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Endoscopic surgical instrument conveying device, control method and robot system

A technology of surgical instruments and delivery devices, which is applied in the field of medical equipment, can solve problems such as narrow surgical operation triangle, unstable operating platform, and few surgical instruments, and achieve the effects of ensuring follow-up effect, convenient and effective positioning, and convenient transportation

Active Publication Date: 2022-02-08
SUZHOU ZHONGKE HUAYING HEALTH TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It can solve the problems of unstable operation platform, narrow surgical operation triangle and few and simple surgical instruments in the existing natural orifice endoscopic robotic surgery system, and is capable of complex abdominal surgery
[0004] However, in the prior art, the flexible delivery tube cannot be well combined with the surgical instrument and applied to the surgical robot, nor can the position positioning and intracavitary delivery of the flexible delivery tube be well solved. Instrument delivery device applied to surgical robots that solves the above technical problems

Method used

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  • Endoscopic surgical instrument conveying device, control method and robot system
  • Endoscopic surgical instrument conveying device, control method and robot system
  • Endoscopic surgical instrument conveying device, control method and robot system

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Experimental program
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Effect test

Embodiment 1

[0044] like Figure 1-6 Shown: In this embodiment, an endoscopic surgical instrument delivery device is described, which is an important part of the endoscopic surgical robot system, and is used to insert the mirror body into the tube and the instrument hose during the endoscopic surgery Drive and insert into the surgical channel, and perform corresponding surgical operations at the lesion position.

[0045] Specifically, combined with figure 2 It can be seen that in this embodiment, the scope insertion tube 10 includes a plurality of functional channels, specifically a camera channel 21 , a light source channel 22 , an instrument channel 23 , a magnetic navigation sensor channel 24 , a biopsy channel 25 and a water vapor channel 26 . Among them, the camera channel 21 is used to install the camera device for collecting the internal image of the human body, so that the image is transmitted to the external display 7 through the signal transmission line, so that the operator ca...

Embodiment 2

[0064] On the other hand, this embodiment also provides a method for controlling an endoscopic surgical instrument delivery device, based on the endoscopic surgical instrument delivery device in Embodiment 1, including:

[0065] When in the adjustment and alignment phase, control and adjust the posture of the multi-degree-of-freedom robotic arm 3;

[0066] Real-time acquisition of the spatial position of the pipe delivery assembly 8 on the multi-degree-of-freedom mechanical arm 3;

[0067] Calculate the sliding distance converted into the first driving platform 16 according to the spatial position, and control the first driving assembly 4 to drive the first driving platform 16 to slide according to the sliding distance;

[0068] Complete the synchronous movement and alignment of the scope insertion tube 10;

[0069] After the alignment of the scope insertion tube 10 is completed, the multi-degree-of-freedom mechanical arm 3 is kept stationary, and the first driving assembly 4...

Embodiment 3

[0075] In this embodiment, an endoscopic surgery robot system is provided, which is used to drive and insert the scope insertion tube and the instrument hose into the surgical channel during the endoscopic surgery, and perform corresponding surgical operations at the lesion position. And it is equipped with an observable device and a device that can input corresponding instructions, as well as the endoscopic surgical instrument delivery device mentioned in Embodiment 1.

[0076] Specifically, in this embodiment, the robot system for endoscopic surgery includes a robot base 5 , a multi-degree-of-freedom robotic arm 3 , a first driving platform 16 , a second driving platform 13 , a control module, an operating console 6 and a display 7 .

[0077] The multi-degree-of-freedom mechanical arm 3 is connected to the robot base 5, and the operating end of the multi-degree-of-freedom mechanical arm 3 is provided with a pipe fitting delivery assembly 8, and the pipe fitting delivery assem...

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Abstract

The invention discloses an endoscopic surgical instrument conveying device, a control method and a robot system. The endoscopic surgical instrument conveying device comprises a robot base, a multi-degree-of-freedom mechanical arm, a first driving platform, a second driving platform and a control module. In an adjusting and aligning stage, the control module calculates the sliding distance of the first driving platform according to movement position conversion of a pipe conveying assembly of the multi-degree-of-freedom mechanical arm, and controls the first driving assembly to drive the first driving platform to move along with the multi-degree-of-freedom mechanical arm; and in a tube body insertion stage, the control module controls the first driving assembly to drive the first driving platform to slide, so that the endoscope body insertion tube is inserted towards the far end. By means of the control module, in the alignment process, when the multi-degree-of-freedom mechanical arm is moved, the first driving platform slides synchronously, the overall follow-up effect of the endoscope body insertion tube is kept, the situation that the endoscope body insertion tube is straightened, tightened and stressed due to distance changes is avoided, and the stable positioning process is achieved.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to an endoscopic surgical instrument delivery device, a control method and a robot system. Background technique [0002] Minimally invasive surgery refers to a new technology that performs surgery in the human body through endoscopes such as laparoscopy and thoracoscopic surgery. Minimally invasive surgery has the advantages of less trauma, less pain and faster recovery. With the extensive development of minimally invasive surgery, surgical assistant robots have played an increasingly important role in minimally invasive surgery. Hold an endoscope and operate with surgical instruments in your right hand. It reduces the difficulty of the operation, ensures the stability of the instrument during the operation, and prevents the shaking of the endoscope screen due to fatigue caused by the doctor's hand holding the mirror for a long time, thus affecting the safety and quality of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B90/00
CPCA61B34/30A61B34/70A61B90/08A61B90/06A61B2034/301A61B2034/305A61B2090/08021A61B2090/0807
Inventor 李凌沈光国辜嘉李文超
Owner SUZHOU ZHONGKE HUAYING HEALTH TECH CO LTD
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