Soft mirror surgery auxiliary manipulator system and control method thereof

Abstract

The invention discloses a soft lens surgery auxiliary mechanism arm system. The soft lens surgery auxiliary mechanism arm system comprises a mechanical arm, a central controller, an execution controller and a control operation desk, wherein the mechanical arm is used for enabling a soft lens to move in a five-dimensional mode, the central controller is used for collecting and processing control signals of an operation rod and a touch screen and transmitting the control signals to the execution controller through a communication module, the execution controller is used for receiving the control signals and driving a corresponding motor to realize five-dimensional motion, and the control operation desk is used for installing the operation rod, the touch screen and control auxiliary equipment. The execution controller is respectively connected to the mechanical arm and the control operation desk through cables, and the control operation desk is placed outside an operating room. The invention further discloses a control method of the soft lens surgery auxiliary mechanical arm system. The soft lens surgery auxiliary mechanism arm system and the method of the soft lens surgery auxiliary mechanism arm system overcome the defects that in the prior art, radiation borne by a doctor is strong, location of the soft lens is inaccurate, and the hands of the doctor tremble during surgery, and has the advantages of being simple in structure, low in manufacturing cost, little in radiation borne by the doctor, accurate and stable in soft lens location, capable of enabling the soft lens to realize five-dimensional motion, good in use effect and the like.

Description

technical field [0001] The invention relates to medical device technology, in particular to a soft mirror operation auxiliary manipulator system and a control method thereof. Background technique [0002] With the advancement of flexible mirror technology, flexible ureteroscopy has gradually become the main operation in endourology. Compared with traditional rigid ureteroscope, flexible ureteroscope has a highly flexible and bendable mirror body, which can be bent freely, dexterously and conveniently. The human body naturally enters the urethra into the bladder through the ureteral orifice to the ureter to the renal pelvis and calyces. Due to the perfusion and working channels, the flexible ureteroscope can deal with various diseases of the renal collecting system, such as stones and tumors. Not only is it relatively safe, but also has a significant therapeutic effect. Compared with percutaneous nephroscopic treatment, it has the advantages of safer, less damage, and faster...

AI Technical Summary

Problems solved by technology

[0014] (1) Existing manipulators are generally used to control rigid instruments, and there are certain limitations in manipulating flexible instruments, such as soft mirrors;

[0015] (2), the movement mode and clamping mode of the existing manipulator are easy to cause damage to the flexible instrument;

[0016] (3) Existing manipulators cannot realize precise and multi-directional control of flexible instruments;

[0017] (4) If the operation is performed manually, the doctor's hand will shake;

[0018] (5) In the existing control system, manual control and automatic control are generally strictly distinguished. In a system, manual control or automatic control is generally used, and the two are not organically combined;

[0019] (6) The existing control system cannot flexibly control the movement of each degree of freedom of the flexible device, such as bending, and the accuracy is not enough;

[0020] (7), the existing control system cannot realize multi-dimensional synchronous motion

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