An endoscope laser ablation surgery robot based on piezoelectric driving universal ball

Abstract

This invention provides an endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball. The piezoelectric drive mechanism enables multi-degree-of-freedom rotation of the steering system, thereby driving the fiber optic channel to achieve precise laser steering control, improving surgical flexibility and accuracy. The steering system is connected to the external structure via an elastic support component. This elastic support can apply a preset preload to the steering system while ensuring that the system's free rotation performance is not affected, allowing the steering system to achieve three degrees of freedom rotation in space, corresponding to a conical angle range of ±20° from the half-apex angle.

Description

Technical Field

[0001] This invention belongs to the field of surgical robot technology, and particularly relates to an endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball. Background Technology

[0002] In endoscopic surgery, lasers, due to their excellent coagulation properties, are widely used in procedures such as endoscopic mucosal resection (EMR) and endoscopic submucosal dissection (ESD). Research on their control systems is of great practical value and social significance. During tissue resection, traditional surgical instruments require direct contact with tissue, relying on the surgeon's hand precision. Minor instrument vibrations can cause additional damage, and residual tissue on the instrument surface may increase the risk of cross-infection. Lasers, however, can precisely target the area, greatly reducing direct contact between instruments and tissue, and significantly minimizing the impact on blood vessels and surrounding normal tissues (such as nerve tissue). Furthermore, the hemostasis process after traditional cutting relies on electrocoagulation hooks, hemostatic forceps, and other hemostatic tools, which is not only cumbersome but also increases the risk of tissue thermal damage. The high-temperature energy of lasers can directly seal small blood vessels (0.5mm to 2mm in diameter) while cutting tissue, achieving "cutting and coagulation simultaneously." This reduces intraoperative bleeding, provides a clearer surgical field, lowers transfusion requirements, further improves operational safety, and facilitates faster postoperative recovery.

[0003] However, while laser surgery offers numerous advantages, achieving high-precision control remains a significant challenge. Traditional surgical instruments involve contact cutting with fixed points, allowing surgeons to sense the tissue's hardness and toughness through tactile feedback and adjust pressure accordingly. In contrast, laser cutting relies solely on the beam of light, preventing surgeons from directly sensing the tissue. This necessitates a surgical system capable of highly precise control over laser cutting. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides an endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball, which can flexibly and precisely control the surgical field of view and laser direction, thereby achieving high-precision, multi-degree-of-freedom, and flexibly controllable laser resection.

[0005] An endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball includes a surgical system end (1), a snake bone tube (2), and a control end (3).

[0006] Among them, the snake bone tube (2) is used to guide the surgical system end (1) into the body cavity and adapt to the curved shape of the cavity. The control end (3) is operated by the user and is used to send control commands to the surgical system end (1) to realize remote control of the posture and working status of the surgical system end (1).

[0007] Furthermore, the surgical system end (1) includes a laser steering system (4) and an external support structure (5); the external support structure (5) is fixed at the end of the snake tube (2), which not only provides external support and spatial limitation for the laser steering system (4), but also forms a suitable pre-tightening effect for the laser steering system (4) to ensure the structural stability of the laser steering system (4) during movement; The laser steering system (4) includes an endoscope (9), a spherical shell (10), and a three-degree-of-freedom piezoelectric actuator (11). The endoscope (9) is used to integrate the surgical field observation and surgical operation channels. The endoscope (9) is internally equipped with an optical fiber channel (6), an eyepiece (7), and a water injection channel (8), which are used for laser transmission, image acquisition, and saline injection, respectively. The three-degree-of-freedom piezoelectric actuator (11) is used to drive the spherical shell (10) to rotate freely by piezoelectric drive.

[0008] Furthermore, the endoscope (9) is fixedly installed inside the spherical shell (10) with an adhesive, so that the endoscope (9) can change its posture synchronously with the rotation of the spherical shell (10), thereby realizing the coordinated adjustment of the observation direction and the laser emission direction.

[0009] Furthermore, the external support structure (5) includes a steering system mounting base (14), a support housing (13), and a pretensioning device (12). The pre-tightening device (12) includes four pre-tightening clamps arranged circumferentially along the spherical shell (10), and the four pre-tightening clamps are named in clockwise order as first pre-tightening clamp P1, second pre-tightening clamp P2, third pre-tightening clamp P3 and fourth pre-tightening clamp P4; the steering system mounting base (14) is made of elastic material, and the size of the mounting hole reserved in its center is smaller than the outer dimensions of the three-degree-of-freedom piezoelectric actuator (11), so that the three-degree-of-freedom piezoelectric actuator (11) forms an interference fit with the external support structure (5) through the steering system mounting base (14) during the assembly process.

[0010] Furthermore, when not constrained by the laser steering system (4), the pre-tightening device (12) is in a naturally contracted state; after the laser steering system (4) is installed, due to the limiting effect of the steering system mounting base (14), the end of the pre-tightening device (12) forms a tangential contact with the spherical surface of the spherical shell (10) and is in a tightened state; at this time, the four pre-tightening clamps P1 to P4 work together to apply a downward axial constraint force to the laser steering system (4) to achieve stable constraint on the position of the laser steering system (4), so that the spherical shell (10) can be stably placed on the three-degree-of-freedom piezoelectric actuator (11) and can rotate freely under controlled conditions.

[0011] Furthermore, the three-degree-of-freedom piezoelectric actuator (11) includes a piezoelectric ceramic (15), a working end (16), and a piezoelectric actuator magnesium alloy body (17); wherein, the piezoelectric actuator magnesium alloy body (17) serves as a structural support component, used to mount the piezoelectric ceramic (15) and the working end (16) along its own circumference, and transmits the deformation generated by the piezoelectric ceramic (15) under piezoelectric drive to the piezoelectric actuator magnesium alloy body (17), and then the deformed piezoelectric actuator magnesium alloy body (17) drives the spherical shell (10) to rotate freely.

[0012] Furthermore, the magnesium alloy body (17) of the piezoelectric actuator includes a working end mounting hole (18) and a piezoelectric ceramic mounting surface (19). The top surface of the magnesium alloy body (17) of the piezoelectric actuator has four working end mounting holes (18) evenly distributed, and the sides and bottom surface have eight piezoelectric ceramic mounting surfaces (19) evenly distributed; the four working ends (16) are, in clockwise order from the upper left corner, the first working end E1, the second working end E2, the third working end E3 and the fourth working end E4; the four circumferential piezoelectric ceramics (15) distributed on the side are, in clockwise order from the upper left corner, the first circumferential piezoelectric ceramic R1, the second circumferential piezoelectric ceramic R2, the third circumferential piezoelectric ceramic R3 and the fourth circumferential piezoelectric ceramic R4; the four axial piezoelectric ceramics (15) distributed on the bottom surface are, in clockwise order from the upper left corner, the first axial piezoelectric ceramic A1, the second axial piezoelectric ceramic A2, the third axial piezoelectric ceramic A3 and the fourth axial piezoelectric ceramic A4.

[0013] Furthermore, the working end (16) is fixedly installed in the corresponding working end mounting hole (18) by an adhesive, and the piezoelectric ceramic (15) is bonded to the piezoelectric ceramic mounting surface (19) by epoxy resin adhesive.

[0014] Furthermore, the three-degree-of-freedom piezoelectric actuator (11) has three basic motion modes; Among them, the basic motion mode 1 M1 is the circumferential deformation motion generated by the circumferential piezoelectric ceramics R1 to R4 under the drive of the same frequency and phase sinusoidal signal; the basic motion mode 2 M2 is the deformation motion in the opposite direction along the axial direction generated by the axial piezoelectric ceramics A1 / A3 set on opposite sides under the drive of the anti-phase sinusoidal signal, thereby indirectly driving the working end (16) to move; the basic motion mode 3 M3 is the deformation motion in the opposite direction along the axial direction generated by the axial piezoelectric ceramics A2 / A4 set on opposite sides under the drive of the anti-phase sinusoidal signal, thereby indirectly driving the working end (16) to move. When basic motion mode 1 M1 is superimposed with basic motion mode 2 M2, the trajectory of the working end (16) is elliptical and drives the laser output by the working end (16) to turn around the x-axis, thereby realizing the arbitrary direction of the surgical laser in the yz cutting plane; when basic motion mode 1 M1 is superimposed with basic motion mode 3 M3, the trajectory of the working end (16) is elliptical and drives the laser output by the working end (16) to turn around the y-axis, thereby realizing the arbitrary direction of the surgical laser in the xz cutting plane; when basic motion mode 2 M2 is superimposed with basic motion mode 3 M3, the trajectory of the working end (16) is elliptical and drives the laser output by the working end (16) to turn around the z-axis, thereby realizing the arbitrary direction of the surgical laser in the xy cutting plane, so that the switching of different working channels in the endoscope can be realized under the condition that the spatial position of the working end (16) is basically fixed.

[0015] Beneficial effects: 1. This invention provides an endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball. The piezoelectric drive mechanism enables multi-degree-of-freedom rotation of the steering system, thereby driving the fiber optic channel to achieve precise laser steering control, thus improving surgical flexibility and accuracy. The steering system is connected to the external structure via an elastic support component. This elastic support can apply a preset preload to the steering system while ensuring that the system's free rotation performance is not affected, and allows the steering system to achieve three-degree-of-freedom rotation in space, corresponding to a conical angle range of ±20° from the half-apex angle.

[0016] 2. This invention provides an endoscopic laser resection surgical robot based on a piezoelectric driven omnidirectional ball. The piezoelectric drive component includes multiple piezoelectric actuators distributed on the surface of a magnesium alloy body. Through the differential drive principle, the steering system achieves three-degree-of-freedom rotational motion, realizing high-precision directional steering of the laser fiber channel. It achieves high responsiveness, high precision, and high stability of laser direction adjustment, improving steering sensitivity and control accuracy. It is suitable for dynamic adjustment and control of laser direction and angle in minimally invasive endoscopic surgery. Attached Figure Description

[0017] Figure 1 This is an overall schematic diagram of the endoscopic laser resection surgical robot of the present invention; Figure 2 This is a schematic diagram of the end structure and cross-section of the surgical system of the present invention; Figure 3 This is a schematic diagram of the steering system at the end of the surgical system. Figure 4 A schematic diagram of the external support structure at the end of the surgical system; Figure 5 This is a schematic diagram of the unconstrained external support structure at the end of the surgical system. Figure 6 This is a schematic cross-sectional view of the external support structure at the end of the surgical system in an unconstrained state. Figure 7 A schematic diagram showing the before-and-after comparison of the restraining effect of the pre-tightening device at the end of the surgical system; Figure 8 This is a schematic diagram of a three-degree-of-freedom piezoelectric actuator. Figure 9 A schematic diagram of the structure of the magnesium alloy body of the actuator and the corresponding piezoelectric ceramic and working end; Figure 10 This diagram illustrates the three motion modes of the piezoelectric actuator and the six laser steering modes. Figure 11(a) is a schematic diagram of the precise positioning of the surgical system during the intestinal polyp removal surgery; Figure 11(b) is a schematic diagram of injecting saline into the lesion during intestinal surgery according to the present invention; Figure 11(c) is a schematic diagram of laser positioning and cutting during intestinal surgery according to the present invention; Figure 11(d) is a schematic diagram of laser cutting of coagulation during intestinal surgery according to the present invention; 1- Surgical system distal end; 2- Snake bone tube; 3- Control end; 4- Laser steering system; 5- External support structure; 6- Fiber optic channel; 7- Eyepiece; 8- Water injection working channel; 9- Endoscope; 10- Spherical shell; 11- Three-degree-of-freedom piezoelectric actuator; 12- Pre-tightening device; 13- Support shell; 14- Steering system mounting base; 15- Piezoelectric ceramic; 16- Working distal end; 17- Magnesium alloy body of piezoelectric actuator; 18- Working distal end mounting hole; 19- Piezoelectric ceramic mounting surface; P1- First pre-tightening clamp; P2- Second pre-tightening clamp; P3- Third pre-tightening clamp; P4- Fourth pre-tightening clamp; A1- Axial first piezoelectric ceramic (minus sign represents the negative electrode surface of the piezoelectric ceramic); A2- Axial second piezoelectric ceramic (minus sign represents the negative electrode surface of the piezoelectric ceramic); A3- Axial third piezoelectric ceramic (minus sign represents the negative electrode surface of the piezoelectric ceramic); A4- Axial fourth piezoelectric ceramic (minus sign represents the negative electrode surface of the piezoelectric ceramic); R1- Perimeter R1 - First piezoelectric ceramic (negative sign represents the negative electrode surface of the piezoelectric ceramic); R2 - Second circumferential piezoelectric ceramic (negative sign represents the negative electrode surface of the piezoelectric ceramic); R3 - Third circumferential piezoelectric ceramic (positive sign represents the positive electrode surface of the piezoelectric ceramic); R4 - Fourth circumferential piezoelectric ceramic (positive sign represents the positive electrode surface of the piezoelectric ceramic); E1 - First working end; E2 - Second working end; E3 - Third working end; E4 - Fourth working end; M1 - Basic motion mode one (simultaneously driving four piezoelectric ceramics R1, R2, R3, and R4 with four sinusoidal signals of the same frequency and phase); M2 - Basic motion mode two (simultaneously driving two piezoelectric ceramics A1 and A3 with two sinusoidal signals of the same frequency and opposite phase); M3 - Basic motion mode three (simultaneously driving two piezoelectric ceramics A2 and A4 with two sinusoidal signals of the same frequency and opposite phase); 20 - Surgical intestine; 21 - Polyp; 22 - Injection needle; 23 - Liquid chamber; 24 - Laser beam; Detailed Implementation To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0018] This invention proposes an endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball. The robot uses a piezoelectric actuator to control the spherical shell and the embedded endoscope to achieve three-degree-of-freedom rotational motion, thereby enabling flexible and precise control of the surgical field of view and laser direction. Simultaneously, the piezoelectrically driven steering mechanism is compact and small in size, and can be directly integrated into the end of the snake-bone tube without the need for additional devices, ensuring the overall structural compactness.

[0019] like Figure 1As shown, the laser-guided surgical system of the present invention consists of a surgical system end (1), a snake-bone tube (2), and a control end (3). The snake-bone tube (2) is used to guide the surgical system into the body cavity and adapt to the curved shape of the cavity. The control end (3) is operated by the user and can send control commands to the surgical system end (1). With the help of the adapted operating logic, the system's posture and working status can be remotely and conveniently controlled.

[0020] like Figure 2 and Figure 3 As shown, the surgical system end (1) mainly consists of a laser steering system (4) and an external support structure (5). The laser steering system (4) includes an endoscope (9), a spherical shell (10), and a three-degree-of-freedom piezoelectric actuator (11), wherein the endoscope (9) is used to integrate the surgical field observation and surgical operation channels. The endoscope (9) is internally equipped with an optical fiber channel (6), an eyepiece (7), and a water injection channel (8), which are used for laser transmission, image acquisition, and saline injection, respectively. The endoscope (9) is fixedly installed inside the spherical shell (10) with adhesive, so that the endoscope (9) can change its posture synchronously with the rotation of the spherical shell (10), thereby realizing the coordinated adjustment of the observation direction and the laser emission direction.

[0021] like Figure 1 and Figure 2 As shown, the external support structure (5) is reliably fixed to the end of the snake tube (2) with adhesive. Its core function is not only to provide stable external support and reasonable spatial limitation for the laser steering system (4), but also to work with the pre-tightening components to form a suitable pre-tightening effect for the laser steering system (4) and ensure the structural stability during steering motion. The control terminal (3) serves as the core carrier of human-computer interaction. Users can use this control terminal to precisely control the operating status of the three-degree-of-freedom piezoelectric actuator (11), thereby remotely adjusting various parameters of the laser steering surgical system, and finally achieving high-precision, real-time adjustment of the system's end posture.

[0022] like Figure 4 , Figure 5 and Figure 6As shown, the external support structure (5) includes a steering system mounting base (14), a support shell (13), and a pre-tightening device (12). The pre-tightening device (12) is arranged circumferentially along the spherical shell (10), and from the upper left corner clockwise, it consists of a first pre-tightening clamp (P1), a second pre-tightening clamp (P2), a third pre-tightening clamp (P3), and a fourth pre-tightening clamp (P4). The steering system mounting base (14) is made of elastic material, and the size of the mounting hole reserved in its center is slightly smaller than the outer dimensions of the three-degree-of-freedom piezoelectric actuator (11), so that the three-degree-of-freedom piezoelectric actuator (11) forms an interference fit with the external support structure (5) through the mounting base during the assembly process, thereby improving the stability of the overall connection and reducing the impact of assembly clearance on steering accuracy.

[0023] like Figure 7 As shown, when not constrained by the steering spherical shell, the pre-tightening device (12) is in a naturally contracted state. After the laser steering system (4) is installed, due to the limiting effect of the steering system mounting base (14), the end of the pre-tightening device (12) forms a tangential contact with the spherical surface of the spherical shell (10) and is in a tightened state. At this time, the four pre-tightening clamps (P1~P4) work together to apply a downward axial constraint force to the laser steering system (4) to achieve stable constraint on its position, ensuring that the spherical shell (10) can be stably placed on the three-degree-of-freedom piezoelectric actuator (11) without restricting the free rotation capability of the spherical shell (10) under controlled conditions, thus taking into account both structural stability and steering flexibility.

[0024] like Figure 8 As shown, the three-degree-of-freedom piezoelectric actuator (11) includes a piezoelectric ceramic (15), a working end (16), and a piezoelectric actuator magnesium alloy body (17). The piezoelectric actuator magnesium alloy body (17) serves as a structural support component, used to mount the piezoelectric ceramic (15) and the working end (16), and to transmit the minute deformations generated by the piezoelectric drive.

[0025] like Figure 9As shown, the magnesium alloy body (17) of the piezoelectric actuator includes working end mounting holes (18) and piezoelectric ceramic mounting surfaces (19). The top surface of the magnesium alloy body (17) has four working end mounting holes (18) evenly distributed, and the sides and bottom surfaces have eight piezoelectric ceramic mounting surfaces (19) evenly distributed. The working end (16) is fixedly installed in the corresponding working end mounting hole (18) by adhesive, and the piezoelectric ceramic (15) is bonded to the piezoelectric ceramic mounting surface (19) by epoxy resin adhesive. The three-degree-of-freedom piezoelectric actuator (11) has four working ends (16) distributed on its top surface, which are, in clockwise order from the upper left corner, the first working end (E1), the second working end (E2), the third working end (E3), and the fourth working end (E4); its side surface has four circumferential piezoelectric ceramics (15), which are, in clockwise order from the upper left corner, the first circumferential piezoelectric ceramic (R1), the second circumferential piezoelectric ceramic (R2), the third circumferential piezoelectric ceramic (R3), and the fourth circumferential piezoelectric ceramic (R4); its bottom surface has four axial piezoelectric ceramics (15), which are, in clockwise order from the upper left corner, the first axial piezoelectric ceramic (A1), the second axial piezoelectric ceramic (A2), the third axial piezoelectric ceramic (A3), and the fourth axial piezoelectric ceramic (A4). In the figure, the positive sign on the piezoelectric ceramics indicates the positive electrode surface, and the negative sign indicates the negative electrode surface.

[0026] like Figure 10 As shown, the three-degree-of-freedom piezoelectric actuator (11) has three basic motion modes. Basic motion mode one (M1) is the circumferential deformation motion generated by the circumferential piezoelectric ceramics (R1~R4) driven by a sinusoidal signal of the same frequency and phase. Basic motion modes two (M2) and three (M3) are respectively generated by the axial piezoelectric ceramics (A1 / A3, A2 / A4) arranged on opposite sides, driven by a sinusoidal signal of opposite phase, generating deformation motions in opposite directions along the axial direction, thereby indirectly driving the working end (16) to move. Figure 10 As shown in (a) and (b), when the first basic motion mode (M1) and the second basic motion mode (M2) are superimposed, the end-effector trajectory exhibits elliptical motion and drives the system's end-effector laser to turn around the x-axis, thereby achieving arbitrary pointing of the surgical laser within the yz cutting plane; as Figure 10 As shown in (c) and (d), when basic motion mode one (M1) and basic motion mode three (M3) are superimposed, the end-effector trajectory exhibits elliptical motion and drives the system's end-effector laser to turn around the y-axis, thereby achieving arbitrary pointing of the surgical laser within the xz cutting plane; as shown in (c) and (d), when basic motion mode one (M1) and basic motion mode three (M3) are superimposed, the end-effector trajectory exhibits elliptical motion and drives the system's end-effector laser to turn around the y-axis, thereby achieving arbitrary pointing of the surgical laser within the xz cutting plane; Figure 10As shown in (e) and (f), when the second basic motion mode (M2) and the third basic motion mode (M3) are superimposed, the end trajectory is elliptical and drives the end laser of the system to turn around the z-axis, thereby realizing the arbitrary direction of the surgical laser in the xy cutting plane. This allows for the rapid switching of different working channels in the endoscope while ensuring that the spatial position of the end is basically fixed, thereby improving the flexibility and overall efficiency of the surgical operation.

[0027] As shown in Figure 11(a), in this embodiment, an endoscopic laser-guided surgical robot based on a piezoelectrically driven omnidirectional ball is used to remove polyps (21) in the intestine (20). At the start of the surgery, the system enters the intestine under the control of the external control terminal (3). The endoscopic eyepiece (7) at the end of the system is used to perform real-time imaging of the surgical field to obtain the location, size and relative relationship of the polyp (21) to the surrounding tissues.

[0028] During the positioning phase, the mobility of the snake-like tube structure located in the middle of the system is utilized to allow the system to adapt to the curvature of the intestine (20) for propulsion and posture adjustment, thereby achieving preliminary positioning of the target area. After the preliminary positioning of the snake-like tube is completed, the posture of the end of the system is precisely controlled by the core steering system (4) of this invention, so that the visual axis of the eyepiece (10) corresponding to the working channel selected when the system starts working is aligned with the location of the target polyp (21), thereby establishing a stable initial operating posture and a suitable working distance.

[0029] As shown in Figure 11(b), after positioning and orientation alignment are completed, the system enters the water injection stage for tissue processing. Axial rotation controlled by the steering system (4) rotates the system end to the predetermined injection position where the water injection channel faces the target polyp (21). Under real-time observation through the eyepiece (7), the injection needle (22) in the water injection channel is extended and inserted into the submucosal region of the polyp (21) or its base. Subsequently, physiological saline is injected into the polyp tissue via the injection needle (22), gradually forming a liquid chamber (23) inside the polyp. As the liquid chamber (23) forms, the polyp (21) gradually bulges and separates significantly from the surrounding healthy tissue, thus providing a safe buffer space for subsequent cutting and reducing the risk of damage to normal tissue.

[0030] As shown in Figure 11(c), after water injection is completed and a liquid chamber (23) is formed, the injection needle (22) is retracted into the system along the water injection channel, and the system immediately switches to the cutting mode. By controlling the axial rotation of the system end again, the fiber optic channel (6) is rotated to align with the predetermined cutting start point of the polyp (21). Under the control of the external control terminal (3), the laser output is turned on, and the laser beam (24) is emitted from the fiber optic channel (6) and acts on the surface of the polyp (21). At this time, the steering system (4) adjusts the posture of the system end in real time under the piezoelectric drive, so that the laser cutting direction is consistent with the pre-planned cutting path, thereby completing the initial cutting of the polyp tissue.

[0031] As shown in Figure 11(d), during the cutting process, the steering system (4) is driven in coordination by the combination control of basic motion mode one (M1) with basic motion mode two (M2) and basic motion mode three (M3), enabling the laser beam to continuously and precisely cut the polyp (21) along the planned path. As the cutting process progresses, the polyp (21) gradually separates from the surrounding healthy tissue and eventually falls off under the support of the liquid chamber (23). Due to the good coagulation properties of the laser, intraoperative bleeding can be effectively reduced while completing the cutting, providing favorable conditions for subsequent wound healing. After the cutting is completed, the fiber optic channel (6) is closed, and the system exits the working area or enters the subsequent observation and treatment stage, completing the polyp removal operation.

[0032] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A robot for endoscopic laser ablation surgery based on a piezoelectrically driven gimbal ball, characterized by, Includes the surgical system end (1), the snake bone tube (2), and the control end (3); Among them, the snake bone tube (2) is used to guide the surgical system end (1) into the body cavity and adapt to the curved shape of the cavity. The control end (3) is operated by the user and is used to send control commands to the surgical system end (1) to realize remote control of the posture and working status of the surgical system end (1).

2. A piezoelectric driving gimbal ball based endoscopic laser ablation surgery robot as claimed in claim 1, wherein, The surgical system end (1) includes a laser steering system (4) and an external support structure (5); the external support structure (5) is fixed at the end of the snake tube (2), and is used not only to provide external support and spatial limitation for the laser steering system (4), but also to form a suitable pre-tightening effect for the laser steering system (4) to ensure the structural stability of the laser steering system (4) during movement; The laser steering system (4) includes an endoscope (9), a spherical shell (10), and a three-degree-of-freedom piezoelectric actuator (11). The endoscope (9) is used to integrate the surgical field observation and surgical operation channels. The endoscope (9) is internally equipped with an optical fiber channel (6), an eyepiece (7), and a water injection channel (8), which are used for laser transmission, image acquisition, and saline injection, respectively. The three-degree-of-freedom piezoelectric actuator (11) is used to drive the spherical shell (10) to rotate freely by piezoelectric drive.

3. A piezoelectric drive gimbal ball based endoscopic laser ablation surgery robot as claimed in claim 2, wherein, The endoscope (9) is fixedly installed inside the spherical shell (10) by adhesive, so that the endoscope (9) can change its posture synchronously with the rotation of the spherical shell (10), thereby realizing the coordinated adjustment of the observation direction and the laser emission direction.

4. The endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball as described in claim 2, characterized in that, The external support structure (5) includes a steering system mounting base (14), a support housing (13), and a pre-tensioning device (12). The pre-tightening device (12) includes four pre-tightening clamps arranged circumferentially along the spherical shell (10), and the four pre-tightening clamps are named in clockwise order as first pre-tightening clamp P1, second pre-tightening clamp P2, third pre-tightening clamp P3 and fourth pre-tightening clamp P4; the steering system mounting base (14) is made of elastic material, and the size of the mounting hole reserved in its center is smaller than the outer dimensions of the three-degree-of-freedom piezoelectric actuator (11), so that the three-degree-of-freedom piezoelectric actuator (11) forms an interference fit with the external support structure (5) through the steering system mounting base (14) during the assembly process.

5. The endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball as described in claim 4, characterized in that, When not constrained by the laser steering system (4), the pre-tightening device (12) is in a naturally contracted state. After the laser steering system (4) is installed, due to the limiting effect of the steering system mounting base (14), the end of the pre-tightening device (12) forms a tangential contact with the spherical surface of the spherical shell (10) and is in a tightened state. At this time, the four pre-tightening clamps P1 to P4 work together to apply a downward axial constraint force to the laser steering system (4) to achieve stable constraint on the position of the laser steering system (4), so that the spherical shell (10) can be stably placed on the three-degree-of-freedom piezoelectric actuator (11) and can rotate freely under controlled conditions.

6. The endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball as described in claim 2, characterized in that, The three-degree-of-freedom piezoelectric actuator (11) includes a piezoelectric ceramic (15), a working end (16), and a piezoelectric actuator magnesium alloy body (17); wherein, the piezoelectric actuator magnesium alloy body (17) serves as a structural support component, used to mount the piezoelectric ceramic (15) and the working end (16) along its own circumference, and transmits the deformation generated by the piezoelectric ceramic (15) under piezoelectric drive to the piezoelectric actuator magnesium alloy body (17), and then the deformed piezoelectric actuator magnesium alloy body (17) drives the spherical shell (10) to rotate freely.

7. The endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball as described in claim 6, characterized in that, The magnesium alloy body (17) of the piezoelectric actuator includes a working end mounting hole (18) and a piezoelectric ceramic mounting surface (19). The top surface of the magnesium alloy body (17) of the piezoelectric actuator has four working end mounting holes (18) evenly distributed, and the sides and bottom surface have eight piezoelectric ceramic mounting surfaces (19) evenly distributed; the four working ends (16) are, in clockwise order from the upper left corner, the first working end E1, the second working end E2, the third working end E3 and the fourth working end E4; the four circumferential piezoelectric ceramics (15) distributed on the side are, in clockwise order from the upper left corner, the first circumferential piezoelectric ceramic R1, the second circumferential piezoelectric ceramic R2, the third circumferential piezoelectric ceramic R3 and the fourth circumferential piezoelectric ceramic R4; the four axial piezoelectric ceramics (15) distributed on the bottom surface are, in clockwise order from the upper left corner, the first axial piezoelectric ceramic A1, the second axial piezoelectric ceramic A2, the third axial piezoelectric ceramic A3 and the fourth axial piezoelectric ceramic A4.

8. The endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball as described in claim 7, characterized in that, The working end (16) is fixedly installed in the corresponding working end mounting hole (18) by adhesive, and the piezoelectric ceramic (15) is bonded to the piezoelectric ceramic mounting surface (19) by epoxy resin adhesive.

9. The endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball as described in claim 7, characterized in that, The three-degree-of-freedom piezoelectric actuator (11) has three basic motion modes; Among them, the basic motion mode 1 M1 is the circumferential deformation motion generated by the circumferential piezoelectric ceramics R1 to R4 under the drive of the same frequency and phase sinusoidal signal; the basic motion mode 2 M2 is the deformation motion in the opposite direction along the axial direction generated by the axial piezoelectric ceramics A1 / A3 set on opposite sides under the drive of the anti-phase sinusoidal signal, thereby indirectly driving the working end (16) to move; the basic motion mode 3 M3 is the deformation motion in the opposite direction along the axial direction generated by the axial piezoelectric ceramics A2 / A4 set on opposite sides under the drive of the anti-phase sinusoidal signal, thereby indirectly driving the working end (16) to move. When basic motion mode 1 M1 is superimposed with basic motion mode 2 M2, the trajectory of the working end (16) is elliptical and drives the laser output by the working end (16) to turn around the x-axis, thereby realizing the arbitrary direction of the surgical laser in the yz cutting plane; when basic motion mode 1 M1 is superimposed with basic motion mode 3 M3, the trajectory of the working end (16) is elliptical and drives the laser output by the working end (16) to turn around the y-axis, thereby realizing the arbitrary direction of the surgical laser in the xz cutting plane; when basic motion mode 2 M2 is superimposed with basic motion mode 3 M3, the trajectory of the working end (16) is elliptical and drives the laser output by the working end (16) to turn around the z-axis, thereby realizing the arbitrary direction of the surgical laser in the xy cutting plane, so that the switching of different working channels in the endoscope can be realized under the condition that the spatial position of the working end (16) is basically fixed.

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