A lightweight surgical robot

Abstract

The present invention discloses a lightweight surgical robot, which includes an operating table, an execution part provided on the operating table, an instrument part detachably provided at the end of the execution part, a handheld part for a doctor to hold, and a control part; during the operation, the doctor triggers the handheld part as needed, the handheld part sends finger movement instructions to the control part, and the control part controls the execution part to drive the instrument part to perform corresponding actions according to the finger movement instructions, so as to perform a surgical operation on the patient by using the instrument part. The setting of the handheld part enables the doctor to flexibly manipulate the handheld part on the side of the operating table to make the instrument part perform corresponding actions, which is convenient for the doctor to accurately master the situation of the instrument, the assistant and the patient, is beneficial to improving the movement accuracy of the instrument part, and ensures the safety and reliability of the operation.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a lightweight surgical robot. Background Art

[0002] Minimally invasive surgery has the advantages of small trauma, light pain, and quick recovery, and is widely used in various departments. However, traditional minimally invasive surgery requires a high level of operation skills from doctors and is extremely labor-intensive. Based on this, using intelligent surgical robots to replace doctors in performing minimally invasive surgery on patients has become the future development trend in the medical field. Surgical robots can largely eliminate the limitations of traditional minimally invasive surgery. Existing surgical robots have a complex structure and a high failure rate, so it is imperative to design a lightweight surgical robot with a simple structure.

[0003] Taking the da Vinci surgical robot as an example, existing lightweight surgical robots are usually equipped with an operating console, an operating table, and robotic arms. Doctors control the robotic arms through the operating console to perform surgical operations on patients lying on the operating table. The existing robotic arms are arranged close to the operating table. Since the operating console needs to occupy a large space, the distance between the operating console and the operating table is too far, resulting in that doctors can only observe the surgical status through the operating console and it is difficult to observe closely with the naked eye. And the image recognition information usually has a certain degree of accuracy error, which affects the surgical accuracy and further threatens the surgical safety. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a lightweight surgical robot, enabling doctors to closely observe and manipulate the instrument part with the help of the handheld part, with high surgical accuracy and relatively safe surgery.

[0005] The lightweight surgical robot provided by the present invention includes:

[0006] An operating table;

[0007] An execution part arranged on the operating table;

[0008] An instrument part detachably arranged at the end of the execution part;

[0009] A handheld part for a doctor to hold;

[0010] A control part electrically connected to the operating table, the execution part, the instrument part, and the handheld part respectively. The control part is used to control the execution part on the side of the operating table to drive the instrument part to perform corresponding actions according to the finger movement instructions fed back by the handheld part.

[0011] Preferably, it further includes:

[0012] A support frame arranged beside the operating table and used to support the handheld part;

[0013] A supporting part that is arranged on the support frame and connected to the control part and is used to support the arm; the control part is used to control the execution part to drive the instrument part to act in cooperation with the finger movement instruction according to the arm movement instruction fed back by the supporting part.

[0014] Preferably, it further includes a robotic arm that is arranged on the operating table and is used to support the execution part; the robotic arm is provided with an electro-permanent magnetic seat; the electro-permanent magnetic seat is connected to the control part, and the control part is used to control the electro-permanent magnetic seat to be powered on according to the instrument installation instruction fed back by the handheld part so that the execution part is adsorbed and fixed on the electro-permanent magnetic seat by magnetic attraction, and is also used to control the electro-permanent magnetic seat to lose power according to the instrument disassembly instruction fed back by the handheld part so that the execution part disengages from the electro-permanent magnetic seat after the magnetic attraction of the electro-permanent magnetic seat disappears.

[0015] Preferably, hinge seats are arranged on two opposite sides of the operating table, the robotic arm is connected to the hinge seats, and the hinge seats are connected to the control part. The control part is used to control the hinge seats to drive the robotic arm to rotate relative to the operating table according to the rotation and swing instruction fed back by the handheld part so that the robotic arm drives the instrument part to swing through the execution part.

[0016] Preferably, it further includes a counterweight arranged on the hinge seat, and the counterweight is connected to the robotic arm to compensate for the gravity of the robotic arm.

[0017] Preferably, the robotic arm includes two telescopic columns that are symmetrically arranged on two sides of the operating table respectively, and the two telescopic columns are connected to the control part. The control part is used to control the two telescopic columns to extend and retract synchronously according to the height adjustment instruction fed back by the handheld part so that the robotic arm adjusts the height of the instrument part through the execution part.

[0018] Preferably, sliding seats are arranged on two opposite sides of the operating table, the hinge seats are arranged on the sliding seats, and the sliding seats are connected to the control part. The control part is used to control the sliding seats to drive the robotic arm to slide along the sliding groove arranged on the side of the operating table according to the sliding adjustment instruction fed back by the handheld part so that the robotic arm drives the instrument part to slide through the execution part.

[0019] Preferably, the control part is used to control the execution part to drive the instrument part to perform a clamping action according to the instrument clamping instruction fed back by the handheld part, is also used to control the execution part to drive the instrument part to perform a rotation action according to the instrument rotation instruction fed back by the handheld part, and is further used to control the execution part to drive the instrument part to perform a cutting action according to the instrument cutting instruction fed back by the handheld part.

[0020] Preferably, the handheld part includes a feedback force detection part for detecting the feedback force of the finger, and the feedback force detection part is connected to the control part. The control part is used to adjust the clamping force of the instrument part through the execution part according to the force feedback instruction sent by the force feedback detection part.

[0021] Preferably, it further includes a user identity detection part for identifying the logged-in user identity, and the user identity detection part is connected to the control part. The control part is used to call the stored user login mode corresponding to the user login instruction sent by the user identity detection part.

[0022] Preferably, it further includes a distance detector connected to the control unit and used to detect the distance between the instrument unit and the obstacle, and the control unit is used to control the execution unit to stop acting when the distance between the instrument unit and the obstacle reaches a preset distance according to the signal sent by the distance detector.

[0023] Preferably, it further includes an alarm connected to the control unit and a safety position detector used to detect whether the instrument unit is in a safe area, and the control unit is used to activate the alarm to give an alarm when the instrument unit exceeds the safe area according to the signal sent by the safety position detector.

[0024] Preferably, it further includes a traction force detector connected to the controller and used to detect the current traction force of the puncture hole, and the controller is used to control the execution unit to adjust the insertion angle of the instrument unit when the current traction force reaches a preset traction force so that the current traction force is less than the preset traction force according to the signal sent by the traction force detector.

[0025] Preferably, the execution unit is directly connected to the handheld unit.

[0026] Compared with the background art, the lightweight surgical robot provided by the present invention includes an operating table, an execution unit, an instrument unit, a handheld unit and a control unit. During the operation, the doctor triggers the handheld unit as needed, the handheld unit sends a finger movement instruction to the control unit, and the control unit controls the execution unit to drive the instrument unit to perform corresponding actions according to the finger movement instruction, so as to perform a surgical operation on the patient by using the instrument unit. The setting of the handheld unit enables the doctor to flexibly manipulate the handheld unit on the side of the operating table so that the instrument unit performs corresponding actions, which is convenient for the doctor to observe the actions of the instrument unit with the naked eye at a close distance, avoids observing or manipulating the instrument unit at a long distance, reduces the risk of misoperation of the instrument unit, is beneficial to improving the movement accuracy of the instrument unit, and ensures the safety and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0028] Figure 1 It is the structure diagram of the lightweight surgical robot provided by the first specific embodiment of the present invention;

[0029] Figure 2 is Figure 1 the assembly diagram of the handheld unit on the supporting part;

[0030] Figure 3 is Figure 1Structural diagram of the middle handheld part;

[0031] Figure 4 is Figure 1 Cross-sectional view of the firing button of the middle handheld part;

[0032] Figure 5 Structural diagram of the puncture device;

[0033] Figure 6 Structural diagram of the lightweight surgical robot provided by the second specific embodiment of the present invention.

[0034] The reference numerals are as follows:

[0035] Operating bed 1, execution part 2, instrument part 3, handheld part 4, support frame 6, supporting part 7, robotic arm 8, display screen 9, puncture device 10 and traction force detection part 11;

[0036] Firing button 41, adjusting component 42, elastic component 43, displacement detection component 44, detection frame 45 and handle 46, moving button 47, dial switch 48 and rocker type angle sensor 49;

[0037] Armature iron rod 421 and fixed coil 422;

[0038] Rectangular frame 451 and circular frame 452. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] In order to enable those in the technical field to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] Please refer to Figures 1 to 5 , Figure 1 Structural diagram of the lightweight surgical robot provided by the first specific embodiment of the present invention; Figure 2 is Figure 1 Assembly diagram of the middle handheld part on the supporting part; Figure 3 is Figure 1 Structural diagram of the middle handheld part; Figure 4 is Figure 1 Cross-sectional view of the firing button of the middle handheld part; Figure 5 Structural diagram of the puncture device.

[0042] An embodiment of the present invention discloses a lightweight surgical robot, which includes an operating table 1, an execution part 2, an instrument part 3, a handheld part 4, and a control part 5.

[0043] The operating table 1 includes a table support and a table board. The table board is for the patient to lie on, and the table support is for supporting the table board. The table support can be a liftable table support, which is convenient for doctors to flexibly adjust the height of the table board as needed.

[0044] The execution part 2 is arranged on the operating table 1 and is used to drive the instrument part 3 to move. The execution part 2 is internally provided with components such as a driving motor and a gear transmission part. The driving motor is connected to the control part 5, and the control part 5 controls the rotation speed and direction of the driving motor. The shell of the execution part 2 has good sealing performance, providing conditions for high-temperature and high-pressure sterilization of the execution part 2.

[0045] The instrument part 3 is detachably arranged at the end of the execution part 2. The instrument part 3 can be endoscopic surgical instruments such as a stapler, a grasping forceps, a needle holder, an electrocautery, etc. Doctors can install the required instrument part 3 on the execution part 2 as needed. Preferably, the execution part 2 and the instrument part 3 are fixedly connected by a mechanical clamping method, and the specific structure of the mechanical clamping can refer to the prior art. The execution part 2 can drive the instrument part 3 to perform actions such as left and right swing, up and down swing, clamping and loosening, forward and backward movement, and left and right rotation. The instrument part 3 can be a disposable item. After the operation, doctors can remove the instrument part 3 after disconnecting the connection between the execution part 2 and the handheld part 4. Specifically, the instrument part 3 has nine degrees of freedom, such as the forward and backward movement, opening and closing movement, up and down movement, left and right movement, rotation movement, up and down swing, left and right swing, forward and backward movement of the instrument part 3.

[0046] The handheld part 4 is for doctors to hold, facilitating the use of the handheld part 4 to remotely control the movement of the instrument. The volume of the handheld part 4 is small and the weight is light, which is convenient for doctors to flexibly transfer.

[0047] The control part 5 is electrically connected to the operating table 1, the execution part 2, the instrument part 3, and the handheld part 4 respectively. The control part 5 can be a CPU, MPU, MCU, or FPGA, etc., and is used for signal processing and storage. To improve safety, the control part 5 preferably includes a host and a slave, realizing the dual-machine hot standby function. The host and the slave communicate regularly. The slave can only back up data when the host is working normally. The slave can also replace the host to process information when the host fails, thereby using safety redundancy measures to prevent data loss, and further preventing the operation from being interrupted due to data loss, which is beneficial to improving the safety of the operation. Further, the control part 5 can upload the stored data to the cloud database through the Internet to further prevent data loss.

[0048] The control unit 5 is built-in with a communication board, which can be a wired network card, a wireless network card, RS458 communication, USB communication, or a CAN bus, etc. The control unit 5 communicates with other components through the communication board. Preferably, wireless communication is used between the handheld unit 4, the execution unit 2, and the control unit 5. The wireless communication can be communication methods such as Bluetooth, UWB, ZigBee, or WLAN, etc. Preferably, WLAN wireless communication is used. The communication interface of the control unit 5 can be a WLAN or 5G network port, providing conditions for long-distance signal transmission, making the control unit 5 applicable to remote medical treatment or remote monitoring.

[0049] During the operation, the doctor triggers the handheld unit 4 as needed. The handheld unit 4 sends finger movement instructions to the control unit 5, and the control unit 5 controls the execution unit 2 to drive the instrument unit 3 to perform corresponding actions according to the finger movement instructions, so as to perform a surgical operation on the patient using the instrument unit 3.

[0050] As can be seen from the above, the setting of the handheld unit 4 enables the doctor to flexibly manipulate the handheld unit 4 on the side of the operating table 1 so that the instrument unit 3 performs corresponding actions, facilitating the doctor to observe the actions of the instrument unit 3 closely with the naked eye, avoiding observing or manipulating the instrument unit 3 at a long distance, reducing the risk of misoperation of the instrument unit 3, being beneficial to improving the movement accuracy of the instrument unit 3, and ensuring the safety and reliability of the operation.

[0051] In the first specific embodiment, the present invention further includes a support frame 6 and a supporting part 7. The support frame 6 is located on the side of the operating table 1 and is used to support the handheld unit 4. The support frame 6 can also be a telescopic support frame 6, which is convenient for the doctor to adjust the height of the support frame 6 according to his own height, so that the height of the support frame 6 conforms to ergonomics. The supporting part 7 is arranged on the top of the support frame 6 and is used to support the doctor's hand, which is beneficial to reducing the doctor's working intensity. The supporting part 7 includes a supporting block with a supporting groove, and the supporting block is fixed on the top of the support frame 6. A buffer pad can be added to the supporting groove, and the buffer pad can be made of silica gel to avoid rigid contact between the arm and the supporting groove, which is beneficial to improving comfort.

[0052] To accurately control the actions of the instrument unit 3, the supporting part 7 is electrically connected to the control unit 5, so that the control unit 5 simultaneously controls the execution unit 2 to drive the instrument unit 3 to perform corresponding actions according to the arm movement instructions feedback by the supporting part 7 and the finger movement instructions feedback by the handheld unit 4. For example, when the trigger button of the handheld unit 4 is pulled and the arm presses down the supporting part 7 forcefully, the handheld unit 4 feeds back a firing instruction to the control unit 5 to make the control unit 5 control the instrument unit 3 to clamp the tissue, and at the same time, the supporting part 7 feeds back a pressing-down instruction to the control unit 5 to control an increase in the clamping force of the instrument unit 3. It should be noted that the finger movement instructions feedback by the handheld unit 4 are mainly used for the instrument unit 3 controlled by the control unit 5 to realize main functions such as clamping, rotating, or shearing, and the arm movement instructions feedback by the supporting part 7 are mainly used for the instrument unit 3 controlled by the control unit 5 to realize auxiliary functions such as small-amplitude swinging, increasing or decreasing the clamping force, or lifting the bed body.

[0053] The present invention further includes a robotic arm 8 provided on the operating table 1, and the robotic arm 8 is used to support the execution part 2. The robotic arm 8 is provided with an electro-permanent magnetic seat, and the electro-permanent magnetic seat is connected to the control part 5. When the instrument installation instruction fed back by the handheld part 4 reaches the control part 5, the control part 5 controls the electro-permanent magnetic seat to be energized, so that the execution part 2 is adsorbed and fixed on the electro-permanent magnetic seat by magnetic attraction; when the instrument disassembly instruction fed back by the handheld part 4 reaches the control part 5, the control part 5 controls the electro-permanent magnetic seat to lose power, so that the execution part 2 detaches from the electro-permanent magnetic seat after the magnetic attraction of the electro-permanent magnetic seat disappears; it is convenient to disassemble and assemble the execution part 2, convenient for the execution part 2 to achieve rapid disinfection, or convenient to achieve rapid replacement of the instrument part 3. Of course, the installation method of the execution part 2 is not limited to this. It should be noted that the handheld part 4 is provided with a disassembly and assembly button. When the disassembly and assembly button is pressed, the handheld part 4 sends an instrument disassembly instruction to the control part 5; on the contrary, the handheld part 4 continuously sends an instrument installation instruction to the control part 5 to keep the execution part 2 fixed on the electro-permanent magnetic seat. The disassembly button can be an elastic button.

[0054] In this specific embodiment, the robotic arm 8 includes a hoisting crossbeam, the electro-permanent magnetic seat is slidably arranged on the hoisting crossbeam, the hoisting crossbeam is provided with a transverse driving cylinder connected to the electro-permanent magnetic seat, the transverse driving cylinder is electrically connected to the control part 5, and the handheld part 4 can be additionally provided with a transverse displacement button. When the transverse movement button is pressed down, the handheld part sends a transverse movement instruction to the control part 5, and the control part 5 starts the transverse driving cylinder to expand and contract, so that the transverse driving cylinder drives the electro-permanent magnetic seat to automatically slide along the hoisting crossbeam to the target position, which is convenient for adjusting the position of the execution part 2. Considering reliability, a locking part can be added between the hoisting crossbeam and the electro-permanent magnetic seat. When the electro-permanent magnetic seat slides to the target position, the control part 5 controls the locking part to lock the electro-permanent magnetic seat to the hoisting crossbeam to prevent the electro-permanent magnetic seat from malfunctioning during the operation, which is beneficial to improving the safety of the operation. The locking part can include a locking rod and a locking hole, and the specific structure and working principle can refer to the prior art. Of course, directly fixing the electro-permanent magnetic seat on the robotic arm 8 can still achieve the purpose of the present invention. To limit the installation position of the execution part 2, the electro-permanent magnetic seat is provided with a positioning column, which is convenient for quickly disassembling and assembling the execution part 2.

[0055] Both the robotic arm 8 and the execution part 2 are processed from carbon fiber, which has the advantages of light weight and small elastic modulus, is convenient for quick disassembly and assembly, and is beneficial to shortening the operation time. The lightweight setting of the robotic arm 8 and the execution part 2 is convenient for doctors to add multiple robotic arms 8 or execution parts 2 according to the operation requirements, without being restricted by the integrated surgical robot, and is more flexible to use.

[0056] Hinge seats are provided on two opposite sides of the operating table 1. The robotic arm 8 is connected to the hinge seats, and the hinge seats are electrically connected to the control unit 5. When the handheld part 4 feeds back a rotation and swing command to the control unit 5, the control unit 5 controls the rotation of the hinge seats. The hinge seats drive the robotic arm 8 to rotate relative to the operating table 1, so that the robotic arm 8 drives the instrument part 3 to swing through the execution part 2, accurately defining the position of the instrument part 3. The maximum flipping angle of the instrument part 3 is 180 degrees. The handheld part 4 can be provided with a rotation button. When the rotation button is pressed, the handheld part 4 sends a feedback rotation and swing command to the control unit 5.

[0057] The present invention further includes a counterweight block provided on the hinge seat. The counterweight block is connected to the robotic arm 8 to compensate for the gravity of the robotic arm 8 by using the counterweight block, avoiding the reduction of its accuracy due to excessive load on the robotic arm 8. The number of robotic arms 8 provided can be one or more, but at most not exceeding four.

[0058] The robotic arm 8 further includes two telescopic columns symmetrically provided on both sides of the operating table 1 respectively. The two telescopic columns are connected to the control unit 5. When the handheld part 4 feeds back a height adjustment command to the control unit 5, the control unit 5 controls the two telescopic columns to expand and contract synchronously, so that the robotic arm 8 adjusts the height of the instrument part 3 through the execution part 2, further defining the position of the instrument part 3. The handheld part 4 can be provided with a height adjustment button. When the height adjustment button is pressed, the height adjustment button sends a height adjustment command to the control unit 5.

[0059] Furthermore, sliding seats are provided on both sides of the operating table 1. Each hinge seat on one side is disposed on the sliding seat on the same side. The sliding seat is connected to the control unit 5. When the handheld part 4 feeds back a sliding adjustment command to the control unit 5, the control unit 5 controls the sliding seat to slide along the sliding groove provided on the side surface of the operating table 1, so that the sliding seat drives the instrument part 3 to slide relative to the operating table 1 to the target position through the execution part 2. The sliding seat can be a hydraulic cylinder or a servo motor configured with a lead screw nut pair. Correspondingly, the handheld part 4 is provided with a sliding adjustment button. When the sliding adjustment button is pressed, the handheld part 4 sends a sliding adjustment command to the control unit 5. The sliding seat and the hinge seat can be connected by bolts, but not limited thereto.

[0060] The settings of the transverse drive cylinder, hinge seats, telescopic columns and sliding seats facilitate the doctor to automatically adjust the instrument part 3 according to the surgical site of the patient before the operation and facilitate the automatic adjustment of the position of the instrument part 3 during the operation.

[0061] In addition, when the handheld part 4 sends an instrument clamping instruction to the control part 5, the control part 5 controls the execution part 2 to drive the instrument part 3 to perform a clamping action; when the handheld part 4 sends an instrument rotation instruction to the control part 5, the control part 5 controls the execution part 2 to drive the instrument part 3 to perform a rotation action; when the handheld part 4 sends an instrument cutting instruction to the control part 5, the control part 5 controls the execution part 2 to drive the instrument part 3 to perform a cutting action. Correspondingly, the handheld part 4 is provided with a firing button for generating an instrument clamping instruction, an instrument rotation button for generating an instrument rotation instruction, and an instrument shearing button for generating an instrument cutting instruction.

[0062] To improve the surgical precision, the handheld part 4 is provided with a feedback force detection component for detecting the finger feedback force. The feedback force detection component is connected to the control part 5. When the force feedback detection component sends a force feedback instruction to the control part 5, the control part 5 adjusts the clamping force of the instrument part 3 through the execution part 2, which facilitates the doctor to automatically adjust the clamping force of the instrument part 3 as needed during the operation, making the clamping force appropriate, avoiding pinching the tissue with excessive clamping force, and ensuring the surgical safety. The feedback force detection component can be a force detection sensor.

[0063] The present invention further includes a user identity detection component for identifying the logged-in user's identity. The user identity detection component is connected to the control part 5. When the user identity detection component sends a user login instruction to the control part 5, the control part 5 calls the stored user login mode, enabling different logged-in users to automatically enter the corresponding user login mode, which facilitates the logged-in user to quickly access the patient information and at the same time facilitates the confidentiality of the patient information. The user identity detection component can use non-contact methods such as iris, fingerprint, face, or RAID card swiping recognition for identification. The logged-in user identity can be an engineer, a doctor, or a nurse. Taking a doctor as an example, the doctor login mode correspondingly displays information such as the clamping force, cutting force, current magnitude, pose, or usage times of the instrument part 3. Taking an engineer as an example, the engineer login mode correspondingly displays information such as the factory information, standard parameters, production batch, or service life of the instrument part 3.

[0064] The control part 5 in the present invention is built-in with a patient database for storing patient information. Before the operation, the doctor stores the patient information form of each patient in the patient database. During the operation, the doctor can input the patient's identity information into the control part 5 by means of voice, touch screen, or mouse and keyboard, etc., which facilitates the doctor to call the patient information form corresponding to the patient's identity information from the patient database in real time and modify the patient information form as needed in real time during the operation. The patient information form can include the CT detection result or ultrasonic detection result of the patient, etc. The doctor can call the patient information form by means of voice, touch screen, or mouse and keyboard, etc. Correspondingly, a voice recognizer connected to the control part 5 for collecting the doctor's voice information or a touch screen connected to the control for collecting the calling information input by the doctor can be added.

[0065] The present invention further includes a CT recognition component for recognizing the CT examination results in the patient information form and a display screen 9. Both the CT recognition component and the display screen 9 are connected to the control unit 5. When the CT recognition component recognizes the CT examination results in the patient information form, the CT recognition component sends a signal to the control unit 5, and the control unit 5 controls the display brightness of the display screen 9 to facilitate the doctor to accurately view the CT examination results. The CT recognition component may be an image recognition device, which is not specifically limited herein.

[0066] There may be multiple display screens 9, and different information is displayed on the multiple display screens 9. The display screen 9 is preferably a touch screen, which may be a resistive touch screen or a capacitive touch screen. The display screen 9 has interfaces such as GA, HDMI, DP, and DPmini, and the display screen 9 is also provided with a USB interface for connecting an external keyboard, mouse, or touchpad.

[0067] The present invention further includes a surgical state detection component for detecting the surgical state of the instrument part 3. The surgical state detection component is connected to the control unit 5, and the control unit 5 controls the display screen 9 to display the surgical state of the instrument part 3 in real time according to the information sent by the surgical state detection component. The surgical state detection component may be a camera, but is not limited thereto.

[0068] The handheld part 4 includes a fixed housing. The fixed housing is integrally provided with a fixed handle for the doctor to hold. All buttons are installed on the fixed housing. The fixed housing is installed with a rechargeable battery for independently powering the handheld part 4. The fixed housing is provided with a charging interface connected to the rechargeable battery, and the charging interface is connected to an external power supply. The charging interface is provided with a status display screen 9 for displaying information such as the voltage, current, and power of the handheld part 4. The status display screen 9 is connected to the control unit 5 through a wireless communication method.

[0069] The handheld part 4 further includes a status indicator for displaying the connection state between the actuator part 2 and the instrument part 3. Correspondingly, the present invention further includes an instrument connection state detection component for detecting the connection state between the actuator part 2 and the instrument part 3. Both the status indicator and the instrument connection state detection component are connected to the control unit 5. When the instrument connection state detection component detects that the actuator part 2 and the instrument part 3 are not connected, the instrument connection state detection component sends a signal to the control unit 5, and the control unit 5 controls the status indicator to emit a red light; when the instrument connection state detection component detects that the actuator part 2 and the instrument part 3 are connected, the instrument connection state detection component sends a signal to the control unit 5, and the control unit 5 controls the status indicator to emit a green light. The status indicator may be an LED lamp, and the instrument connection state detection component may be a contact sensor or a pressure sensor, which is not specifically limited herein.

[0070] The handheld part 4 further includes an execution connection state detector for detecting the connection state between the handheld part 4 and the execution part 2 and a voice prompt device. Both the execution connection state detector and the voice prompt device are connected to the control part 5. When the execution connection state detector detects that the handheld part 4 is connected to the execution part 2, the execution connection state detector sends a signal to the control part 5, and the control part 5 controls the voice prompt device to prompt the doctor that the handheld part 4 and the execution part 2 are already connected. The execution connection state detector can be a communication connection detection device.

[0071] The present invention further includes a distance detector connected to the control part 5. The distance detector is used to detect the distance between the instrument part 3 and an obstacle. The distance detector can be a distance detection sensor or an obstacle detection sensor, etc. Among them, the obstacle sensor can be an obstacle sensor using technologies such as binocular vision or magnetic positioning. For example, a marking sticker is attached to the robotic arm 8 and the instrument part 3. The marking sticker adopts a common coding form and is connected to the control part 5, which is convenient for the control part 5 to identify the positions of the robotic arm 8 and the instrument part 3 with the help of the marking sticker, so as to achieve anti-collision.

[0072] When the distance between the instrument part 3 and the obstacle reaches a preset distance according to the signal sent by the distance detector, the control part 5 controls the execution part 2 to stop operating, preventing the instrument part 3 from colliding with the obstacle, thereby effectively preventing the instrument part 3 from colliding with the robotic arm 8, the operating table 1 or external objects, etc., which is beneficial to improving the safety of the operation. The preset distance is the distance when the instrument part 3 is about to collide with the obstacle and can be pre-input into the control part 5.

[0073] The handheld part 4 is provided with a trigger firing button 41. The firing button 41 includes a trigger flange and a button body arranged coaxially. The trigger flange is integrally connected to the button body, and the cross-sectional area of the trigger flange is larger than that of the button body. Specifically, both the trigger flange and the button body are cylindrical, and the outer diameter of the trigger flange is larger than that of the button body. The firing button 41 is slidably installed on an adjusting assembly 42 for adjusting the trigger force of the firing button 41. The adjusting assembly 42 can be a hydraulic cylinder, a pneumatic cylinder or a magnetic induction coil, etc. The specific structure and working principle of the adjusting assembly 42 can refer to the following content. An elastic member 43 is abutted between the firing button 41 and the adjusting assembly 42. The elastic member 43 always maintains a compressed state to provide damping for the firing button 41. The elastic member 43 is sleeved on the button body and is specifically a cylindrical spring. One end of the elastic member 43 close to the firing button 41 is specifically abutted against the trigger flange.

[0074] Considering the working precision of the adjusting component 42, the magnetic induction type is selected for the adjusting component 42, which includes an armature rod 421 and a fixed coil 422. The armature rod 421 is slidably sleeved on the firing button 41. The armature rod 421 has a contact flange that abuts against the elastic member 43. The contact flange is provided at one end of the armature rod 421 close to the firing button 41. In addition to abutting against the elastic member 43, the contact flange is also used to axially limit the armature rod 421. When the armature rod 421 moves a certain distance, the stop flange abuts against the left end of the fixed coil 422 to prevent the armature rod 421 from detaching from the fixed coil 422.

[0075] The position of the fixed coil 422 is relatively fixed, enabling the armature rod 421 to axially slide relative to the fixed coil 422. The fixed coil 422 is sleeved on the outer periphery of the armature rod 421, and the fixed coil 422 is connected to the control unit 5. The control unit 5 adjusts the current of the fixed coil 422 according to the signal sent by the force detection component, thereby adjusting the magnetic induction intensity of the fixed coil 422, and further adjusting the magnetic stress of the fixed coil 422, and then adjusting the acting force applied to the armature rod 421, so as to accurately adjust the sliding distance of the armature rod 421 according to the force detection component.

[0076] Specifically, the fixed coil 422 is provided with a conical groove, and a conical block is integrally provided on the outer periphery of the armature rod 421. The conical block is matched with the conical groove to keep the length of the magnetic induction lines of the fixed coil 422 consistent, ensuring that the current flowing through the fixed coil 422 and the magnetic stress are linearly related, facilitating the control unit 5 to accurately adjust the magnetic stress applied to the armature rod 421 by adjusting the current flowing through the fixed coil 422, and providing a basis for the stable sliding of the armature rod 421.

[0077] The displacement detection component 44 is used to detect the current moving distance of the firing button 41, which can be a displacement sensor. When the displacement detection component 44 detects the current moving distance of the firing button 41, the displacement detection component 44 sends a signal to the control unit 5. The control unit 5 controls the driving voltage and current of the main driving component according to the corresponding relationship between the current moving distance of the firing button 41 stored and the pre-set output driving force of the main driving component, so that the main driving component accurately outputs the corresponding driving force, thereby accurately controlling the tissue squeezing and cutting force of the staple cartridge assembly 3 according to the moving distance of the firing button 1, with high working precision and further improving the surgical safety. The main driving component can be a servo motor or a DC motor, which is used to drive the instrument part 3 to move.

[0078] In this specific embodiment, the handheld part 4 further includes a detection frame 45 and a handle 46. The detection frame 45 includes a rectangular frame 451 and a circular frame 452 that are integrally connected.

[0079] A detection rod is provided at the neutral position of the rectangular frame 451. The front end of the handle 46 is slidably mounted on the detection rod. A translation detection member for detecting the forward and backward translation distance of the handle can be added to the detection rod. The translation detection member is connected to the control unit 5, so that the controller 5 controls the execution unit 2 to slide along the robotic arm 8 according to the signal sent by the translation detection member, thereby controlling the up and down movement of the mechanical unit 3. The translation detection member can be a displacement sensor, but is not limited thereto.

[0080] The circular ring-shaped frame 452 is slidably provided on the support frame 6. The circular ring-shaped frame 452 slides relative to the support frame 6 in the vertical direction along with the force applied by the wrist. A return spring for assisting the reset of the circular ring-shaped frame 452 can be added between the circular ring-shaped frame 452 and the support frame 6. The present invention can also be provided with a pressing distance detection member for detecting the moving distance of the circular ring-shaped frame 452. The pressing distance detection member is connected to the controller 5. The pressing distance detection member can be a displacement sensor, so that the controller controls the execution unit 2 to slide back and forth along the operating table 1 according to the signal sent by the pressing distance detection member.

[0081] The handle 46 is provided with a firing button 41. By pressing the firing button 41, the jaws of the mechanical unit 3 are opened and closed to automatically perform the clamping action. The handle 46 is also provided with a movement button 47. The movement button 47 is connected to the controller 5, which is convenient for using the movement button 47 to control the mechanical unit 3 to perform the cutting and anastomosis action. The handle 46 is provided with a dial switch 48. The dial switch 48 is also connected to the controller 5, so as to use the dial switch 48 to control the mechanical unit 3 to rotate clockwise or counterclockwise.

[0082] The handle 46 is also provided with a rocker-type angle sensor 49 connected to the controller 5. The rocker-type angle sensor 49 is used to detect the swing angle of the rocker, so that the controller 5 controls the opening size of the jaws of the mechanical unit 3 according to the signal sent by the rocker-type angle sensor 49.

[0083] Of course, a swing sensor can also be added to the detection rod of the rectangular frame 451. The swing sensor is connected to the controller 5. The swing sensor is used to detect the swing angle of the handle, so that the controller 5 controls the relative swing angle of the robotic arm 8 according to the signal sent by the swing sensor, thereby adjusting the working angle of the mechanical unit 3.

[0084] The present invention further includes an alarm and a safety position detector for detecting whether the instrument part 3 is in a safe area. Both the alarm and the safety position detector are connected to the control part 5. The control part 5 activates the alarm according to the signal sent by the safety position detector when the instrument part 3 exceeds the safe area, reminding the doctor to abort the operation and preventing the instrument from malfunctioning and hurting the patient. The safety position detection can be a limit switch, a displacement sensor, a camera, etc., and no specific limitation is made here. Of course, the safe area can be set according to the path planning method or the electronic fence, etc. Once the instrument part 3 exceeds the safe area enclosed by the electronic fence, the control part 5 controls the execution part 2 to stop operating according to the signal sent by the electronic fence. Or, the movement path of the instrument part 3 is fed back to the control part 5 in real time. When the actual path of the instrument part 3 exceeds the pre-stored movement path of the control part 5, the control part 5 controls the execution part 2 to stop operating.

[0085] The present invention further includes a pulling force detector 11 connected to the controller 5. The pulling force detector 11 is used to detect the current pulling force of the insertion hole of the trocar 10. The pulling force detector 11 is arranged inside the insertion hole of the trocar and is distributed in a circular ring shape. The pulling force detector 11 can specifically be a pressure sensor, but is not limited thereto.

[0086] When the current pulling force reaches the preset pulling force, the controller 5 controls the execution part 2 to operate according to the signal sent by the pulling force detector 11, and uses the execution part 2 to adjust the insertion angle of the instrument part 3 to make the current pulling force less than the preset pulling force, avoiding the instrument part 3 from stabbing the internal organs or tissues due to excessive pulling force, which is beneficial to improving the safety of the operation.

[0087] Please refer to Figure 6 , Figure 6 which is a structural diagram of the lightweight surgical robot provided by the second specific embodiment of the present invention.

[0088] Compared with the first specific embodiment, in the second specific embodiment, the execution part 2 is directly connected to the handheld part 4 in a straight line, enabling the doctor to directly manually operate the instrument part 3 for the operation, and still being able to achieve the purpose of the present invention.

[0089] The above has introduced the lightweight surgical robot provided by the present invention in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A lightweight surgical robot, characterized in that, Comprising: An operating table (1); An execution part (2) provided on the operating table (1); An instrument part (3) detachably provided at the end of the execution part (2); A handheld part (4) for a doctor to hold; A control part (5) electrically connected to the operating table (1), the execution part (2), the instrument part (3) and the handheld part (4) respectively. The control part (5) is used to control the execution part (2) to drive the instrument part (3) to perform corresponding actions according to the finger movement instructions fed back by the handheld part (4) on the side of the operating table (1); The control part (5) is used to control the execution part (2) to drive the instrument part (3) to perform a clamping action according to the instrument clamping instruction fed back by the handheld part (4), and is also used to control the execution part (2) to drive the instrument part (3) to perform a rotation action according to the instrument rotation instruction fed back by the handheld part (4), and is further used to control the execution part (2) to drive the instrument part (3) to perform a cutting action according to the instrument cutting instruction fed back by the handheld part (4).

2. The lightweight surgical robot according to claim 1, wherein Further comprising: A support frame (6) provided beside the operating table (1) and used to support the handheld part (4); A supporting part (7) provided on the support frame (6) and connected to the control part (5) for supporting the arm. The control part (5) is used to control the execution part (2) to drive the instrument part (3) to act in cooperation with the finger movement instructions according to the arm movement instructions fed back by the supporting part (7).

3. The lightweight surgical robot according to claim 1, wherein Further comprising a robotic arm (8) provided on the operating table (1) and used to support the execution part (2). The robotic arm (8) is provided with an electro-permanent magnet seat. The electro-permanent magnet seat is connected to the control part (5). The control part (5) is used to control the electro-permanent magnet seat to be energized according to the instrument installation instruction fed back by the handheld part (4) so that the execution part (2) is adsorbed and fixed on the electro-permanent magnet seat by magnetic attraction, and is also used to control the electro-permanent magnet seat to be de-energized according to the instrument disassembly instruction fed back by the handheld part (4) so that the execution part (2) disengages from the electro-permanent magnet seat after the magnetic attraction of the electro-permanent magnet seat disappears.

4. The lightweight surgical robot according to claim 3, wherein, A hinge seat is provided on the side of the operating table (1). The robotic arm (8) is connected to the hinge seat. The hinge seat is connected to the control part (5). The control part (5) is used to control the hinge seat to drive the robotic arm (8) to rotate relative to the operating table (1) according to the rotation and swing instruction fed back by the handheld part (4) so that the robotic arm (8) drives the instrument part (3) to swing through the execution part (2).

5. The lightweight surgical robot according to claim 4, wherein, Further comprising a counterweight block provided on the hinge seat. The counterweight block is connected to the robotic arm (8) to compensate for the gravity of the robotic arm (8).

6. The lightweight surgical robot according to claim 4, wherein The robotic arm (8) includes two telescopic columns symmetrically provided on both sides of the operating table (1) respectively. The two telescopic columns are connected to the control part (5). The control part (5) is used to control the two telescopic columns to extend and retract synchronously according to the height adjustment instruction fed back by the handheld part (4) so that the robotic arm (8) adjusts the height of the instrument part (3) through the execution part (2).

7. The lightweight surgical robot according to claim 4, wherein, Sliding seats are provided on two opposite sides of the operating table (1), the hinge seat is arranged on the sliding seat, the sliding seat is connected to the control unit (5), and the control unit (5) is configured to control the sliding seat to drive the robotic arm (8) to slide along the sliding groove provided on the side of the operating table (1) according to the sliding adjustment instruction fed back by the hand-held part (4), so that the robotic arm (8) drives the instrument part (3) to slide through the execution part (2).

8. The lightweight surgical robot according to any one of claims 4 to 6, characterized in that, The hand-held part (4) includes a feedback force detection component for detecting the feedback force of the finger, the feedback force detection component is connected to the control unit (5), and the control unit (5) is configured to adjust the clamping force of the instrument part (3) through the execution part (2) according to the force feedback instruction sent by the feedback force detection component.

9. The lightweight surgical robot according to any one of claims 4 to 6, characterized in that It further includes a user identity detection component for identifying the logged-in user identity, the user identity detection component is connected to the control unit (5), and the control unit (5) is configured to call the stored user login mode corresponding to the user login instruction sent by the user identity detection component.

10. The lightweight surgical robot according to any one of claims 4 to 6, characterized in that, It further includes a distance detection component connected to the control unit (5) and used for detecting the distance between the instrument part (3) and the obstacle, and the control unit (5) is configured to control the execution part (2) to stop operating when the distance between the instrument part (3) and the obstacle reaches a preset distance according to the signal sent by the distance detection component.

11. The lightweight surgical robot according to any one of claims 4 to 6, characterized in that, It further includes an alarm connected to the control unit (5) and a safety position detection component for detecting whether the instrument part (3) is in the safe area, and the control unit (5) is configured to activate the alarm to give an alarm when the instrument part (3) exceeds the safe area according to the signal sent by the safety position detection component.

12. The lightweight surgical robot according to any one of claims 4 to 6, characterized in that, It further includes a pulling force detection component (11) connected to the control unit (5) and used for detecting the current pulling force of the insertion hole of the puncture device (10), and the control unit (5) is configured to control the execution part (2) to adjust the insertion angle of the instrument part (3) so that the current pulling force is less than the preset pulling force when the current pulling force reaches the preset pulling force according to the signal sent by the pulling force detection component (11).

13. The lightweight surgical robot according to any one of claims 4 to 6, characterized in that, The execution part (2) is directly connected to the hand-held part (4).

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