Surgical robot laser-assisted positioning device and method

Abstract

The invention provides a surgical robot laser-assisted positioning device and method.The surgical robot laser-assisted positioning device comprises a base, a shell is connected to the base, a containing cavity is defined by the base and the shell, the surgical robot laser-assisted positioning device further comprises a buckling device, and assembling and disassembling of the laser-assisted positioning device and an instrument base on a surgical operation arm of the surgical robot can be achieved through the buckling device; a laser generator is arranged on the base or the shell, a power connector is arranged on the shell and used for being externally connected with a power supply, a wire is welded between the power connector and the laser generator and located in the containing cavity, and the laser generator projects visible laser beams. The center of the laser beam is aligned with the autorotation center of a surgical instrument originally installed on the instrument base and the center of a trocar connecting device on a corresponding surgical operation arm. According to the laser-assisted positioning device and method, the position display of the center of the surgical instrument can be provided when the surgical operating arm or the patient operating trolley is moved, and rapid positioning and trocar butt joint are helped.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a laser-assisted positioning device and method for a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. A surgical robot includes a patient operating trolley, and a plurality of surgical operating arms are arranged on the patient operating trolley. Instrument seats, trocar connection devices, etc. are arranged at the ends of the surgical operating arms. During the surgical preparation process, first insert the trocar into the patient's abdomen, then move the surgical device to dock the trocar connection device to the trocar, and finally install the endoscope and surgical instruments on the instrument seat in sequence.

[0003] Specifically, during the process of docking the trocar connection device to the trocar, it is necessary to move the surgical operating arm or the patient operating trolley. Generally, there is no clear direction indication during the docking process, so it is inevitable to accidentally touch the trocar, and the docking takes a long time. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present application proposes a laser-assisted positioning device and method for a surgical robot, so as to provide the position display of the center of the surgical instrument when moving the surgical operating arm or the patient operating trolley, thereby providing operation direction guidance to help with rapid positioning and trocar docking.

[0005] To achieve the above object, one aspect of the present application proposes a laser-assisted positioning device for a surgical robot, including a base, an outer shell is connected to the base, a receiving cavity is formed by the base and the outer shell, and the laser-assisted positioning device for the surgical robot further includes a buckle device, and the laser-assisted positioning device for the surgical robot can be disassembled and assembled with the instrument seat on the surgical operating arm of the surgical robot through the buckle device; a laser generator is provided on the base or the outer shell, and a power supply connector is further provided on the outer shell, the power supply connector is used for externally connecting a power supply, a wire is welded between the power supply connector and the laser generator, the wire is located in the receiving cavity, and the laser generator projects a visible laser beam. When the laser-assisted positioning device for the surgical robot is assembled at the instrument seat, the center of the laser beam is aligned with the rotation center of the surgical instrument originally installed at the instrument seat and the center of the trocar connection device on the corresponding surgical operating arm.

[0006] In some embodiments, an isolation sleeve is further provided on the base or the outer shell, the isolation sleeve corresponds to the laser generator, and is used to cover the laser generator so that the laser beam emitted by the laser generator passes through the isolation sleeve and then exits.

[0007] In some embodiments, the laser beam is green and the projected shape is a cross.

[0008] Another aspect of the present application proposes a method for laser-assisted positioning of a surgical robot, including the following steps:

[0009] Step 1: Install the laser-assisted positioning device of the surgical robot on the instrument seat;

[0010] Step 2: Supply power through an external power supply via a power connector, so that the laser generator projects a laser beam. The laser beam will pass through the trocar connection device and project onto the ground, and the shape projected by the laser beam is a cross;

[0011] Step 3: Adjust the angle of the surgical operating arm so that the laser beam is substantially perpendicular to the ground. Denote the two line segments of the cross intersection line projected by the laser beam as the first line segment and the second line segment respectively. The definition of the perpendicular state of the laser beam to the ground is as follows: The intersection point of the first line segment and the second line segment is both the midpoint of the first line segment and the midpoint of the second line segment;

[0012] Step 4: Move the patient's surgical trolley and / or the surgical operating arm until the projection point of the laser beam reaches the preset position.

[0013] The beneficial effect of the solution of the present application lies in that the above-mentioned laser-assisted positioning device and method of the surgical robot can provide the position display of the center of the surgical instrument when moving the surgical operating arm or the patient's surgical trolley, thereby providing operation direction guidance and helping to quickly position and dock the trocar. Description of the Drawings

[0014] Figure 1 Shows the structural schematic diagram of the surgical robot patient's surgical trolley.

[0015] Figure 2 Shows the structural schematic diagram of the laser-assisted positioning device of the surgical robot in the embodiment.

[0016] Figure 3 Shows the structural schematic diagram of the laser-assisted positioning device of the surgical robot in the embodiment from another angle.

[0017] Figure 4 Shows the cross-sectional structural schematic diagram of the laser-assisted positioning device of the surgical robot in the embodiment.

[0018] Figure 5 Shows the schematic diagram of the positioning and trocar docking process.

[0019] Figure 6 Shows the schematic diagrams of different shapes projected by the cross-shaped laser.

[0020] Figure 7 Shows the structural schematic diagram of the laser-assisted positioning device of the surgical robot in another embodiment.

[0021] Reference numerals: 1 - patient operating table, 2 - surgical operating arm, 4 - instrument seat, 5 - trocar connection device, 6 - surgical robot laser-assisted positioning device, 601 - base, 602 - housing, 603 - laser generator, 604 - isolation sleeve, 605 - power connector, 607 - snap device, 6071 - pressing part, 6072 - connecting rod, 6073 - clamping part, 608 - laser beam, 7 - target position, 8 - patient's body. Detailed implementation manners

[0022] The following further describes the detailed implementation manners of the present application with reference to the accompanying drawings.

[0023] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0024] Generally, a surgical robot includes a patient operating table 1, and a plurality of surgical operating arms 2 are arranged on the patient operating table 1. At the end of the surgical operating arm 2, there are an instrument seat 4, a trocar connection device 5, etc.

[0025] As Figures 1 to 7 shown, the surgical robot laser-assisted positioning device 6 involved in the present application includes a base 601. A housing 602 is connected to the base 601. The housing 602 is connected to one surface of the base 601. The base 601 and the housing 602 enclose a receiving cavity. The surgical robot laser-assisted positioning device 6 further includes a snap device 607. Through the snap device 607, the surgical robot laser-assisted positioning device 6 can be quickly installed on the instrument seat 4 and can be quickly detached from the instrument seat 4. The snap device 607 is the same as the snap device on the surgical instrument that needs to be installed on the instrument seat 4 in the prior art. Through such a structural design, the quick installation and disassembly of the surgical robot laser-assisted positioning device 6 and the instrument seat 4 can be realized.

[0026] In this embodiment, the buckle device 607 includes two buckle units arranged in mirror symmetry. The pressing part 6071 of the buckle unit is arranged at the housing 602 and can move relative to the housing 602. The pressing part 6071 is connected to the clamping part 6073 through a connecting rod 6072. The connecting rod 6072 is located in the accommodating cavity. The clamping part 6073 of the buckle unit is arranged at a slideway in the base 601 and can slide along the slideway to extend out of the slideway or retract into the slideway. The buckle unit further includes a return spring, and the return spring can apply a force in the direction of extending out of the slideway to the clamping part 6073. Specifically, one end of the return spring is connected to the inner wall of the slideway, and the other end is connected to the clamping part 6073. When the two pressing parts 6071 are pressed simultaneously, the two clamping parts 6073 can move towards each other and retract into the slideway at the same time, so that the surgical robot laser-assisted positioning device 6 can move relative to the instrument seat 4. At this time, the two return springs are compressed. When the two pressing parts 6071 are released simultaneously, the two clamping parts 6073 can move away from each other and extend out of the slideway under the elastic force of the return spring, and the two clamping parts 6073 can be clamped with the corresponding clamping grooves on the instrument seat 4, realizing the installation of the surgical robot laser-assisted positioning device 6 and the instrument seat 4.

[0027] A laser generator 603 is provided on the base 601 or the housing 602. The installation position of the laser generator 603 is set according to the structure of the instrument seat 4 to ensure that after the surgical robot laser-assisted positioning device 6 is assembled to the instrument seat 4, the center of the laser beam 608 emitted by the laser generator 603 is aligned with the rotation center of the surgical instrument originally installed at this instrument seat 4 and the center of the trocar connecting device on the corresponding surgical operation arm. A power supply connector 605 is further provided on the housing 602. The power supply connector 605 is used to connect to an external power supply. A wire is welded between the power supply connector 605 and the laser generator 603 to supply power to the laser generator 603 through the external power supply. The wire is located in the accommodating cavity. An isolation sleeve 604 is also provided on the base 601 or the housing 602. The isolation sleeve 604 corresponds to the laser generator 603 and is used to cover the laser generator 603, so that the laser beam 608 emitted by the laser generator 603 is emitted after passing through the isolation sleeve 604. The setting of the isolation sleeve 604 can prevent the laser beam 608 from being blocked by the sterile bag.

[0028] The laser beam 608 has different colors and projection shapes. In this embodiment, the laser beam 608 is green and projects in a cross shape. During positioning and docking, try to make the laser beam perpendicular to the horizontal ground. By observing the length difference of the cross lines projected by the laser beam 608, the angular state of the end of the surgical operating arm can be judged, such as Figure 6 as shown, thus helping medical staff quickly adjust the positioning and docking.

[0029] The surgical robot laser-assisted positioning device 6 involved in the present application can help medical staff quickly adjust the surgical operating arm 2 and complete trocar docking. The surgical robot laser-assisted positioning device 6 involved in the present application is designed to have the same mechanical interface as the surgical instrument, so it can be quickly installed on the instrument seat 4, and one set or multiple sets of the devices involved in the present application can be used simultaneously for auxiliary positioning. The laser generator 603 involved in the present application can project a visible laser beam, and the center of the laser beam 608 is designed to be aligned with the rotation center of the surgical instrument and the center of the trocar connection device 5. The surgical robot laser-assisted positioning device 6 involved in the present application is a passive structure and is powered by an external power supply through the power connector 605. Therefore, the surgical robot laser-assisted positioning device 6 can be used and disinfected multiple times.

[0030] The surgical robot laser-assisted positioning method involved in the present application includes the following steps:

[0031] Step 1: Install the surgical robot laser-assisted positioning device 6 on the instrument seat 4.

[0032] Step 2: Supply power through the power connector 605 with an external power supply to make the laser generator 603 project a laser beam 608, and the laser beam 608 will pass through the trocar connection device 5 and project onto the ground. The shape projected by the laser beam 608 is a cross.

[0033] Step 3: Adjust the angle of the surgical operating arm 2 to make the laser beam 608 basically perpendicular to the ground. Denote the two line segments of the cross lines projected by the laser beam 608 as the first line segment and the second line segment respectively. The definition of the perpendicular state of the laser beam 608 to the ground is as follows: The intersection point of the first line segment and the second line segment is both the midpoint of the first line segment and the midpoint of the second line segment. In this state, it is set that the first line segment is arranged along the X-axis and the second line segment is arranged along the Y-axis.

[0034] The definition of the pitching state of the laser beam 608 with respect to the ground is as follows: The intersection point of the first line segment and the second line segment is the midpoint of the second line segment, but not the midpoint of the first line segment. Specifically, according to the position of the intersection point on the first line segment, the specific pitching state can be judged.

[0035] The definition of the deflection state of the laser beam 608 with respect to the ground is as follows: The intersection point of the first line segment and the second line segment is the midpoint of the first line segment, but not the midpoint of the second line segment. Specifically, the specific deflection state is determined according to the position of the intersection point on the second line segment. As Figure 6 shown.

[0036] Step 4: Move the patient operating table 1 and / or the surgical operating arm 2 until the projection point of the laser beam 608 reaches the preset position. The preset position can be on the surgical planning position or above the trocar hole, depending on the specific usage situation.

[0037] In the specific usage process, the method for achieving rapid positioning through the surgical robot laser-assisted positioning device 6 involved in the present application: When it is necessary to perform positioning planning for the patient operating table 1 and the surgical operating arm 2, the surgical robot laser-assisted positioning device 6 is installed on the instrument seat 4, and an external power supply is supplied through the power connector 605 to enable the laser generator 603 to project a laser beam 608. The laser beam 608 will pass through the trocar connection device 5 and project onto the ground. Adjust the angle of the surgical operating arm 2 so that its end is approximately perpendicular to the ground. At this time, medical staff can move the patient operating table 1, the surgical operating arm 2, etc. according to the projection position of the laser beam 608 until the projection point of the laser beam 608 reaches the surgical planning position. Medical staff can further operate the end of the surgical operating arm 2 to complete pitching and deflection movements, and judge whether the reachable range of the current positioned surgical instrument meets the surgical requirements according to the movement of the laser beam 608.

[0038] The method for achieving trocar docking through the surgical robot laser-assisted positioning device 6 involved in the present application: When it is necessary to dock the trocar connection device 5 on the surgical robot to the trocar on the patient's body 8, medical staff can move the patient operating table 1, the surgical operating arm 2, etc. according to the projection position of the laser beam 608 until the projection point of the laser beam 608 reaches above the trocar hole, that is, the target position 7. Fine-tune the height and angle of the surgical operating arm 2 to complete the docking of the trocar connection device 5 and the trocar. After all the docking is completed, turn off the power supply of the surgical robot laser-assisted positioning device 6, remove the surgical robot laser-assisted positioning device 6 from the instrument seat 4, and install an endoscope and surgical instruments at each instrument seat 4 to start the operation.

[0039] The surgical robot laser-assisted positioning device and method involved in this application can provide the position display of the center of the surgical instrument when moving the surgical operation arm or the patient's surgical trolley, thereby providing guidance for the operation direction, helping with quick positioning and trocar docking. Through the surgical robot laser-assisted positioning device and method involved in this application, the positioning speed of the surgical operation arm of the surgical robot and the trocar docking can be accelerated. At the same time, compared with the situation without laser indication, the risk of accidentally touching the trocar can be reduced. In addition, the surgical robot laser-assisted positioning device involved in this application can be detachably installed on the instrument seat without the need for an additional installation position. It can realize the function of auxiliary positioning without changing the structure of the patient's surgical trolley. And based on installing the surgical robot laser-assisted positioning device on the instrument seat, the center of the laser beam is aligned with the self-rotation center of the surgical instrument originally installed at this instrument seat and the center of the trocar connection device on the corresponding surgical operation arm, which can improve the positioning accuracy.

[0040] The above is only the preferred specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application, according to the technical solution and its concept of this application, makes equivalent replacements or changes, and all should be covered within the protection scope of this application.

Claims

1. A laser-assisted positioning device for a surgical robot, characterized in that: It includes a base, a shell is connected to the base, the base and the shell form a accommodating cavity, the surgical robot laser-assisted positioning device also includes a snap device, through which the surgical robot laser-assisted positioning device and the instrument seat on the surgical operating arm of the surgical robot can be assembled and disassembled; a laser generator is provided on the base or the shell, and a power connector is also provided on the shell, the power connector is used for an external power supply, a wire is welded between the power connector and the laser generator, the wire is in the accommodating cavity, the laser generator projects a visible laser beam, and when the surgical robot laser-assisted positioning device is assembled on the instrument seat, the center of the laser beam is aligned with the rotation center of the surgical instrument originally installed on the instrument seat and the center of the poking and card connecting device on the corresponding surgical operating arm.

2. The surgical robot laser-assisted positioning device according to claim 1, characterized in that: An isolation sleeve is also provided on the base or the shell. The isolation sleeve corresponds to the laser generator and is used to cover the laser generator so that the laser beam emitted by the laser generator is emitted after passing through the isolation sleeve.

3. The surgical robot laser-assisted positioning device according to claim 1, characterized in that: The laser beam is green and projects a cross shape.

4. A surgical robot laser-assisted positioning method based on claim 1, characterized in that: The following steps are involved: Step 1: Install the laser-assisted positioning device of the surgical robot on the instrument seat; Step 2: Connect an external power supply through the power connector to power the laser generator, so that the laser beam is projected through the card-poking connection device to the ground. The shape of the laser beam is a cross. Step 3, adjusting the angle of the surgical operating arm so that the laser beam is substantially perpendicular to the ground, and recording two line segments of the cross line projected by the laser beam as the first line segment and the second line segment respectively, and the vertical state of the laser beam to the ground is defined as follows: the intersection of the first line segment and the second line segment is both the midpoint of the first line segment and the midpoint of the second line segment; Step 4: Move the patient operating table and / or the operating arm until the laser beam projection point reaches the preset position.

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