WO2024046181A1

WO2024046181A1 - Surgical robot structure

Info

Publication number: WO2024046181A1
Application number: PCT/CN2023/114392
Authority: WO
Inventors: 李明勇
Original assignee: 南华大学附属第一医院
Priority date: 2022-09-02
Filing date: 2023-08-23
Publication date: 2024-03-07
Also published as: CN115281839A; CN116763445A; CN115281839B

Abstract

Provided is a surgical robot structure, comprising a surgical robot body and a cleaning assisting machine. The surgical robot body comprises a machine base (1). A machine arm (101) is mounted on the machine base (1). An instrument base (102) is mounted on the machine arm (101). A surgical instrument (103) is arranged on the instrument base (102). The cleaning assisting machine comprises a hydraulic rod (2) and a controller (3). A movable arm (201) is mounted on the hydraulic rod (2). A rotating motor (11) is connected to a driving end of the movable arm (201). By means of arrangement of the cleaning assisting machine, a box body (4) having six degrees of freedom can be moved to a surgical instrument (1032); a surgical instrument (1032) in an outer sleeve (1031) is taken out by means of a telescopic rod (5), and a new surgical instrument (1032) is pushed to the interior of the outer sleeve (1031), such that the surgical instrument (1032) can be automatically replaced. Since the machine has a relatively high anti-jitter performance, the machine has high stability when a surgical instrument (1032) is taken out and placed, thereby avoiding the deviation of the surgical instrument (1032).

Description

A surgical robot structure

Technical field

The invention relates to the technical field of medical robots, specifically a surgical robot structure.

Background technique

Robot-assisted surgery is a milestone in the development of clinical medicine. One of the greatest significances of the development of surgical robots is that it directly expands surgical capabilities. By definition, surgical robots are medical device products that integrate multiple disciplines such as medicine, mechanics, biomechanics, and computer science. With the development of minimally invasive surgery and related underlying technologies, surgical robots can perform operations for doctors visually, auditorily, and tactilely. It provides support for operations and is used in the field of minimally invasive surgery that is higher than human capabilities to achieve precise control of surgical instruments. Robot-assisted surgery has the advantages of flexibility and precision, large and clear field of view, tremor filtering, small incision and fast recovery, less bleeding and fewer complications, intuitive and natural, and easy to learn. It is necessary in difficult surgeries and has advantages in simple benign surgeries. Consumption upgrade attributes and application scenarios are expected to continue to make breakthroughs.

At present, laparoscopic surgical robots are the most successful representatives in commercialization. Laparoscopic surgical robots are designed to complete various complex minimally invasive surgeries. It usually adopts a master-slave remote control operation method and consists of a surgeon's console, a patient-side operating cart and a set of three-dimensional high-definition imaging system. In the existing technology, when using a laparoscopic surgical robot to operate on a patient, a doctor is required to replace the surgical instruments in a traditional operating room. The surgical instruments are composed of three parts: an instrument base, an instrument long rod, and an instrument end. The instrument seat is mainly used to realize power access and transmission, and is the connection part between the surgical instrument and the telescopic seat; the end of the instrument is the terminal effector of the surgical instrument, and the diameter is generally small. The instrument seat and the end of the instrument are connected as a whole through the long rod of the instrument. However, in the existing technology, when doctors manually replace surgical instruments, they take them out directly. The surgical instruments are easily exposed to contaminated areas or bacterial areas, which makes the surgical instruments unable to be used again. Surgical instruments are the largest consumables in surgical robot technology. First, in order to ensure the accuracy of surgery, the number of times surgical instruments are used is limited and small. Some surgical instruments can only be used ten times. Therefore, how to ensure the sterility of surgical instruments when replacing them to maximize the degree of use of surgical instruments is The technical problem to be solved by this invention.

Contents of the invention

In view of the shortcomings of the existing surgical robot structure proposed in the background art during use, the present invention provides a surgical robot structure that is capable of automatically and sterilely replacing surgical instruments and solves the problems raised in the background art mentioned above.

The present invention provides the following technical solution: a surgical robot structure, including a surgical robot body and a cleaning auxiliary machine. The surgical robot body includes a machine base, a machine arm is installed on the machine base, and an instrument base is installed on the machine arm. , the instrument seat is provided with surgical instruments, the cleaning auxiliary machine includes a hydraulic rod and a controller, a moving arm is installed on the hydraulic rod, the driving end of the moving arm is connected to a rotating motor, and the rotating motor The drive shaft is connected to a box, and a receiving chamber is provided inside the box. A telescopic rod is provided at the top of the receiving chamber, a closing cover device is installed at the bottom end of the receiving chamber, and a closing cover device is installed at the middle and upper end of the receiving chamber. There is a clamping and closing device, and a cleaning part is provided inside the box.

Preferably, the surgical instrument includes a fixed base, an outer sleeve, surgical equipment and a movable base. The fixed base is fixedly connected to the instrument base, the outer sleeve is connected to the fixed base, and the surgical equipment is set in the outer sleeve. , the top of the surgical equipment is connected to the movable seat, and the movable seat is separated from the top of the fixed seat during the replacement of surgical equipment. After the surgical equipment is replaced, the movable seat is clamped on the top of the fixed seat, and the outer peripheral cover of the fixed seat is There is a closure that extends to the top of the instrument seat.

Preferably, a guide block is provided on the top of the closing cover, a chute is provided on the bottom surface of the box, and the guide block is engaged in the chute and slides along the chute.

Preferably, the closing cover device includes a bottom cover, a cover groove, a spring, a support rod, an electromagnet and a magnetic block. The inside of the box is provided with a cover groove located on one side of the accommodation cavity. The bottom cover is arranged along the cover groove. Slide, the spring is connected between the inner wall of the cover groove and the outer wall of the bottom cover, a support rod is connected to the outer wall of the bottom cover close to the central axis of the box, and the electromagnet is fixed on the end of the support rod away from the bottom cover, so A cover motor is installed inside the box. The drive shaft of the cover motor is connected to a magnet through a side shaft. The electromagnet and the cover motor are both electrically connected to the controller.

Preferably, the clamping and closing device includes two side plates, a rubber pad is provided on the inner wall of the side plate, and a side rod is connected to the outer wall of the side plate. One end of the rod away from the side plate is connected to a toothed plate, and the toothed plate is engaged with a gear. The central axis of the gear is connected to a driving motor. The driving motor is electrically connected to the controller. The two side rods are connected to each other. The tooth plates are located above and below the gear.

Preferably, the cleaning component includes a water inlet pipe and a water outlet pipe. The water inlet pipe is located at the upper end of the accommodation cavity. The outlet pipe is located at the lower end of the accommodation cavity. A sterilization lamp is provided on the inner wall of the accommodation cavity. The outlet pipes connected to the accommodation chamber are not connected.

The invention has the following beneficial effects:

1. The present invention sets up a cleaning auxiliary machine and uses a box with six degrees of freedom to move the box to the surgical equipment, take out the surgical equipment in the outer cannula through the telescopic rod, and push the new surgical equipment into the outer cannula. , to realize automatic replacement of surgical equipment. Because the machine has high anti-shake performance, it has high stability when taking out and placing surgical equipment, and avoids the deviation of surgical equipment.

2. In the present invention, the chute at the bottom of the box is aligned with the guide block of the closing cover, and the closing cover and the outer sleeve are used to completely enclose the surgical equipment. When the surgical equipment is taken out of the outer sleeve, it directly enters the containing cavity. , so it will not come into contact with the sterile area and avoid secondary contamination of surgical equipment.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is an enlarged view of the surgical instrument in Figure 1;

Figure 3 is a schematic structural diagram of surgical instruments;

Figure 4 is a schematic structural diagram of the box of the present invention;

Figure 5 is a bottom view of the box of the present invention;

Figure 6 is a schematic structural diagram of the closing cover device of the present invention;

Figure 7 is a schematic structural diagram of the clamping and closing device of the present invention;

Figure 8 is a side view of the clamping and closing device of the present invention.

In the picture: 1. Machine base; 101. Machine arm; 102. Instrument base; 103. Surgical instruments; 1030. Fixed base; 1031. Outer sleeve; 1032. Surgical equipment; 1033. Movable base; 2. Hydraulic rod; 201. Moving arm; 3. Controller; 4. Box; 401. Accommodation cavity; 5. Telescopic rod; 6. Closing cover device; 601. Bottom cover; 602. Cover slot; 603. Spring; 604. Support rod; 605. Electromagnet; 606, magnet block; 607, cover motor; 7, clamping and closing device; 701, side plate; 702, side rod; 703, toothed plate; 704, gear; 705, drive motor; 8, cleaning parts; 9. Closing cover; 10. Guide block; 1001. Slide chute; 11. Rotating motor.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Please refer to Figure 1. A surgical robot structure includes a surgical robot body and a cleaning auxiliary machine. The surgical robot body includes a machine base 1. A machine arm 101 is installed on the machine base 1. An instrument base 102 is installed on the machine arm 101. The instrument base Surgical instruments 103 are provided on 102. The robot arm 101, the instrument base 102, and the surgical instruments 103 form a set of surgical arm structures. In the prior art, there can generally be multiple sets of surgical arm structures.

Referring to Figures 2 and 3, the surgical instrument 103 includes a fixed base 1030, an outer sleeve 1031, a surgical instrument 1032, and movable bases 1033 and 1034. The fixed base 1030 is fixedly connected to the instrument base 102, and the outer sleeve 1031 is connected to the fixed base 1030. On the top, the surgical equipment 1032 is set in the outer sleeve 1031. The top of the surgical equipment 1032 is connected to the movable base 1033. The movable base 1033 is clamped on the top of the fixed base 1030. A circuit structure is provided at the opposite ends of the movable base 1033 and the fixed base 1030. When the movable base 1033 is clamped above the fixed base 1030, the circuit of the surgical equipment 1032 can be connected, so that the doctor on the main control operating machine can control the movement of the surgical equipment 1032 to perform surgery on the patient's lesions. operate. The outer cannula 1031 is inserted into the patient's body. When replacing the surgical equipment 1032, the surgical equipment 1032 is pulled out and the new surgical equipment 1032 is inserted into the patient's body from the outer cannula 1031. Therefore, the outer cannula 1031 protects the surgical equipment 1032. and protective effect. Referring to Figures 2 and 3, the peripheral cover of the fixed base 1030 is provided with a closing cover 9. The closing cover 9 extends to the top of the instrument base 102. Therefore, when the surgical equipment 1032 is replaced, the closing cover 9 completely secures the surgical equipment 1032. The irradiation is irradiated inside, thereby preventing the surgical equipment 1032 from coming into contact with the sterile field.

Referring to Figure 1, the cleaning auxiliary machine includes a hydraulic rod 2 and a controller 3. A moving arm 201 is installed on the hydraulic rod 2. The driving end of the moving arm 201 is connected to a box 4. The moving arm 201 is also composed of multiple cantilevers. A six-degree-of-freedom driving arm. Refer to Figure 3. An accommodating cavity 401 is provided inside the box 4. A telescopic rod 5 is provided at the top of the accommodating cavity 401. The telescopic rod 5 is used to adjust the surgical equipment 1032 when the surgical equipment 1032 is replaced. Lifting and moving are performed, and a closing cover device 6 is installed at the bottom end of the accommodating cavity 401.

Referring to Figure 6, the closing cover device 6 includes a bottom cover 601, a cover groove 602, a spring 603, a support rod 604, an electromagnet 605 and a magnetic block 606. The interior of the box 4 is provided with a cover groove 602 located on one side of the accommodation cavity 401. , the bottom cover 601 slides along the cover groove 602. When the bottom cover 601 moves to the accommodation cavity 401, the accommodation cavity 401 can be closed, so that the inner cavity of the accommodation cavity 401 is a fully enclosed cavity, and then the cavity can be The surgical equipment 1032 is cleaned inside, and the surgical equipment 1032 is also stored in the accommodation cavity 401 to avoid contamination caused by contact between the surgical equipment 1032 and the sterile area; the spring 603 is connected between the inner wall of the cover groove 602 and the outer wall of the bottom cover 601. The spring 603 is initially in an elongated state, thereby pushing the bottom cover 601 to move to the accommodation cavity 401 to close the accommodation cavity 401; the outer wall of the bottom cover 601 close to the central axis of the box 4 is connected to a strut 604 and an electromagnet 605 Fixed on the end of the support rod 604 away from the bottom cover 601, a cover motor 607 is installed inside the box 4. The drive shaft of the cover motor 607 is connected to a magnet block 606 through a side shaft. The electromagnet 605 and the cover motor 607 are both Electrically connected to the controller 3, the number of closing cover devices 6 is the same as the number of accommodating cavities 401. By setting the controller 3, the rotation angle of the cover motor 607 can be adjusted to the position of the electromagnet 605 of each closing cover device 6. Correspondingly, the electromagnets 605 of the multiple closing cover devices 6 are connected in parallel to the power module of the controller 3, and an electrical circuit is set on each parallel circuit. switch, by setting the opening and closing of the electrical switch, the current in the electromagnet 605 can be turned on and off. When the current is passed into the electromagnet 605, the induced magnetic field generated by the electromagnet 605 attracts the magnetic block 606, thereby causing the cover to When the body motor 607 rotates, its drive shaft can drive the bottom cover 601 to rotate along the cover groove 602 through the side shaft, magnet block 606, electromagnet 605, and support rod 604, squeezing the spring 603, thereby exposing the accommodation cavity 401 , at this time, the surgical instrument 1032 can be moved out or into the accommodation cavity 401 through the telescopic rod 5 .

The middle and upper end of the accommodation cavity 401 is provided with a clamping and closing device 7. Refer to Figure 7. The clamping and closing device 7 includes side plates 701. There are two side plates 701. The side plates 701 are semicircular. When the two side plates are When the plates 701 are close to each other and in contact with each other, the center of the side plate 701 is just clamped on the outer wall of the surgical instrument 1032, and the movable seat 1033 is located above the side plate 701, so the top of the accommodation cavity 401 can be closed. There is a circuit device inside 1033. Therefore, the movable base 1033 is separated from the surgical equipment 1032 by the side plate 701, so that the surgical equipment 1032 can be flushed and damage to the movable base 1033 can be avoided; the inner wall of the side plate 701 is provided with There is a rubber pad, and a side rod 702 is connected to the outer wall of the side plate 701. The end of the side rod 702 away from the side plate 701 is connected to a toothed plate 703. The toothed plate 703 is engaged with a gear 704, and the central axis of the gear 704 is connected to a driving motor 705. The drive motor 705 is electrically connected to the controller 3. Referring to Figure 8, the tooth plates 703 connected to the two side rods 702 are respectively located above and below the gear 704, so that when the rotation axis of the drive motor 705 rotates, The two side rods 702 are synchronously driven to move toward each other, so that the two side plates 701 move toward the center of the accommodation cavity 401 to clamp the surgical instrument 1032.

There is a cleaning part 8 inside the box 4. Refer to Figure 4. The cleaning part 8 includes a water inlet pipe and a water outlet pipe. The water inlet pipe is located at the upper end of the accommodation cavity 401 and below the side plate 701. The water outlet pipe is located at the lower end of the accommodation cavity 401. And located above the bottom cover 601, a sterilization lamp is provided on the inner wall of the accommodating cavity 401. The outlet pipes connected to adjacent accommodating cavities 401 are not connected. The cleaning liquid is transported to the accommodating cavity 401 through the water inlet pipe, and the accommodating cavity 401 is The surgical equipment 1032 inside is cleaned and sterilized by a sterilization lamp, and then the surgical equipment 1032 is stored in the accommodation cavity 401 for use.

Referring to Figure 3 and Figure 4, the top of the closing cover 9 is provided with a guide block 10, and the bottom surface of the box 4 is provided with a chute 1001. As shown in Figure 5, when the box 4 approaches the surgical instrument 103, the guide block 10 is provided. The block 10 is clamped in the chute 1001, and the guide block 10 can slide along the chute 1001 to guide the connection between the box 4 and the closing cover 9, and the telescopic rod 5 moves the surgical instruments 1032 on the instrument base 102 After taking it out, the rotating motor 11 rotates, thereby causing the box 4 to rotate. At this time, the guide block 10 is located in the chute 1001, and the adjacent accommodation cavity 401 storing the clean surgical equipment 1032 rotates to the closing cover 9. The accommodation cavity The closing cover 9 in 401 pushes the surgical equipment 1032 into the outer tube 1031, thereby realizing the sterile automatic replacement of the surgical equipment 1032.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principles and spirit of the invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims

A surgical robot structure, including a surgical robot body and a cleaning auxiliary machine, characterized in that: the surgical robot body includes a machine base (1), a machine arm (101) is installed on the machine base (1), and the machine An instrument seat (102) is installed on the arm (101), and surgical instruments (103) are provided on the instrument seat (102). The cleaning auxiliary machine includes a hydraulic rod (2) and a controller (3). The hydraulic A moving arm (201) is installed on the rod (2). The driving end of the moving arm (201) is connected to a rotating motor (11). The driving shaft of the rotating motor (11) is connected to the box (4). An accommodation cavity (401) is provided inside the box (4), a telescopic rod (5) is provided at the top of the accommodation cavity (401), and a closing cover device (6) is installed at the bottom end of the accommodation cavity (401). ), a clamping and closing device (7) is provided at the middle and upper end of the accommodation cavity (401), and a cleaning component (8) is provided inside the box (4);

The closing cover device (6) includes a bottom cover (601), a cover groove (602), a spring (603), a support rod (604), an electromagnet (605) and a magnetic block (606). There is a cover groove (602) located on one side of the accommodation cavity (401) inside. The bottom cover (601) slides along the cover groove (602). The spring (603) is connected between the inner wall of the cover groove (602) and the bottom cover. (601) between the outer walls, the outer wall of the bottom cover (601) close to the central axis of the box (4) is connected to a support rod (604), and the electromagnet (605) is fixed on the support rod (604) away from the bottom One end of the cover (601), a cover motor (607) is installed inside the box (4), and the drive shaft of the cover motor (607) is connected with a magnet (606) through a side shaft. The electromagnet (605) and the cover motor (607) are both electrically connected to the controller (3).
A surgical robot structure according to claim 1, characterized in that: the surgical instrument (103) includes a fixed seat (1030), an outer sleeve (1031), a surgical instrument (1032) and a movable seat (1033). The fixed base (1030) is fixedly connected to the instrument base (102), the outer sleeve (1031) is connected to the fixed base (1030), and the surgical instrument (1032) is sleeved in the outer sleeve (1031). The top of the surgical instrument (1032) is connected to the movable seat (1033). During the process of replacing the surgical instrument (1032), the movable seat (1033) is separated from the top of the fixed seat (1030). After the surgical instrument (1032) is replaced, the movable seat (1033) 1033) is clamped on the top of the fixed base (1030). The outer peripheral cover of the fixed base (1030) is provided with a closing cover (9), and the closing cover (9) extends to the top of the instrument seat (102).
A surgical robot structure according to claim 2, characterized in that: a guide block (10) is provided at the top of the closing cover (9), and a chute (1001) is provided on the bottom surface of the box (4). ), the guide block (10) is engaged in the chute (1001) and slides along the chute (1001).
A surgical robot structure according to claim 1, characterized in that: the clamping and closing device (7) includes a side plate (701), and there are two side plates (701). A rubber pad is provided on the inner wall of (701), a side rod (702) is connected to the outer wall of the side plate (701), and a toothed plate (703) is connected to one end of the side rod (702) away from the side plate (701). ), the tooth plate (703) is meshed with a gear (704), the central axis of the gear (704) is connected to a driving motor (705), and the driving motor (705) is electrically connected to the controller (3), The tooth plates (703) connected to the two side rods (702) are respectively located above and below the gear (704).
A surgical robot structure according to claim 1, characterized in that: the cleaning member (8) includes a water inlet pipe and a water outlet pipe, the water inlet pipe is located at the upper end of the accommodation cavity (401), and the water outlet pipe is located at the accommodation cavity (401). At the lower end of the cavity (401), a sterilization lamp is provided on the inner wall of the accommodation cavity (401), and the water outlet pipes adjacent to the accommodation cavity (401) are not connected.