Minimally invasive surgery system and control method using self-expandable flexible micro-operating arm

A minimally invasive surgery and manipulating arm technology, applied in the directions of surgery, surgical forceps, surgical manipulators, etc., can solve the problems such as the large size of the instrument cannot work in the urethra, the nasal cavity, the flexibility of the rigid structure and the small movement space, and the inability to meet the requirements. Avoid blind spots, precise operation and precise control

Active Publication Date: 2022-01-18
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing surgical robots such as Da Vinci, Zeus and other surgical instruments are mostly rigid multi-joint structures, the diameter of the instrument shaft is relatively thick, and the instrument volume is too large to work in narrow spaces such as the urethra and nasal cavity
Rigid structures have less flexibility and less room for movement, which cannot meet the needs of minimally invasive surgery in complex and narrow environments

Method used

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  • Minimally invasive surgery system and control method using self-expandable flexible micro-operating arm
  • Minimally invasive surgery system and control method using self-expandable flexible micro-operating arm
  • Minimally invasive surgery system and control method using self-expandable flexible micro-operating arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] see figure 1 As shown, a robot minimally invasive surgery system is provided, taking bladder surgery as an example, a flexible micro-manipulator arm mechanism 1; a drive rope quick connection mechanism 2; a rope connector and a rope drive control mechanism connecting stud 3; a rope drive control mechanism 4 ; Driving rope 5; Rope driver and rope drive control mechanism connecting nut 6; Bladder 7.

[0045] refer to figure 2 Shown is a schematic diagram of the rope-driven control mechanism. The mechanism includes two motor support frames; the first support frame 19 of the drive motor group and the second support frame 20 of the drive motor group are connected with the second support frame connecting stud 12 by the first support frame, and the motor 14 passes through Motor bracing frame and motor connecting screw 15 are connected on the bracing frame, and three groups of motors are conically distributed on the bracing frame, and the traction rope is concentrated at the...

Embodiment 2

[0052] refer to Figure 8 Shown is the principle block diagram of minimally invasive surgical robot system. The operator controls the rope-driven controller through the visual feedback of the camera, the force feedback of the surgical forceps and the stress feedback on the operating arm, adjusts the posture and stiffness of the operating arm, and completes the operation.

[0053] Specifically, the control method of the above-mentioned minimally invasive surgery system includes a control method of a micro-manipulator, and the method includes the following steps:

[0054] Step 1: Install a miniature camera at the end of the micro-manipulator arm to find lesions, adjust the posture of the camera and other actuators according to the visual feedback signal of the micro-camera, and provide a better viewing angle to ensure that the clamp and the laser probe are close to the lesion;

[0055] Step 2. If the visual feedback has a blind spot in the field of vision and cannot fully feedbac...

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Abstract

The present invention provides a minimally invasive surgery system using a self-deployable flexible micro-manipulator and a control method thereof. The structure of the operating arm includes a foldable flexible micro-operating arm and a foldable surgical forceps; the flexible micro-operating arm is located at the end of the entire surgical system and penetrates deep into the surgical object, and its interior is connected to the rope-driven control mechanism through a rope structure; the rope-driven control The mechanism uses the motor to extend or shorten the rope inside the system to drive the deformation of the flexible micro-operating arm structure, so that the foldable surgical forceps can complete the surgical action. The structure of the surgical system proposed by the invention is convenient for miniaturization, and has functions such as driving, sensing, and variable stiffness. It solves the problems that traditional surgical robots are difficult to miniaturize and lack sensory feedback. The operating arm self-deploys after passing through a small wound, meeting the needs of minimally invasive surgery in a small space.

Description

technical field [0001] The invention relates to a robot minimally invasive surgery system and its control method, in particular to a micro-surgery robot with a flexible micro-manipulator made of multi-layer materials, a tapered distribution rope drive controller and a fast connection mechanism and its control method . Background technique [0002] In recent years, with the continuous development of medical technology, minimally invasive technology, as an emerging medical technology, can effectively reduce surgical trauma, shorten postoperative time, and improve the success rate of surgery. With the above advantages, minimally invasive technology is favored by the industry and is considered to be one of the most promising development directions of medical technology. However, smaller surgical wounds also bring higher operational technical challenges to doctors. In order to carry out the surgical task, instruments need to be manipulated through narrow passages to reach the t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61B34/00A61B18/22A61B90/00
CPCA61B34/30A61B34/00A61B34/72A61B34/76A61B18/22A61B90/37A61B2018/00577A61B17/29A61B2090/373
Inventor 鞠锋张贤网员亚辉王亚明郭昊白东明齐飞姚佳烽陈柏吴洪涛
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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