ERCP surgical robot system

Abstract

The present application provides an ERCP surgical robot system comprising: an endoscope, the endoscope action of which is electrically driven for extending into a body cavity and capturing an endoscope image, the endoscope action at least comprising lifting of a forceps lifter at the distal end of the endoscope; a treatment tool which is electrically driven in operation, is inserted from an insertion port of the treatment tool of the endoscope, is raised by the forceps raising device, and protrudes from a side surface of a distal end portion, and which comprises a guide wire capable of positioning a target site; the control device is used for controlling the endoscope action and the instrument action of the treatment instrument according to the endoscope image and / or the instrument state of the treatment instrument; and the visual interaction device is used for collecting and displaying the running state information of the control device and providing operation feedback. In the surgical operation process, the direction of a treatment instrument can be visually judged, the accuracy of intubation and treatment operation is improved, and medical staff can conveniently observe the surgical process and execute surgical operation in combination with multi-modal interaction.

Description

Technical Field

[0001] The present application relates to the technical field of medical treatment instruments, and in particular to an ERCP (Endoscopic Retrograde Cholangiopancreatography) surgical robot system. Background Art

[0002] With the development of minimally invasive surgical techniques, endoscopes and their accompanying surgical instruments are becoming increasingly common in clinical applications. During ERCP surgery, doctors need to insert a duodenoscope into the bile or pancreatic duct and use guidewires and instruments to perform intubation, dilation, stone removal, and stent placement. However, existing endoscopic surgical robots lack high-precision ERCP control, and there is no system that can control the raising and lowering of the forceps during ERCP surgery. This makes it impossible to control the exit angle of the instrument during ERCP surgery.

[0003] Due to the unique characteristics of ERCP surgery, real-time control and observation of surgical instruments and tools, including the endoscope, surgical instruments, guidewires, and forceps elevators, are required. However, existing ERCP surgical robots make it difficult for surgeons to intuitively grasp the posture information of the endoscope, forceps elevators, and surgical instruments, affecting operational accuracy. Furthermore, they are unable to monitor their motion and force in real time, making it difficult to ensure precise positioning and stable operation of the instruments. Summary of the Invention

[0004] To this end, the ERCP surgical robot system disclosed in the present invention can present the posture information of the main treatment instruments involved in the operation process, such as the endoscope, forceps and treatment instruments in real time, enhance the operator's intuitive perception of the operating environment and display the status, thereby facilitating medical staff to observe the operation process and perform surgical operations.

[0005] In one aspect, the present application provides an ERCP surgical robot system, comprising: an endoscope, wherein the endoscopic action of the endoscope is electrically driven, and is used to extend into a body cavity and capture endoscopic images, the endoscopic action at least comprising raising and lowering a forceps elevator at a distal end of the endoscope;

[0006] a treatment instrument, the instrument movement of which is electrically driven, inserted from the treatment instrument insertion port of the endoscope, lifted by the forceps elevator, and protruding from the side surface of the front end portion;

[0007] a control device for controlling the movement of the endoscope and the movement of the treatment instrument according to the endoscopic image and / or the instrument state of the treatment instrument;

[0008] The visual interaction device is used to collect and display the operating status information of the control device and provide operation feedback.

[0009] In a possible implementation of the present application, the control device includes:

[0010] An instruction processing module, configured to provide an operation instruction to a user based on the observed endoscopic image and the instrument status;

[0011] A control platform, configured to receive the operation instruction to generate a control instruction for controlling the movement of the endoscope and / or the movement of the instrument;

[0012] The execution module is used to execute the corresponding endoscope action and / or instrument action according to the received control instruction.

[0013] In a possible implementation of the present application, the execution module includes:

[0014] an endoscope driving unit, configured to drive the endoscope to perform the endoscopic action according to the received control instruction;

[0015] an instrument driving unit, configured to drive the treatment instrument into the target part of the body cavity and perform an operation according to the received control instruction;

[0016] The forceps lifting drive unit is used to drive the lifting of the forceps according to the received control instruction to control the leading direction of the treatment instrument.

[0017] In a possible implementation of the present application, the visualization interaction device includes a three-dimensional information display area, and the three-dimensional information display area is used to display at least three-dimensional posture information of the endoscope and the forceps elevator.

[0018] In a possible implementation of the present application, the three-dimensional posture information of the endoscope includes at least bending angle information, advance and retreat depth information and / or resistance information of the endoscope.

[0019] In a possible implementation of the present application, the visual interaction device includes a treatment instrument status display area, and the treatment instrument status display area is used to display the operating status, clamping status and / or driving status of the treatment instrument.

[0020] In a possible implementation of the present application, the driving state of the treatment instrument includes the moving direction, moving distance and / or moving speed of the treatment instrument.

[0021] In a possible implementation of the present application, the visualization interaction device includes an image display area, and the image display area is used to display a real-time image of an external camera of the ERCP surgical robot system.

[0022] In a possible implementation of the present application, the visual interaction device includes a connection status display area, which is used to display the overall connection status of the ERCP surgical robot system; when there is a connection abnormality or communication failure in the system, the connection status display area is used to visually mark the abnormal information.

[0023] In a possible implementation of the present application, the control platform can be used for a user to control an endoscope, a treatment instrument, and / or a forceps elevator.

[0024] In a possible implementation of the present application, the control platform is also used to receive the resistance information of the endoscope, the treatment instrument, and / or the forceps lifter detected by the execution module, and to feed back the resistance information to the user through the operating force of the control handle of the control platform.

[0025] In a possible implementation of the present application, the control device is further configured to control the movement of the endoscope and the movement of the treatment instrument according to the operating force feedback.

[0026] In a possible implementation of the present application, the control platform is also used to lock the control platform according to a preset locking condition or locking operation, so that the control platform stops sending control signals to the outside and does not receive external feedback signals, and unlocks the control platform according to an unlocking operation.

[0027] Beneficial technical effects of the present invention:

[0028] The ERCP surgical robot system disclosed herein adopts multi-degree-of-freedom motion control to realize the vertical lifting, horizontal movement, rotation, advance and retreat, head end bending and lifting forceps bending operations of the endoscope during ERCP surgery, ensuring the precise positioning of the duodenal papilla. At the same time, the operating end is equipped with an angle detection and force detection module to monitor the motion state of the endoscope and instruments in real time, ensuring the precise delivery of treatment instruments such as guide wires, stents, and baskets, and reducing the risk of misoperation. Through the display of a visual interactive device, the spatial posture of the endoscope head end, lifting forceps and treatment instruments (guide wires, stone removal baskets, etc.) is presented in real time. The user can intuitively judge the direction of the treatment instruments during the surgical operation, thereby improving the accuracy of intubation and treatment operations; combined with visual interactive displays, control platforms, etc. for multimodal interaction, it can provide medical staff with surgical auxiliary decision-making to a certain extent, thereby facilitating medical staff to observe the surgical process and perform surgical operations, reducing the doctor's adaptation threshold to the system, and improving the convenience and accuracy of ERCP intraoperative operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings, wherein:

[0030] Figure 1 A schematic diagram illustrating the architecture of an ERCP surgical robot system according to an embodiment of the present application is shown;

[0031] Figure 2 A schematic diagram illustrating the architecture of a control device for an ERCP surgical robot system according to an embodiment of the present application is shown;

[0032] Figure 3 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application;

[0033] Figure 4 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application;

[0034] Figure 5 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application;

[0035] Figure 6 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application;

[0036] Figure 7 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application;

[0037] Figure 8 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application;

[0038] Figure 9 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application;

[0039] Figure 10 A schematic diagram showing a control platform of an ERCP surgical robot system according to an embodiment of the present application;

[0040] Figure 11 A schematic structural diagram of an ERCP surgical robot system according to an embodiment of the present application is shown;

[0041] Figure 12 Show the basis Figure 11 A schematic diagram of a partial structure of an ERCP surgical robot system according to an embodiment;

[0042] Figure 13 Show the basis Figure 11 A schematic diagram of a partial structure of an ERCP surgical robot system according to an embodiment;

[0043] Figure 14 Show the basis Figure 11 A schematic diagram of a partial structure of an ERCP surgical robot system according to an embodiment;

[0044] Figure 15 Show the basis Figure 11 A schematic diagram of a partial structure of an ERCP surgical robot system according to an embodiment;

[0045] Figure 16 Show the basis Figure 11 A schematic diagram of a partial structure of an ERCP surgical robot system according to an embodiment;

[0046] Figure 17 Show the basis Figure 11 A schematic diagram of a partial structure of an ERCP surgical robot system according to an embodiment;

[0047] Figure 18 Show the basis Figure 11 A schematic diagram of a partial structure of an ERCP surgical robot system according to an embodiment;

[0048] Figure 19 Show the basis Figure 11 A schematic diagram of the partial structure of the ERCP surgical robot system of an embodiment. DETAILED DESCRIPTION

[0049] In order to make those skilled in the art understand the concept and idea of the present application more clearly, the present application is described in detail below in conjunction with specific embodiments. It should be understood that the embodiments provided herein are only a part of all possible embodiments of the present application. After reading the specification of the present application, those skilled in the art are capable of making improvements, modifications, or replacements to part or all of the following embodiments, and these improvements, modifications, or replacements are also included in the scope of protection claimed in the present application.

[0050] In this document, the terms "one", "an" and other similar words are not intended to indicate that there is only one of the things described, but rather that the relevant description is only for one of the things described, and the things described may have one or more. In this document, the terms "include", "comprise" and other similar words are intended to indicate logical relationships, and cannot be regarded as indicating relationships in spatial structure. For example, "A includes B" is intended to indicate that B logically belongs to A, but does not mean that B is spatially located inside A. In addition, the meanings of the terms "include", "include" and other similar words should be regarded as open, not closed. For example, "A includes B" is intended to indicate that B belongs to A, but B does not necessarily constitute the whole of A. A may also include other elements such as C, D, and E.

[0051] In this document, the terms "first", "second" and other similar words are not intended to imply any order, quantity or importance, but are merely used to distinguish different elements. In this document, the terms "embodiment", "present embodiment", "one embodiment" and "an embodiment" do not indicate that the relevant description is only applicable to a specific embodiment, but rather indicate that these descriptions may also be applicable to one or more other embodiments. Those skilled in the art should understand that in this document, any description made for a certain embodiment can be replaced, combined, or otherwise combined with the relevant description in one or more other embodiments, and the new embodiment generated by the replacement, combination, or other combination is easily conceivable by those skilled in the art and falls within the scope of protection of this application.

[0052] In each embodiment of the present application, ERCP surgery can refer to a minimally invasive interventional diagnosis and treatment technique, which is mainly used for diagnosing and treating diseases related to the common bile duct and pancreatic duct. During the operation, the doctor inserts a duodenoscope into the digestive tract through the mouth, arrives at the descending duodenum, finds the common opening (papillary) of the bile duct and the pancreatic duct, inserts a catheter through the endoscope and injects a contrast agent, so that the pancreaticobiliary system is developed under X-rays, thereby clearly observing lesions such as bile duct stones, tumors, and stenosis. The advantage of this operation is that it does not require laparotomy, has little trauma, and recovers quickly, and can be directly treated while diagnosing, such as common bile duct stone removal, bile duct stent placement, pancreatic duct drainage, etc. It is applicable to diseases such as bile duct stones, obstructive jaundice, pancreatitis, bile duct tumors. In certain embodiments, ERCP surgery includes some operations related to the pancreaticobiliary duct, such as endoscopic papillary sphincter balloon dilatation, endoscopic lithotripsy, endoscopic nasobiliary drainage, endoscopic endobiliary drainage, etc.

[0053] In the various embodiments of this application, a surgical robotic system may refer to an intelligent medical device that integrates artificial intelligence, robotic arm technology, and a high-resolution imaging system, designed to assist doctors in performing precise minimally invasive surgeries. Its core consists of a doctor's console, a flexibly controllable robotic arm system, and a three-dimensional visualization platform. The doctor remotely controls the robotic arm through the console, observes the surgical area in real time using magnified high-definition images, and manipulates microsurgical instruments with millimeter-level precision, enabling delicate procedures difficult to achieve with traditional surgery.

[0054] In some embodiments of the present application, the operation of endoscopes and surgical instruments has problems such as insufficient precision, delayed feedback, unintuitive human-computer interaction, and poor safety, which bring many challenges to complex surgeries.

[0055] In some embodiments of this application, a force feedback control and human-machine interaction system for an endoscope robot is provided, primarily for high-precision control of the endoscope and surgical instruments during ERCP surgery. By optimizing the motion control, real-time feedback, parameter configuration, and human-machine interaction design of the endoscope and surgical instruments, the aforementioned technical challenges are comprehensively addressed.

[0056] Figure 1 A schematic diagram of the architecture of an ERCP surgical robot system according to an embodiment of the present application is shown.

[0057] According to this embodiment, the ERCP surgical robot system 100 includes: an endoscope 110, the endoscope movement of the endoscope 110 is electrically driven, and is used to extend into the body cavity and take endoscopic images, and the endoscope movement at least includes the lifting and lowering of the lifting forceps at the front end portion of the distal end of the endoscope 110; a treatment instrument 120, the instrument movement of the treatment instrument 120 is electrically driven, and is inserted from the insertion port of the treatment instrument 120 of the endoscope 110, and is lifted by the lifting forceps inside the front end portion of the endoscope 110 and protrudes from the side of the front end portion, and the treatment instrument 120 includes a handle that can be used A guide wire 130 for positioning at the target site; a forceps elevator, which is arranged at the front end of the distal end of the endoscope 110 and is used to control the guiding direction of the treatment instrument 120, including the bending angle; a control device 140, which is used to control the endoscope movement and the instrument movement of the treatment instrument 120 according to the endoscopic image and / or the instrument status of the treatment instrument; a visual interaction device 200, which is used to collect and display the operating status information of the control device 140 and provide operational feedback, and can at least display the status information of the endoscope 110, the treatment instrument 120, the guide wire 130 and / or the forceps elevator.

[0058] In this embodiment, the endoscopic image is captured in real time by the endoscope camera and transmitted to the control device, displaying the real-time image inside the body cavity; the instrument status of the treatment instrument, including the position, angle, advancement depth, clamping status, etc. of the instrument, is fed back to the control device in real time.

[0059] In this embodiment, the status information, parameter configuration information, etc. of the endoscope, treatment instruments (including guide wires) and / or forceps elevators can be displayed through the visual interactive device, so that during the ERCP operation, the main treatment instruments involved can basically be observed and controlled in real time, thereby making it convenient for medical personnel to grasp the status of the surgical treatment instruments at any time, understand various information during the operation, and facilitate medical personnel to perform surgical operations.

[0060] Figure 2 The following is a schematic diagram showing the architecture of a control device for an ERCP surgical robot system according to an embodiment of the present application. In this embodiment, the control device 140 includes:

[0061] The instruction processing module 141 is used to send relevant operation instructions to the user based on the observed endoscopic image and / or the instrument status of the treatment instrument; the control platform 142 is used to receive the operation instructions input by the user to generate control instructions for controlling the endoscopic action and / or the instrument action; the execution module 143 is used to execute the corresponding endoscopic action and / or the instrument action according to the received control instructions.

[0062] In this embodiment, the operation instructions can be actively input by the user or automatically generated based on AI assistance. This flexible instruction generation mechanism provides medical staff with a greater degree of operational freedom while ensuring the controllability of the surgical process.

[0063] The control device 140 is used to analyze the real-time image data related to the endoscope movement and instrument movement from the endoscope 110, and send the image analysis results to the visualization interaction device 150. The visualization interaction device 150 analyzes the received information and displays it in real-time images. Specifically, the user can use the relevant image information displayed by the visualization interaction device 150 to input relevant operating instructions to the control platform 142 to control the movement, angle, etc. of the endoscope 110 and the treatment instrument 120 in real time. Specifically, the control device 140 can adjust the angle, advance and retreat, rotation and other movements of the endoscope 110 according to the operating instructions input by the user, and at the same time control the insertion, opening and closing and other operations of the treatment instrument 120 (including the guide wire 130).

[0064] In this embodiment, the execution module 143 includes:

[0065] The endoscope drive unit 1431 is configured to drive the endoscope to perform the endoscopic actions according to the received control instructions. This unit is configured to control the multi-degree-of-freedom motion of the endoscope 110, such as forward and backward movement, rotation, and left and right bending. For example, the motor drive and angle sensor can be used to ensure that the endoscope 110 can accurately locate the target area.

[0066] The instrument drive unit 1432 is configured to drive the treatment instrument into the target area of the body cavity and perform the operation based on the received control instructions. This unit is used to drive the treatment instrument 120, enabling it to precisely enter the target area and perform the corresponding surgical operation. This unit utilizes force feedback control to achieve precise tissue manipulation and avoid tissue damage caused by excessive force.

[0067] The forceps lift drive unit 1433 is used to drive the lifter to raise and lower the forceps according to the received control instructions to control the direction of the surgical instrument's introduction. This unit is used to control the lifter's raising and lowering to adjust the instrument's introduction direction to better suit the surgical needs. For example, during ERCP, the lifter drive unit can precisely adjust the angle of surgical instrument entry based on the anatomy of the bile duct and pancreatic duct, thereby improving the success rate of intubation.

[0068] According to an embodiment of the present application, the visual interaction device 200 includes a display screen 210 , and the display screen 210 is used to display status information of an endoscope, a treatment instrument, a guide wire, and / or a forceps elevator.

[0069] In this embodiment, the display screen is a common visual interactive device, which displays the status information interface of the endoscope, treatment instrument, guide wire and / or lifting forceps through the display screen. It can realize real-time observation and operation of the main treatment instruments during the ERCP surgery with mature display technology, and achieve cost control and good display effect.

[0070] Figure 3 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application.

[0071] According to this embodiment, the visualization interaction device 300 includes a three-dimensional information display area 310, which is used to display three-dimensional posture information 311 of the endoscope and / or three-dimensional posture information 314 of the forceps elevator. In some embodiments, the three-dimensional posture information 311 may also include three-dimensional posture information 312 of the treatment instrument, such as the stone extraction basket (excluding the guidewire). The three-dimensional posture information 313 of the guidewire, which serves as a guiding component, can be displayed separately to provide reliable guidance during the operation.

[0072] In this embodiment, the posture of the endoscopic forceps elevator is displayed in three dimensions, allowing medical personnel to intuitively see the real-time status of the treatment instruments required for ERCP surgery during the operation. This facilitates medical personnel to control and adjust the posture of each major treatment instrument according to the needs of the ERCP surgery. This display solution can greatly improve the convenience of observation during the operation, thereby improving the operability and execution efficiency of the operation. Similarly, the instrument status information of the treatment instruments (including the guidewire) can also be displayed.

[0073] According to this embodiment, the three-dimensional posture information 311 of the endoscope includes bending information 315 , advance and retreat depth information 316 and / or resistance information 317 of the endoscope.

[0074] In this embodiment, endoscope curvature information relates to the endoscope's viewing angle, endoscope advance and retreat depth information relates to the endoscope's position in the duodenum, and endoscope resistance information relates to tissue obstacles encountered by the endoscope in the duodenum. This information is crucial for observing and determining the insertion and withdrawal of the endoscope. Displaying this information in 3D allows medical personnel to intuitively visualize the endoscope's real-time status and understand its position and orientation within the human body. This allows for convenient and efficient control of the endoscope's entry, exit, and direction, facilitating smooth surgical procedures.

[0075] Figure 4 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application.

[0076] According to this embodiment, the visualization interaction device 400 includes a treatment instrument status display area 410, which is used to display the status of the instrument excluding the guidewire, including the opening and closing status 411, the clamping status 412 and / or the driving status 413 of the treatment instrument.

[0077] In this embodiment, the surgical instrument is the primary component of the ERCP surgical robot system for manipulating and intervening with human tissue or material within the body cavity. The instrument's opening and closing state, clamping state, and drive status directly determine its proper function and operation. Therefore, understanding this information is crucial for medical personnel. Displaying this information in the instrument status display area ensures that medical personnel have real-time visibility into the instrument's operational status, facilitating control and operation of the instrument and ensuring a smooth and safe surgical procedure.

[0078] According to this embodiment, the driving state 413 of the treatment instrument includes a moving direction 414 , a moving distance 415 , and / or a moving speed 416 of the treatment instrument.

[0079] In this embodiment, the treatment instrument's drive status refers to its movement and advance and retreat within the body cavity as driven by the drive unit. Therefore, the direction, distance, and speed of movement of the treatment instrument are crucial for understanding its movement within the body cavity. Displaying this information on the interactive visualization device allows medical personnel to understand the treatment instrument's progress within the body cavity in real time, allowing them to determine whether to activate or retract it, thereby facilitating precise control of the treatment instrument during surgery and ensuring its optimal performance.

[0080] Figure 5 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application.

[0081] According to this embodiment, the visual interaction device 500 includes a guidewire status display area 510 capable of displaying the guidewire status in the treatment instrument. The guidewire status display area 510 is used to display the clamping status 511 and / or driving status 512 of the guidewire.

[0082] In this embodiment, the guide wire is an important guiding component in the ERCP operation, and is responsible for guiding the treatment instruments (except the guide wire) to enter the target part of the body cavity. During the operation, when the front end of the endoscope reaches the papilla position of the duodenum, the guide wire continues to enter and can guide, for example, the stone removal basket, stent, etc. to the target surgical position, which is of great significance to ensure the smooth progress of the operation. The guide wire status display area on the status display area 510 displays the clamping status and driving status of the guide wire, which is beneficial for medical personnel to grasp the operation status of the guide wire in real time, judge its posture and position in the human body, and thus correctly control and operate the guide wire to ensure the smooth implementation of the operation.

[0083] According to this embodiment, the driving state 512 of the guidewire includes a moving direction 513 , a moving distance 514 and / or a moving speed 515 of the guidewire.

[0084] In this embodiment, the guidewire's driving state relates to the conditions and posture of the guidewire when it is driven in the body cavity. Understanding the guidewire's driving state is of great significance for accurately judging the actual conditions encountered by the guidewire in the body cavity. The guidewire's movement direction, movement distance, and movement speed are very important aspects of the guidewire's driving state. By displaying this information about the guidewire on a visual interactive device, it can help medical personnel correctly insert and position the guidewire, thereby correctly guiding the insertion and movement of the treatment instrument to ensure the precise implementation of the operation.

[0085] Figure 6 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application.

[0086] According to this embodiment, the visual interaction device 600 includes a water and gas control display area 610 , which is used to display a real-time pressure value 611 of water transmission and a real-time pressure value 612 of gas transmission.

[0087] In this embodiment, water and gas delivery are required during ERCP procedures, and controlling water and gas is a crucial task during such procedures. By displaying the real-time water and gas delivery pressures in the water and gas control display area, medical personnel can visualize the water and gas delivery status in real time, assess the timing and effectiveness of water and gas delivery, and accurately perform water and gas-related operations, thereby ensuring the safe and smooth execution of the procedure.

[0088] Figure 7A schematic diagram showing a status information interface of an ERCP surgical robot system according to an embodiment of the present application.

[0089] According to this embodiment, the visual interaction device 700 includes an image display area 710 , and the image display area 710 is used to display a real-time image 711 from an external camera.

[0090] In this embodiment, during ERCP procedures, an external camera is sometimes needed to observe the conditions within the body cavity, allowing medical personnel to accurately assess the patient's condition. By displaying the real-time image from the external camera, medical personnel can accurately observe and assess the conditions of the various surgical instruments and human tissue while operating the surgical robot, facilitating the surgical procedure and preventing operational delays due to operational errors and limited observation.

[0091] Figure 8 A schematic diagram showing a visualization interaction device of an ERCP surgical robot system according to an embodiment of the present application.

[0092] According to this embodiment, the visual interaction device 800 includes a connection status display area 810, which is used to display the connection status 811 between various modules of the ERCP surgical robot system.

[0093] In this embodiment, the ERCP surgical robot system consists of multiple modules, including an endoscope, a procedure instrument, an elevator, and its drive control device. Proper connection and coordination between these modules are prerequisites for a smooth surgical procedure. By displaying the connection status of each module on the guidewire, medical personnel can readily monitor the operational status of each module, maintain timely information about their connections, and identify any unexpectedly disconnected modules, thereby ensuring the precise functioning of each module and the correct performance of the procedure.

[0094] The following will provide an illustrative description using a specific operation example displayed by the visual interaction device during actual operation. Figure 9 A schematic diagram showing the operation information display of an ERCP surgical robot system according to an embodiment of the present application.

[0095] The visual interactive device status display interface can also include a treatment instrument control status display module 901. The icon corresponding to the selected treatment instrument 902 in the treatment instrument control status display module 901 is highlighted. The highlighted icon changes shape based on the degree of opening and closing of the treatment instrument opening and closing module, while the total opening and closing degree of the treatment instrument is expressed as a percentage. The treatment instrument control status display module 901 also includes treatment instrument clamping status 903, treatment instrument drive status 904, guidewire clamping status 905, and guidewire drive status 906. These status data are derived from the treatment instrument clamping and treatment instrument drive in the treatment instrument delivery module, and the guidewire clamping and guidewire drive in the guidewire delivery module, respectively. The treatment instrument control status display module 901 also includes a treatment instrument movement length 907, a guide wire movement length 908, a treatment instrument movement speed 909, a guide wire movement speed 910, a treatment instrument movement direction 911, and a guide wire movement direction 912. An in-position prompt line 913 is added to the display of the movement length of the treatment instrument and the guide wire, and the treatment instrument speed display also includes a maximum speed adjustment 914 display.

[0096] According to this embodiment, the status display interface also includes a water and gas control status display module 915. The icon 916 corresponding to the working water and gas pump in the water and gas control status display module 915 will be dynamically highlighted, and can display the real-time pressure value 917 of water pumping and the real-time pressure value 918 of air pumping. The pressure value is obtained from the air pressure detection module and the hydraulic pressure detection module, and can also display the target air pressure prompt line 919 set by the control platform.

[0097] According to this embodiment, the status display interface also includes an endoscope status display module 920, and the endoscope status display module 920 includes a scope bending three-dimensional posture display 921, a forceps elevator bending three-dimensional posture display 922, a scope advance and retreat depth three-dimensional display 923, and a scope resistance display 924. The scope bending angle in the scope bending three-dimensional posture display 921 is derived from the endoscope control unit, and the scope three-dimensional posture can achieve a maximum bending angle of 90 degrees in any direction based on feedback information. The forceps elevator bending angle in the forceps elevator bending three-dimensional posture display 922 is derived from the endoscope control unit. For ease of explanation, assuming that the forceps elevator bending angle θ in the model, the bending process rotates around the axis l{y=y0,z=z0}, and the distance D between any point P(x,y,z) in the forceps elevator model and the rotation axis l can be expressed as

[0098]

[0099] The target position P1(x1,y1,z1) can be expressed as

[0100]

[0101] The three-dimensional display 923 of the scope's advance and retreat depth can change the length of the scope in the three-dimensional display according to the scope's advance and retreat depth, and at the same time prompt specific depth information in digital form 925. The greater the scope resistance in the scope resistance display 924, the larger the area of the yellow part, and vice versa.

[0102] According to this embodiment, the status display interface also includes an image display module 926 and a connection status display module 927. The image display module 926 can display the real-time image of the external camera, and the connection status display module 927 can reflect the connection status between the various modules of the system in real time. When the module is connected, the background of the corresponding position turns blue, and when it is not connected, it turns black.

[0103] Figure 10 A schematic diagram showing a control platform of an ERCP surgical robot system according to an embodiment of the present application.

[0104] According to this embodiment, the control platform 142 of the ERCP surgical robot system is used for the user to control the endoscope, treatment instruments and / or forceps elevator.

[0105] In this embodiment, the ERCP surgical robot system can provide medical personnel with a way to remotely control key surgical instruments, rather than manually controlling surgical instruments such as endoscopes through traditional surgical methods. To provide remote operation, the surgical robot system can be equipped with a control platform. Medical personnel can control key surgical instruments such as endoscopes, treatment instruments, guidewires, and forceps by using buttons and handles on the control platform. This allows medical personnel to remotely control surgical instruments, thereby reducing or avoiding medical personnel's exposure to X-rays and ensuring the convenience and safety of medical personnel during surgery.

[0106] As an example, the control platform 142 is also used to receive the resistance information of the endoscope, treatment instrument, guide wire and / or lifting forceps detected by the resistance detection unit of the execution module, and to feed back the resistance information to the user through the operating force of the control handle 1110. The control device 140 can also control the movement of the endoscope and the instrument movement of the treatment instrument based on the operating force feedback.

[0107] According to this example, during the ERCP procedure, because multiple treatment instruments need to be inserted into the human body cavity, in order to avoid accidental injury to the human body by the surgical treatment instruments, it is necessary to judge the resistance encountered by the surgical treatment instruments during the insertion process. If the resistance exceeds the normal range, it may indicate that surgical treatment instruments such as endoscopes, treatment instruments, guide wires and lifting forceps may be accidentally injuring human tissue and need to adjust the insertion direction or withdraw. The control handle of the control platform feeds back resistance information so that medical staff can feel the existence of resistance at the first time, so as to make correct judgments and operations, and promptly correct or stop incorrect operation techniques to ensure the safety of patients. Based on the perception of force feedback, medical staff can adjust the surgical force in real time through the operation of the control platform to avoid excessive or insufficient operation that may cause harm to patients.

[0108] This embodiment uses a force sensor to obtain tissue resistance information during the process of bile duct and pancreatic duct intubation, and provides real-time tactile feedback through the control platform, so that the operator can accurately judge the obstruction of the intubation. The force feedback mechanism effectively reduces the risk of tissue damage during intubation, reduces the probability of post-ERCP complications, such as pancreatitis, and improves surgical safety. During the operation, the visual interactive device can continuously monitor the force feedback information and endoscopic images and instrument movement status information in real time, and enable medical staff to dynamically adjust the feedback force according to this information, provide operation prompts, and the addition of force feedback information enables medical staff to more accurately control the movement of the endoscope and the movement of the treatment instrument, thereby improving the safety and accuracy of the operation.

[0109] For example, the control platform 142 is further configured to lock the control platform 142 according to a preset lock condition or lock operation, causing the control platform 142 to stop sending control signals and not receive external feedback signals, and to unlock the control platform 142 according to a user unlock operation. Specifically, the lock operation is automatically triggered when the user stops operating for a preset period of time; alternatively, the user manually presses the lock button after completing the operation to lock the control platform 142.

[0110] According to this example, a locking and unlocking function is provided for the control platform. During an ERCP procedure, medical personnel may not operate the control platform handles or buttons for a long time. To prevent accidental operation of the control platform and possible surgical accidents, the control platform can be locked when medical personnel do not operate it for a long time, preventing it from sending control commands and receiving feedback signals, thus avoiding the safety risks caused by accidental operation.

[0111] Figure 11 A schematic structural diagram of an ERCP surgical robot system according to an embodiment of the present application is shown.

[0112] According to this embodiment, the ERCP surgical robot system is an endoscopic robot force feedback control and human-computer interaction system, including an endoscope control unit 1210, a treatment instrument control unit 1220, a control platform 1230, and a workstation 1240. The endoscope control unit 1210 is used to drive the vertical lifting, horizontal movement, rotation, advance and retreat, head end bending, and forceps lifting movement of the endoscope. The treatment instrument control unit 1220 is used to drive the movement of the guide wire and the treatment instrument in the endoscope treatment instrument channel, the opening and closing of the treatment instrument, and the water and air supply actions. The control platform 1230 is used to send control commands to the endoscope control unit 1210 and the treatment instrument control unit 1220. The workstation 1240 is used for human-computer interaction to realize the configuration and status monitoring of the endoscopic robot.

[0113] Figure 12 Show the basis Figure 11 A schematic diagram of the partial structure of the ERCP surgical robot system of an embodiment.

[0114] According to this embodiment, the endoscope control unit 1210 includes a force detection module 1211. The force detection module 1211 is connected to the endoscope driving module 1212 in the endoscope control unit 1210 and is used to detect the resistance information encountered by the endoscope during its forward and backward movement.

[0115] Figure 13 Show the basis Figure 11 A schematic diagram of the partial structure of the ERCP surgical robot system of an embodiment.

[0116] According to this embodiment, the endoscope includes a traction wire 1271, one end of which is connected to a forceps elevator 1272 and the other end is connected to a transmission mechanism 1273. The transmission mechanism 1273 drives the forceps elevator 1272 to perform a pulling action. The endoscope also includes an angle detection module 1274 and a force detection module 1275. The angle detection module 1274 is connected to the transmission mechanism 1273 to detect the movement angle of the transmission mechanism 1273, and the force detection module 1275 is connected to the transmission mechanism 1273 to detect the resistance information applied to the transmission mechanism.

[0117] Figure 14 Show the basis Figure 11 A schematic diagram of the partial structure of the ERCP surgical robot system of an embodiment.

[0118] According to this embodiment, the treatment instrument control unit 1220 includes a treatment instrument delivery module 1221, a guidewire delivery module 1222, a treatment instrument (excluding guidewires) switching module 1223, a treatment instrument (excluding guidewires) opening and closing module 1224, and a water and gas control device 1225. The treatment instrument switching module 1223 switches the installation position of the treatment instrument to the working position according to the selected treatment instrument. The treatment instrument switching module 1223 can be installed with various types of detachable treatment instrument opening and closing modules 1224. The slider on the treatment instrument opening and closing module 1224 can move up and down to control the opening and closing of the treatment instrument. The water and gas control device 1225 includes multiple water pumps, air pumps, and suction pumps, which can control the enablement and operating speed of the pumps according to the commands of the control platform. The water and gas control device 1225 also includes an air pressure detection module 1228 and a hydraulic pressure detection module 1229. The air pressure detection module 1228 is connected to the air pump and is used to detect the air pump pressure. The hydraulic pressure detection module 1229 is connected to the water pump and is used to detect the liquid pressure.

[0119] Figure 15 Show the basis Figure 11 A schematic diagram of the partial structure of the ERCP surgical robot system of an embodiment.

[0120] According to this embodiment, the treatment instrument delivery module 1221 includes a treatment instrument clamp 1201, a treatment instrument drive, and a treatment instrument delivery 1202. In the treatment instrument delivery module 1221, the treatment instrument clamp 1201 is used to install the treatment instrument. The treatment instrument drive comprises multiple rollers, which clamp the treatment instrument by controlling the gaps between the rollers. The rollers include a driving wheel 1205 and a driven wheel 1206. The driving wheel is used to control the delivery of the treatment instrument.

[0121] Figure 16 Show the basis Figure 11 A schematic diagram of the partial structure of the ERCP surgical robot system of an embodiment.

[0122] According to this embodiment, the guidewire delivery module 1222 includes a guidewire clamping 1203, a guidewire drive, and a guidewire delivery 1204. The guidewire clamping 1203 in the guidewire delivery module 1222 is used to install the guidewire. The guidewire drive includes multiple rollers that clamp the guidewire by controlling the gap between the rollers. The rollers include a driving wheel 1207 and a driven wheel 1208. The driving wheel is used to control the delivery of the guidewire.

[0123] According to this embodiment, the treatment instrument delivery module 1221 and the guide wire delivery module 1221 include an angle detection module, which is respectively connected to the driven wheel 1206 of the treatment instrument delivery module 1221 and the driven wheel 1208 of the guide wire delivery module 1221, and is used to detect the rotation angle and rotation speed of the driven wheel 1206 of the treatment instrument delivery module 1221 and the driven wheel 1208 of the guide wire delivery module 1221. The treatment instrument delivery module 1221 also includes a force detection module, which is connected to the treatment instrument delivery module 1221 and can detect the amount of resistance encountered during the treatment instrument delivery process. The treatment instrument opening and closing module 1224 also includes a position detection module, which is connected to the slider and is used to detect the movement distance of the slider.

[0124] Figure 17 Show the basis Figure 11 A schematic diagram of the partial structure of the ERCP surgical robot system of an embodiment.

[0125] According to this embodiment, the treatment instrument opening and closing module 1224 includes an opening and closing control slider 1226, which includes a position detection module inside. The opening and closing control slider 1226 can slide up and down according to the control information, thereby controlling the opening and closing action of the treatment instrument 1227. At the same time, the treatment instrument opening and closing module 1224 can detect the movement position of the opening and closing control slider 1226 through the position detection module.

[0126] Figure 18 and Figure 19 Show the basis Figure 11 A schematic diagram of the partial structure of the ERCP surgical robot system of an embodiment.

[0127] According to this embodiment, the control platform 1230 includes a rocker 1231, a push rod 1232, a knob 1233, a slider 1234, a button module 1235, a lever module 1236, and a status signal display module 1237. The rocker 1231, push rod 1232, knob 1233, and slider 1234 are all driven by motors. The rocker is connected to a left-right rotation motor 1238 and a up-down rotation motor 1239. The rocker's rocking angle controls the bending of the scope's tip. The push rod 1232 is connected to a forward / backward motor module 1251 and a rotation motor module 1252. The forward / backward angle of the forward / backward motor module 1251 controls the scope's forward / backward speed, while the rotation angle of the rotation motor module 1252 controls the scope's rotation angle. When not in use, the push rod 1232 is in a neutral position. Pushing the push rod 1232 further increases the scope's forward speed, while pulling it further increases the scope's backward speed. The greater the resistance the mirror encounters during its advance and retreat, the greater the return force of the push rod.

[0128] The knobs 1233 are divided into a gas control knob 1253, a liquid control knob 1254, a combined advance / retract knob 1233, and a treatment instrument control knob 1256. The gas control knob 1253 and the liquid control knob 1254 are used to control the target air and water pressures of the water / gas control device 1225, respectively. The combined advance / retract knob 1233 and the treatment instrument control knob 1256 are directly connected to the motor, respectively controlling the combined advance / retract of the treatment instrument guidewire and the opening / closing function of the treatment instrument in the treatment instrument opening / closing module 1224. The sliders 1234 are divided into a treatment instrument advance / retract control slider 1234 and a guidewire advance / retract control slider 1258, respectively controlling the rotational speeds of the driving wheel 1205 in the treatment instrument delivery module 1221 and the driving wheel 1207 in the guidewire delivery module 1222. The lever module 1236 of the control platform controls the bending angle of the forceps elevator based on the angle of the lever. The motor module includes an angle detection module for detecting the motor module's rotational angle. The button module 1235 is used to detect the button status and can identify the operator's short press and long press events of the button. The status signal display module 1237 is used to display the working status of the control platform.

[0129] Slider 1234 is divided into a treatment instrument advance / retract control slider 1261 and a guidewire advance / retract control slider 1262. Treatment instrument advance / retract control slider 1261 has an automatic return-to-center function. The further it moves from its center position during movement, the faster the command sent to driving wheel 1205 in treatment instrument delivery module 1221. The direction of left / right sliding controls the rotation direction of driving wheel 1205. Furthermore, the greater the resistance encountered by treatment instrument delivery module 1221 during treatment instrument delivery, the greater the return force exerted by treatment instrument advance / retract control slider 1261, allowing the operator to noticeably perceive the change in resistance.

[0130] The guide wire advance and retreat control slider 1262 has an automatic return to center function. The farther it is from the middle position during the pushing process, the greater the command speed sent to the active wheel 1207 in the guide wire delivery module 1222. The direction of left and right sliding controls the rotation direction of the active wheel 1207.

[0131] The unlock button of the control platform 1230 is triggered by long pressing to ensure the security of locking. Long pressing can prevent accidental unlocking. Other control buttons of the control platform are triggered by short pressing. Other buttons are control functions. Short pressing can ensure the sensitivity of control.

[0132] The control platform 1230 also includes locking and unlocking functions. Without any control, it will become a locked state after a period of time and will be prompted by the status signal display module. In the locked state, the control platform does not send or receive any data. The lock can be released by long pressing the unlock button (for example, after 1 second) and prompted by the status signal display module.

[0133] The concepts, principles, and ideas of the present application are described in detail above in conjunction with specific implementation methods (including embodiments and examples). Those skilled in the art should understand that the implementation methods of the present application are more than the several forms given above. After reading this application document, those skilled in the art can make any possible improvements, replacements, and equivalent forms to the steps, methods, devices, and components in the above-mentioned implementation methods, and these improvements, replacements, and equivalent forms should be deemed to fall within the scope of the present application. The scope of protection of this application shall be subject only to the claims.

Claims

1. An ERCP surgical robot system, characterized in that: include: An endoscope, wherein the endoscope is electrically driven for extending into a body cavity and capturing endoscopic images, the endoscope action at least comprising raising and lowering a forceps elevator at a distal end of the endoscope; a treatment instrument, the instrument movement of which is electrically driven, inserted from the treatment instrument insertion port of the endoscope, lifted by the forceps elevator, and protruding from the side surface of the front end portion; a control device for controlling the movement of the endoscope and the movement of the treatment instrument according to the endoscopic image and / or the instrument state of the treatment instrument; The visual interaction device is used to collect and display the operating status information of the control device and provide operation feedback.

2. The ERCP surgical robot system according to claim 1, wherein the control device comprises: An instruction processing module, configured to provide an operation instruction to a user based on the observed endoscopic image and the instrument status; A control platform, configured to receive the operation instruction to generate a control instruction for controlling the movement of the endoscope and / or the movement of the instrument; The execution module is used to execute the corresponding endoscope action and / or instrument action according to the received control instruction.

3. The ERCP surgical robot system according to claim 1, characterized in that: The execution module includes: an endoscope driving unit, configured to drive the endoscope to perform the endoscopic action according to the received control instruction; an instrument driving unit, configured to drive the treatment instrument into the target part of the body cavity and perform an operation according to the received control instruction; The forceps lifting drive unit is used to drive the lifting of the forceps according to the received control instruction to control the leading direction of the treatment instrument.

4. The ERCP surgical robot system according to claim 1, characterized in that: The visualization interaction device includes a three-dimensional information display area, and the three-dimensional information display area is used to display at least three-dimensional posture information of the endoscope and the forceps elevator.

5. The ERCP surgical robot system according to claim 4, characterized in that: The three-dimensional posture information of the endoscope includes at least bending angle information, advance and retreat depth information and / or resistance information of the endoscope.

6. The ERCP surgical robot system according to claim 1, characterized in that: The visual interaction device includes a treatment instrument status display area, and the treatment instrument status display area is used to display the operation status, clamping status and / or driving status of the treatment instrument.

7. The ERCP surgical robot system according to claim 6, characterized in that: The driving state of the treatment instrument includes the moving direction, moving distance and / or moving speed of the treatment instrument.

8. The ERCP surgical robot system according to claim 1, characterized in that: The visual interaction device includes a water and gas control display area, and the water and gas control display area is used to display the real-time pressure value of water transmission and the real-time pressure value of gas transmission.

9. The ERCP surgical robot system according to claim 1, characterized in that: The visual interaction device includes an image display area, which is used to display the real-time image of the external camera of the ERCP surgical robot system.

10. The ERCP surgical robot system according to claim 1, characterized in that: The visual interaction device includes a connection status display area, which is used to display the overall connection status of the ERCP surgical robot system; when there is a connection abnormality or communication failure in the system, the connection status display area is used to visually mark the abnormal information.

11. The ERCP surgical robot system according to claim 2, characterized in that: The control platform is further configured to receive resistance information detected by the execution module on the endoscope, the treatment instrument, and / or the forceps elevator, and feed back the resistance information to the user via the operating force of the control handle of the control platform.

12. The ERCP surgical robot system according to claim 2, characterized in that: The control platform is further configured to lock the control platform according to a preset locking condition or locking operation, so that the control platform stops sending control signals to the outside and does not receive external feedback signals, and to unlock the control platform according to an unlocking operation.

13. The ERCP surgical robot system according to claim 11, characterized in that: The control device is further configured to control the movement of the endoscope and the movement of the treatment instrument according to the operation force feedback.

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