagnetic navigation through electromagnetic signals.
- the terminal mechanism 19 is used in conjunction.
- the electromagnetic navigation terminal mechanism 19 includes a biopsy channel 191, an electromagnetic sensor 192, and a sensor fixing ring 193.
- the sensor fixing ring 193 uses adhesive to fix the electromagnetic sensor 192 to sense the position and shape information of the bronchoscope catheter 18 in real time, and guide the biopsy tool to accurately The lesion is reached through biopsy channel 191.
- the main body 1 of the slave end robot connects the propulsion support plate 14 to the mobile sliding table through bolts to complete the bronchoscope advancement process.
- the scope fastening nut 16 is connected to the scope fastener 16 through threads to fix the bronchoscope.
- the telescopic rod 17 is fixed on the end rotation support shaft seat 115. There are four 150mm telescopic rods nested and connected to guide the introduction of the bronchoscope end catheter from the proximal end.
- This application provides a method for controlling a transrespiratory diagnosis and treatment robot, which includes the following steps:
- Step S1 Fix the bronchoscope on the slave robot of the slave control device
- Step S2 Operate the master control device to send control instructions to control the slave robot to deliver the bronchoscope and biopsy instrument to the predetermined puncture and biopsy location in the patient's airway;
- Step S3 Control the biopsy instrument to operate and remove the lesion tissue
- Step S4 Place the removed lesion tissue on a glass slide, fix it with alcohol, and send it to pathological examination immediately;
- Step S5 Control the slave robot to withdraw the bronchoscope and biopsy instrument from the patient's respiratory tract;
- Step S6 Disinfect the slave robot.
- the workflow includes:
- the doctor uses the master robot to control the slave robot to deliver the bronchoscope to the predetermined puncture and biopsy location in the airway;
- biopsy forceps are used for forceps examination, the doctor manually delivers the biopsy forceps to the bronchial lens, and the biopsy instrument introduction mechanism will deliver the biopsy forceps deeply into the lesion through the friction wheel; if a biopsy needle is used for needle aspiration biopsy, the biopsy needle passes through The bronchoscope is introduced, and the biopsy instrument introduction mechanism is delivered through the friction wheel.
- the needle tip is pulled out of the needle sheath, and the needle is inserted into the lesion perpendicular to the bronchial wall to a depth of 0.5-1.2cm, and then a 20-50ml syringe is connected
- a 20-50ml syringe is connected
- the master host sends motion information to the slave robot.
- the slave robot receives the instructions from the slave embedded controller, and then completes the operation of the corresponding task object through the driver. , such as pushing and pulling, rotating, and controlling bends.
- the slave robot feeds back position and speed information to the slave embedded controller through the driver.
- the electromagnetic navigation uses the Aurora electromagnetic tracking system of NDI Company, and the visual navigation uses the display lens that comes with the bronchoscope.
- the two navigation methods are used together.
- the doctor can install a universal bronchoscope on the robot.
- the doctor can also choose different biopsy instruments such as biopsy forceps, biopsy needles, etc. according to needs.
- the biopsy instrument introduction mechanism 13 will deliver the biopsy forceps or biopsy forceps deep into the lesion through the friction wheel for biopsy sampling.
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Abstract
一种经呼吸道诊疗机器人系统及其控制方法，涉及医疗机械技术领域，系统包括用于操作控制发出控制指令的主端控制装置、用于接收主端控制装置的控制指令进行操作动作的从端控制装置，用于跟踪引导从端控制装置的导航装置，从端控制装置包括从端机器人及安装在从端机器人内的从端嵌入式控制器，从端机器人上设置有机械臂（3）、与机械臂（3）连接的推进支撑板（14）及连接在推进支撑板（14）上的用于递送活检器具的活检器具导入机构（13）、用于控制支气管镜的支气管镜旋转传动机构（11）和用于控制支气管镜柔性末端角度的控弯机构（12）；通过主端控制装置发出控制指令，由从端控制装置接收主端控制装置的控制指令进行操作动作，同时由导航装置跟踪引导从端控制装置，进行递送活检器具及夹取病灶组织。
Description
本申请涉及医疗机械技术领域，特别涉及一种经呼吸道诊疗机器人系统及其控制方法。
世界卫生组织国际癌症研究机构的统计，全世界罹患癌症的人数在迅速增长，肺癌是年死亡人数占比最大的癌症，2020年约180万人死于肺癌；早发现是肺癌诊断治疗的关键，而肺周小结节的良恶性是肺癌早发现的重要依据；临床实践证实，对肺周小结节的早期诊断和早期干预有着非常显著的预后效果，甚至让很多早期肺癌患者得到彻底根治，大大降低死亡率。
支气管镜下穿刺活检和经皮穿刺活检是两种常规的活检方式，支气管镜活检是通过CT或X射线扫描确定肺部病变位置，对位于肺门部位的中心型病变的确诊率较高，且相对于经皮穿刺活检对人体的损伤要小。当医生近距离面对患有新型冠状病毒肺炎、严重急性呼吸综合征和中东呼吸综合征等呼吸道传染病患者时，本身就存在一定的感染风险，再开展活检手术，就会因为手术过程中患者气道开放进一步导致下呼吸道黏液中的高浓度病毒被释放出来形成溶胶，使医护人员面临更高的感染风险，造成医护人员医源性感染。即使医护人员采用穿戴防护服、医用防护口罩和防护面屏等防护措施，但难免会存在病毒威胁的心理障碍，使得诊断时间延长，增加医患风险；另外，在介入活检手术过程中长时间的X线辐射、医生疲劳和人手操作不稳定等多重因素也会影响手术质量，加大手术风险，采用机器人技术可最小化上述风险，同时，支气管 内部环境复杂，医生需要同时操作多种器械、动作繁琐。
发明内容
本申请主要解决的技术问题是提供一种经呼吸道诊疗机器人系统，其通过主端控制装置发出控制指令，由从端控制装置接收主端控制装置的控制指令进行操作动作，同时由导航装置跟踪引导从端控制装置，进行递送活检器具及夹取病灶组织；还提供了一种经呼吸道诊疗机器人控制方法。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种经呼吸道诊疗机器人系统，其中，包括：
主端控制装置，用于操作控制发出控制指令；
从端控制装置，用于接收所述主端控制装置的控制指令进行操作动作；
导航装置，用于跟踪引导所述从端控制装置；
其中，所述从端控制装置包括从端机器人及安装在所述从端机器人内的从端嵌入式控制器，所述从端机器人上设置有机械臂、与所述机械臂连接的推进支撑板及连接在所述推进支撑板上的用于递送活检器具的活检器具导入机构和用于控制支气管镜的支气管镜旋转传动机构。
作为本申请的一种改进，所述从端机器人上还设置有与所述支气管镜旋转传动机构连接且用于调节支气管镜的末端导管的控弯机构。
作为本申请的进一步改进，所述支气管镜旋转传动机构包括旋转机构电机、蜗杆、轴承支座、蜗轮和旋转支撑轴座，所述旋转机构电机通过电机支座连接在所述推进支撑板上，所述轴承支座固定连接在所述推进支撑板上，所述旋转机构电机通过所述蜗杆与所述轴承支座连接，所述蜗杆与所述蜗轮啮合连 接，所述旋转支撑轴座连接在所述蜗轮内，所述旋转支撑轴座通过旋转支撑轴连接在所述推进支撑板上。
作为本申请的更进一步改进，所述控弯机构包括控弯旋钮、控弯旋钮卡槽、蜗轮旋转滑台、控弯蜗杆和控弯电机，所述控弯电机和蜗轮旋转滑台连接在所述推进支撑板上，所述控弯电机与所述控弯蜗杆连接，所述控弯蜗杆与设置在所述蜗轮旋转滑台内的蜗轮啮合连接，所述控弯旋钮连接于设置在所述蜗轮旋转滑台内的所述控弯旋钮卡槽内且用于卡住所述旋转支撑轴。
作为本申请的更进一步改进，所述活检器具导入机构包括导入电机、传送辊、惰性轮固定轴、惰性轮、导轨、弹簧和导轨限位块，所述导入电机连接在底板上，所述底板连接在在所述推进支撑板上，所述传送辊与所述导入电机连接，所述惰性轮轴接在所述惰性轮固定轴上，所述惰性轮固定轴连接在所述导轨上且通过弹簧与所述导轨限位块连接，所述惰性轮与所述传送辊用于引导活检器具卷入支气管镜的末端导管的活检器具通道内。
作为本申请的更进一步改进，所述主端控制装置包括电性连接的主端电脑主机与主端机器人，所述主端电脑主机内设置有用于发送控制指令的运动控制器。
作为本申请的更进一步改进，所述导航装置包括用于显示的视觉显示机构和用于引导所述从端控制装置的电磁导航末端机构。
作为本申请的更进一步改进，所述视觉显示机构包括可视软性喉镜。
作为本申请的更进一步改进，所述电磁导航末端机构包括电磁传感器，电磁导航系统安装在手术台上的托板上，所述电磁导航系统包括磁场发生器。
一种经呼吸道诊疗机器人控制方法，其中，包括如下步骤：
步骤S1、将支气管镜固定在从端控制装置的从端机器人上；
步骤S2、操作主端控制装置发送控制指令，控制从端机器人递送支气管镜和活检器具到患者气道中预定穿刺和活检位置；
步骤S3、控制活检器具进行操作，取出病灶组织；
步骤S4、将取出的病灶组织放于载玻片上，用酒精固定，立即送病理检查；
步骤S5、控制从端机器人，将支气管镜及活检器具撤出病人呼吸道；
步骤S6、对从端机器人进行消毒。
本申请的有益效果是：与现有技术相比，本申请过主端控制装置发出控制指令，由从端控制装置接收主端控制装置的控制指令进行操作动作，同时由导航装置跟踪引导从端控制装置，进行递送活检器具及夹取病灶组织。
图1为本申请实施例的经呼吸道诊疗机器人系统的原理图；
图2为本申请实施例的经呼吸道诊疗机器人系统的控制示意图；
图3为本申请实施例的实施例的从端机器人的诊疗示意图；
图4为本申请实施例的实施例中从端机器人的推进部分的几何构型示意图；
图5为本申请实施例中从端机器人的支气管镜旋转传动机构的示意图；
图6为本申请实施例中从端机器人的支气管镜柔性末端控弯机构的示意图；
图7为本申请实施例中从端机器人的活检工具导入机构的示意图；
图8为本申请实施例中从端机器人的伸缩导管的几何构型示意图；
图9为本申请实施例中从端机器人的电磁导航末端机构的示意图；
附图标记：1-从端机器人的主体、2-从端机器人的连接托架、3-机械臂、4-电磁导航系统、5-人体示意、6-手术台示意、11-支气管镜旋转传动机构、12-控弯机构、13-活检器具导入机构、14-推进支撑板、15-镜体紧固件、16-镜体紧固螺母、17-伸缩杆、18-支气管镜导管、19-电磁导航末端机构、111-旋转机构电机、112-蜗杆、113-轴承支座、114-蜗轮、115-旋转支撑轴座、116-电机支座、121-控弯旋钮、122-控弯旋钮卡槽、123-蜗轮旋转滑台、124-控弯蜗杆、125-控弯电机、131-导入电机、132-传送辊、133-惰性轮固定轴、134-惰性轮、135-导轨、136-弹簧、137-导轨限位块、191-活检通道、192-电磁传感器、193-传感器固定圈。
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
目前Auris Health公司Monarch机器人和直觉外科公司的Ion机器人是通过两个机械臂及其上面的两个旋转轮来驱动内窥镜和穿刺针，因为要适配其旋转轮，因此Monarch机器人的内窥镜及活检针全需要特制，这对医疗成本造成极大的负担。
另外，Ion机器人是Intuitive公司的新型机器人平台，用以肺部周围的微创活检，该系统采用超薄铰接式机器人导管，术中导航方式使用光纤形状感知技术，光纤需要穿过整个内窥镜，在导航之后，必须从导管上取下内窥镜镜头，工作通道才可以容纳采样工具，因此，Ion无法在活检采样时实时可视化支气 管内部环境，对手术安全造成很大威胁。
请参照图1至图9，本申请的一种经呼吸道诊疗机器人系统，包括：
主端控制装置，用于操作控制发出控制指令；
从端控制装置，用于接收主端控制装置的控制指令进行操作动作；
导航装置，用于跟踪引导所述从端控制装置；
其中，从端控制装置包括从端机器人及安装在从端机器人内的从端嵌入式控制器，从端机器人上设置有机械臂3、与机械臂连接的推进支撑板14及连接在推进支撑板14上的用于递送活检器具的活检器具导入机构13和用于控制支气管镜的支气管镜旋转传动机构11。
本申请通过主端控制装置发出控制指令，由从端控制装置接收主端控制装置的控制指令进行操作动作，同时由导航装置跟踪引导从端控制装置，进行递送活检器具及夹取病灶组织。
在本申请内，医生操作手术机器人的主端控制装置，实时检测主端控制装置的指令信息，将控制指令通过无线网发送给从端控制装置，从端控制装置操纵软性支气管内窥镜进行相应的推进后撤、旋转和尖端控弯动作，同时从端机器人采用电磁导航技术，配合支气管镜自带的视觉导航功能使用，可以实时精确定位支气管镜位置。
在本申请内，主端控制装置包括电性连接的主端电脑主机与主端机器人，主端电脑主机内设置有用于发送控制指令的运动控制器，主端机器人采用通用的力反馈设备；主端电脑主机通过IEEE1394接口与主端机器人相连；运动控制器与主端电脑主机通过网卡相连运动控制器接收主机器人的操作命令，并对操作命令进行处理调用角度库运动指令发送给从端控制装置。
如图1所示，本申请的经呼吸道诊疗机器人控制系统以电脑主机为开发平 台，采用上、下位机的控制方式。
如图2所示，本申请的经呼吸道诊疗机器人控制系统包括主端机器人、与主端机器人相连的控制系统、运动数据库、从端机器人和从端嵌入式控制器，从端机器人接收到从端嵌入式控制器发过来的指令，进而通过驱动器完成对相应任务对象的操作，如推拉、旋转、控弯，同时从端机器人通过驱动器将位置与速度信息反馈到从端嵌入式控制器。
本申请还可以包括信号转换单元，信号转换单元用于对编码器的初值进行设定以及记录信号转换单元通过RS485接口与工业PC机相连，信号转换单元通过RS422接口与驱动器相连，控制系统的上位机通过外围硬件接口和总线将主机器人、运动控制器、数据采集卡等联系起来；控制系统的上位机将主机器人的操作指令传递给主控机，主控机接收机器人运动状态并通过控制算法对操作命令进行处理；生产机器人运动指令通过以太网卡发送给运动控制卡；控制系统下位机的运动控制卡接收主控机的控制命令，通过驱动直流电机使机器人完成相应的动作；下位机将当前从手机器人关节编码器数值发送到主控机。
本申请提供一个实施例，该实施例包括：
主端控制装置，用于操作控制发出控制指令；
从端控制装置，用于接收主端控制装置的控制指令进行操作动作；
导航装置，用于跟踪引导所述从端控制装置；
其中，从端控制装置包括从端机器人及安装在从端机器人内的从端嵌入式控制器，从端机器人上设置有机械臂3、与机械臂连接的推进支撑板14及连接在推进支撑板14上的用于递送活检器具的活检器具导入机构13、用于控制支气管镜的支气管镜旋转传动机构11和与支气管镜旋转传动机构11连接且用于调节支气管镜的末端导管的控弯机构12。
在该实施例中，支气管镜旋转传动机构11包括旋转机构电机111、蜗杆112、轴承支座113、蜗轮114和旋转支撑轴座115，旋转机构电机111通过电机支座116连接在推进支撑板14上，轴承支座113固定连接在推进支撑板14上，旋转机构电机111通过蜗杆112与轴承支座113连接，蜗杆112与蜗轮114啮合连接，旋转支撑轴座115连接在蜗轮114内，旋转支撑轴座115通过旋转支撑轴连接在推进支撑板14上。
在该实施例中，控弯机构12包括控弯旋钮121、控弯旋钮卡槽122、蜗轮旋转滑台123、控弯蜗杆124和控弯电机125，控弯电机125和蜗轮旋转滑台123连接在推进支撑板14上，控弯电机125与控弯蜗杆124连接，控弯蜗杆124与设置在蜗轮旋转滑台123内的蜗轮啮合连接，控弯旋钮121连接于设置在蜗轮旋转滑台123内的控弯旋钮卡槽122内且用于卡住旋转支撑轴。
在该实施例中，活检器具导入机构13包括导入电机131、传送辊132、惰性轮固定轴133、惰性轮134、导轨135、弹簧136和导轨限位块137，导入电机131连接在底板上，底板连接在在推进支撑板14上，传送辊132与导入电机131连接，惰性轮134轴接在惰性轮固定轴133上，惰性轮固定轴133连接在导轨135上且通过弹簧136与导轨限位块137连接，惰性轮134与传送辊132用于引导活检器具卷入支气管镜的末端导管的活检器具通道内。
在该实施例中，导航装置包括用于显示的视觉显示机构和用于引导从端控制装置的电磁导航末端机构19，视觉显示机构包括可视软性喉镜；电磁导航末端机构19包括电磁传感器，电磁导航系统安装在手术台6上的托板上，电磁导航系统包括磁场发生器；具体地讲，电磁导航系统放置在以螺栓固定在手术台6的托板上，通过电磁信号与电磁导航末端机构19配合应用，电磁导航末端机构19包括活检通道191、电磁传感器192、传感器固定圈193，传感器 固定圈193以粘性固定电磁传感器192实时感知支气管镜导管18位置与形状信息，引导活检工具准确通过活检通道191到达病灶。
在该实施例中，从端机器人主体1通过螺栓将推进支撑板14与移动滑台连接，完成支气管镜推进过程，镜体紧固螺母16通过螺纹与镜体紧固件16连接对支气管镜固定；伸缩杆17固定在末端旋转支撑轴座115上，共有四节150mm伸缩杆嵌套连接引导支气管镜末端导管从近端导入。
本申请提供一种经呼吸道诊疗机器人控制方法，包括如下步骤：
步骤S1、将支气管镜固定在从端控制装置的从端机器人上；
步骤S2、操作主端控制装置发送控制指令，控制从端机器人递送支气管镜和活检器具到患者气道中预定穿刺和活检位置；
步骤S3、控制活检器具进行操作，取出病灶组织；
步骤S4、将取出的病灶组织放于载玻片上，用酒精固定，立即送病理检查；
步骤S5、控制从端机器人，将支气管镜及活检器具撤出病人呼吸道；
步骤S6、对从端机器人进行消毒。
具体地讲，工作流程包括：
1.机器人安装调试与支气管镜固定，将消毒从端机器人安装在机械臂上，支气管镜固定在从端机器人上；
2.医生使用主端机器人，控制从端机器人，递送支气管镜到气道中预定穿刺、活检位置；
3.如果使用活检钳进行钳检，医生手动将活检钳递送到支气管镜头部，活检器械导入机构将通过摩擦轮递送活检钳深入病灶中钳取；如果使用活检针进行针吸活检，活检针经支气管镜送入，活检器械导入机构通过摩擦轮递送，待 针头前端露出支气管镜后将针尖拔出针鞘，垂直于支气管壁方向刺入病变，深度为0.5-1.2cm，然后接20-50ml注射器持续负压抽吸并将吸引活检针上下往复穿刺抽吸3-5次以后，然后停止抽吸，将针尖退回鞘内，退出穿刺针；
4.将取出的组织放于载玻片上，用酒精固定，立即送病理检查；
5.控制从端机器人，将支气管镜及活检器械撤出病人呼吸道；
6.从端机器人消毒。
在本申请内，医生操纵主端机器人后，主端主机将运动信息发送给从端机器人，从端机器人接收到从端嵌入式控制器发过来的指令，进而通过驱动器完成对相应任务对象的操作，如推拉、旋转、控弯，同时从端机器人通过驱动器将位置与速度信息反馈到从端嵌入式控制器。
在本申请内，电磁导航使用NDI公司的Aurora电磁跟踪系统，视觉导航使用支气管镜自带的显示镜头，两种导航方式配合使用。
在本申请内，医生可将通用的支气管镜安装在机器人上，手术过程中，医生也可以根据需要选择不同的活检器械如活检钳、活检针等。
在本申请内，医生手动将活检钳或活检针插入支气管镜活检通道后，活检器具导入机构13将通过摩擦轮递送活检钳或活检钳深入病灶中进行活检取样。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。
Claims (10)
- 一种经呼吸道诊疗机器人系统，其特征在于，包括：主端控制装置，用于操作控制发出控制指令；从端控制装置，用于接收所述主端控制装置的控制指令进行操作动作；导航装置，用于跟踪引导所述从端控制装置；其中，所述从端控制装置包括从端机器人及安装在所述从端机器人内的从端嵌入式控制器，所述从端机器人上设置有机械臂、与所述机械臂连接的推进支撑板及连接在所述推进支撑板上的用于递送活检器具的活检器具导入机构和用于控制支气管镜的支气管镜旋转传动机构。
- 根据权利要求1所述的一种经呼吸道诊疗机器人系统，其特征在于，所述从端机器人上还设置有与所述支气管镜旋转传动机构连接且用于调节支气管镜的末端导管的控弯机构。
- 根据权利要求2所述的一种经呼吸道诊疗机器人系统，其特征在于，所述支气管镜旋转传动机构包括旋转机构电机、蜗杆、轴承支座、蜗轮和旋转支撑轴座，所述旋转机构电机通过电机支座连接在所述推进支撑板上，所述轴承支座固定连接在所述推进支撑板上，所述旋转机构电机通过所述蜗杆与所述轴承支座连接，所述蜗杆与所述蜗轮啮合连接，所述旋转支撑轴座连接在所述蜗轮内，所述旋转支撑轴座通过旋转支撑轴连接在所述推进支撑板上。
- 根据权利要求3所述的一种经呼吸道诊疗机器人系统，其特征在于，所述控弯机构包括控弯旋钮、控弯旋钮卡槽、蜗轮旋转滑台、控弯蜗杆和控弯电机，所述控弯电机和蜗轮旋转滑台连接在所述推进支撑板上，所述控弯电机与所述控弯蜗杆连接，所述控弯蜗杆与设置 在所述蜗轮旋转滑台内的蜗轮啮合连接，所述控弯旋钮连接于设置在所述蜗轮旋转滑台内的所述控弯旋钮卡槽内且用于卡住所述旋转支撑轴。
- 根据权利要求4所述的一种经呼吸道诊疗机器人系统，其特征在于，所述活检器具导入机构包括导入电机、传送辊、惰性轮固定轴、惰性轮、导轨、弹簧和导轨限位块，所述导入电机连接在底板上，所述底板连接在在所述推进支撑板上，所述传送辊与所述导入电机连接，所述惰性轮轴接在所述惰性轮固定轴上，所述惰性轮固定轴连接在所述导轨上且通过弹簧与所述导轨限位块连接，所述惰性轮与所述传送辊用于引导活检器具卷入支气管镜的末端导管的活检器具通道内。
- 根据权利要求1所述的一种经呼吸道诊疗机器人系统，其特征在于，所述主端控制装置包括电性连接的主端电脑主机与主端机器人，所述主端电脑主机内设置有用于发送控制指令的运动控制器。
- 根据权利要求1所述的一种经呼吸道诊疗机器人系统，其特征在于，所述导航装置包括用于显示的视觉显示机构和用于引导所述从端控制装置的电磁导航末端机构。
- 根据权利要求7所述的一种经呼吸道诊疗机器人系统，其特征在于，所述视觉显示机构包括可视软性喉镜。
- 根据权利要求7所述的一种经呼吸道诊疗机器人系统，其特征在于，所述电磁导航末端机构包括电磁传感器，电磁导航系统安装在手术台上的托板上，所述电磁导航系统包括磁场发生器。
- 一种经呼吸道诊疗机器人控制方法，其特征在于，包括如下步骤：步骤S1、将支气管镜固定在从端控制装置的从端机器人上；步骤S2、操作主端控制装置发送控制指令，控制从端机器人递送支气管镜 和活检器具到患者气道中预定穿刺和活检位置；步骤S3、控制活检器具进行操作，取出病灶组织；步骤S4、将取出的病灶组织放于载玻片上，用酒精固定，立即送病理检查；步骤S5、控制从端机器人，将支气管镜及活检器具撤出病人呼吸道；步骤S6、对从端机器人进行消毒。
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| CN114224495A (zh) * | 2022-01-14 | 2022-03-25 | 苏州欧畅医疗科技有限公司 | 一种带有磁导航的介入式机器人及其使用方法 |
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| CN102813498A (zh) * | 2012-09-10 | 2012-12-12 | 华东理工大学 | 一种单手控制的内窥镜弯角控制手柄 |
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