Auxiliary knotter and surgical robot based on single robotic arm suturing

Abstract

The present invention discloses an auxiliary knotter and a surgical robot based on single-arm suturing, which relates to the technical field of medical devices, and solves the problem that the existing single-arm suturing is difficult to complete ligation accurately and reliably in a short time. The key points of the technical solution are: it includes an inner tube and an outer tube, the distal end of the outer tube is provided with an outer baffle, and the distal end of the inner tube is provided with an inner baffle; the outer tube includes a coaxially arranged inner plate and an outer plate, and a sliding groove for the inner tube to slide and plug in is reserved between the inner plate and the outer plate, and the inner baffle is penetrated with a through hole for the inner plate to pass through; the facing surfaces of the inner baffle and the outer baffle are provided with an arc groove for pre-arranging the suture line; and a cutting blade is installed on the surface of the inner baffle facing the outer baffle. The shortcomings of the existing instruments are overcome, and the time of suturing and ligation is reduced while ensuring the safety and reliability of ligation. The structure is simple, the production cost is low, and the maintenance difficulty is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more specifically, to an auxiliary knotter and a surgical robot based on single-manipulator suturing. Background Art

[0002] With the development of medicine and engineering technology, robotic surgery has been rapidly promoted in various clinical fields. The robotic arm has the functions of field of view zooming, fine operation control and vibration reduction. On this basis, it can meet the requirements of grasping, clamping, suturing and other operations in conjunction with various types of surgical instruments, making many open surgical operations gradually transformed into minimally invasive operations.

[0003] With the people's pursuit of "minimally invasive" and the development of science and technology, robotic surgery has made great progress, and the incision and surgical area are getting smaller and smaller. In order to achieve this effect, while ensuring the success of the operation, surgical instruments are becoming more and more miniaturized, and more and more single-arm robots have appeared. However, due to the limitation of instruments, single-arm robots have certain disadvantages in surgical operations compared to multi-arm robots, especially for some oral or laryngoscope-supported cavity channel surgeries, there are problems such as narrow surgical field, poor exposure and difficult precise operation. It is precisely because of the narrow surgical area and the reduction of robotic arms that how a single robotic arm can better perform reliable ligation has become an issue that cannot be ignored in the development of robotic surgery. On the other hand, it is well known that robotic surgery takes longer than conventional surgery, and how to perform more reliable ligation in a shorter time is also worthy of further research and invention.

[0004] Therefore, how to research and design an auxiliary knotter and surgical robot based on single robotic arm suturing that can better complete "routine actions" such as suturing and knotting is a problem that we urgently need to solve. Summary of the invention

[0005] In order to solve the problem that the existing single robotic arm is difficult to complete ligation accurately and reliably in a short time, the purpose of the present invention is to provide an auxiliary knotter and a surgical robot based on single robotic arm suturing, which overcomes the shortcomings of existing instruments, reduces the time of suturing and ligation while ensuring the safety and reliability of ligation, and has a simple structure, low production cost, and convenient maintenance.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] In the first aspect, an auxiliary knotter based on single robotic arm suturing is provided, comprising an inner tube and an outer tube, wherein an outer baffle is provided at the distal end of the outer tube, and an inner baffle is provided at the distal end of the inner tube; the outer tube comprises a coaxially arranged inner plate and an outer plate, a sliding groove for the inner tube to slide and plug in is reserved between the inner plate and the outer plate, and a through hole is penetrated by the inner baffle for the inner plate to pass through; the facing surfaces of the inner baffle and the outer baffle are provided with arc-shaped grooves for pre-arranging sutures; a cutting blade is installed on the surface of the inner baffle facing the outer baffle.

[0008] By adopting the above technical scheme, after the inner tube and the outer tube are installed in a matching manner, the suture thread is laid in the arc-shaped groove, and then the inner layer plate is fitted and installed with the outer wall of the hard robotic arm; then the outer baffle plate of the outer tube is placed close to the wound suture, and the soft robotic arm on the hard robotic arm operates the suture needle to independently complete the suturing, and at this time, the suture thread pre-laid in the arc-shaped groove of the inner baffle plate is continuously output during the suturing; after suturing, the soft robotic arm operates the suture needle to make the suture thread form a circle in the arc-shaped groove of the outer baffle plate, and then the suture needle is passed through the circular suture thread laid in the arc-shaped groove to complete the knotting; after ligation is completed, the inner tube is driven to move toward the outer baffle plate, and when the inner baffle plate contacts the outer baffle plate, the cutting blade on the inner baffle plate cuts off the suture thread after ligation; while ensuring the safety and reliability of ligation, the time of suturing and ligation is reduced, and the structure is simple, the production cost is low, and the maintenance difficulty is convenient.

[0009] The present invention is further configured as follows: the outer baffle plate and the inner baffle plate are both provided with a placement groove for the robot arm to be placed.

[0010] By adopting the above technical solution, when the outer baffle plate approaches the wound suture site, the placement groove of the outer baffle plate exposes the wound suture site, and at the same time, the placement grooves of the outer baffle plate and the inner baffle plate provide operating space for the soft robotic arm.

[0011] The present invention is further configured as follows: the inner tube and the outer tube are both non-closed tubes, and the corresponding center angle of the tube is 150 degrees to 210 degrees.

[0012] By adopting the above technical solution, the non-enclosed inner tube and outer tube can significantly reduce the occupation of the single robotic arm surgical area, and can ensure that the use of other machines in the surgical area is not affected when the instrument is used for knotting.

[0013] The present invention is further configured as follows: arc-shaped clips are symmetrically provided on both sides of the inner plate, and the two arc-shaped clips can be clamped and fixed by the mechanical arm.

[0014] By adopting the above technical solution, the arc-shaped clip can be quickly and stably connected to the single robotic arm, and can be disassembled for thorough disinfection and maintenance when not in use.

[0015] The present invention is further configured as follows: the outer baffle plate is provided with a first sensing protrusion, and the first sensing protrusion controls the outer tube to move relative to the robotic arm in response to a first control signal; the inner baffle plate is provided with a second sensing protrusion, and the second sensing protrusion controls the inner tube to slide relative to the outer tube in response to a second control signal.

[0016] By adopting the above technical solution, the first sensing protrusion and the second sensing protrusion cooperate to flexibly control the movement of the outer tube and the inner tube, thereby enhancing the flexibility of the single robotic arm ligation operation.

[0017] The present invention is further configured as follows: the first sensing protrusion and the second sensing protrusion are arranged in opposite directions along the diameter direction of the outer tube, and the second sensing protrusion can contact the end surface of the outer tube.

[0018] By adopting the above technical solution, after the second sensing protrusion contacts the end face of the outer tube, excessive slippage between the inner tube and the outer tube can be limited, thereby enhancing the safety of using the auxiliary knotter.

[0019] The present invention is further configured as follows: the outer tube is provided with a plurality of limit protrusions, which are spaced apart along the edge of the sliding groove; the inner tube is provided with a trigger protrusion that can contact and block the limit protrusion, and the trigger protrusion automatically retracts and contracts in response to a third control signal.

[0020] By adopting the above technical solution, the limiting protrusion cooperates with the triggering protrusion to ensure that the inner tube can slide in sections on the outer tube, but will not slide freely without applying external force, thereby improving the reliability and stability of the operation.

[0021] The present invention is further configured such that: the outer baffle plate and the inner baffle plate are both soft bodies.

[0022] By adopting the above technical solution, the outer baffle plate and the inner baffle plate of the soft body can fully prevent the tissues and organs near the wound suture from being damaged during the operation.

[0023] The present invention is further configured such that: the inner tube and the outer tube are both hard bodies made of nano antibacterial polymer material.

[0024] By adopting the above technical solution, a hard body of nano antibacterial polymer is used, which has good plasticity and biocompatibility.

[0025] In a second aspect, a surgical robot is provided, comprising a controller, a soft robotic arm, a hard robotic arm, and an auxiliary knotter based on single robotic arm suturing as described in any one of the first aspects; an inner tube is fitted and installed against the outer wall of the hard robotic arm, and the soft robotic arm can be placed in a placement groove; the soft robotic arm, the hard robotic arm, a first sensing protrusion, a second sensing protrusion, and a trigger protrusion are all connected to the output end of the controller; a first driving member is provided between the hard robotic arm and the outer tube, and the first driving member responds to the control command of the first sensing protrusion; a second driving member is provided between the inner tube and the outer tube, and the second driving member responds to the control command of the second sensing protrusion.

[0026] In summary, the present invention has the following beneficial effects:

[0027] 1. The present invention is used in conjunction with a single robotic arm that is integrated with a soft robotic arm and a hard robotic arm, so that the single robotic arm can independently complete the dual functions of suturing and knotting in a short time, which can effectively reduce the suturing time of the single robotic arm;

[0028] 2. The present invention flexibly controls the relative movement position of the outer tube and the inner tube, completely avoiding the influence on other operations when suturing is not performed, and has the advantages of convenience and high efficiency;

[0029] 3. The ligation of the present invention is safe and reliable, the operation is very simple, the complexity of the instrument is reduced, the simplicity of maintenance is increased, and the economy is better;

[0030] 4. The present invention is specially designed for a single robotic arm, achieving a breakthrough from scratch in the field of single robotic arm surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0033] Figure 2 is a forward schematic diagram of the inner tube and the outer tube in an embodiment of the present invention;

[0034] Figure 3 Schematic diagram of the inner tube and the outer tube facing away from each other in an embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of the distribution of the trigger protrusions and the limiting protrusions in an embodiment of the present invention;

[0036] Figure 5 is a working principle diagram in an embodiment of the present invention;

[0037] Figure 6 Schematic diagram of the structure of a single robotic arm in an embodiment of the present invention.

[0038] In the figure: 101, outer tube; 102, outer plate; 103, inner plate; 104, outer baffle; 105, placement groove; 106, first sensing protrusion; 107, limit protrusion; 108, sliding groove; 109, arc-shaped clip; 201, inner tube; 202, inner baffle; 203, through hole; 204, arc-shaped groove; 205, cutting blade; 206, second sensing protrusion; 207, trigger protrusion; 301, controller; 302, soft robotic arm; 303, hard robotic arm; 304, first driving member; 305, second driving member. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the following is a summary of the technical problems, technical solutions and beneficial effects to be solved by the present invention. Figure 1-6 And Examples 1-2, the present invention is further described in detail.

[0040] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to the other component.

[0041] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] Embodiment 1: Auxiliary knotter based on single mechanical arm suturing, such as Figure 1 , 3As shown in , 6, it includes an inner tube 201 and an outer tube 101, the outer baffle plate 104 is provided at the distal end of the outer tube 101, and the inner baffle plate 202 is provided at the distal end of the inner tube 201; the outer tube 101 includes a coaxially arranged inner plate 103 and an outer plate 102, a sliding groove 108 for the inner tube 201 to slide and plug is reserved between the inner plate 103 and the outer plate 102, and the inner baffle plate 202 is penetrated by a through hole 203 for the inner plate 103 to pass through; the facing surfaces of the inner baffle plate 202 and the outer baffle plate 104 are provided with an arc groove 204 for pre-arranging the suture line; a cutting blade 205 is installed on the surface of the inner baffle plate 202 facing the outer baffle plate 104. After the inner tube 201 and the outer tube 101 are installed together, the suture thread is laid in the arc groove 204, and then the inner plate 103 is installed in a close relationship with the outer wall of the hard robotic arm 303; then the outer baffle plate 104 of the outer tube 101 is brought close to the wound suture site, and the soft robotic arm 302 on the hard robotic arm 303 operates the suture needle to complete the suture independently, at which time the suture thread pre-laid in the arc groove 204 of the inner baffle plate 202 is continuously output during the suture; after suture, the soft robotic arm 302 operates the suture needle to The suture thread forms a ring in the arc-shaped groove 204 of the outer baffle plate 104, and then the suture needle is passed through the ring-shaped suture thread arranged in the arc-shaped groove 204 to complete the knotting; after the ligation is completed, the inner tube 201 is driven to move toward the outer baffle plate 104, and when the inner baffle plate 202 contacts the outer baffle plate 104, the cutting blade 205 on the inner baffle plate 202 cuts off the ligated suture thread; while ensuring the safety and reliability of ligation, the time of suture ligation is reduced, the structure is simple, the production cost is low, and the maintenance difficulty is convenient.

[0044] like Figure 1 and Figure 2 As shown, both the outer baffle plate 104 and the inner baffle plate 202 are provided with a placement slot 105 for the robot arm to be placed. When the outer baffle plate 104 approaches the wound suture, the placement slot 105 of the outer baffle plate 104 exposes the wound suture, and at the same time, the placement slots 105 of the outer baffle plate 104 and the inner baffle plate 202 provide operating space for the soft robot arm 302.

[0045] like Figure 2 and Figure 3 As shown, the inner tube 201 and the outer tube 101 are both non-enclosed tubes, and the corresponding center angle of the tube is 150 degrees to 210 degrees. The non-enclosed inner tube 201 and the outer tube 101 can significantly reduce the occupation of the single robotic arm surgical area, and can ensure that the use of other machines in the surgical area is not affected when the instrument is used to tie knots.

[0046] like Figure 1 As shown, arc-shaped clips 109 are symmetrically arranged on both sides of the inner plate 103, and the two arc-shaped clips 109 can be clamped and fixed with the robot arm. The arc-shaped clips 109 can be quickly and stably connected to the single robot arm, and can be disassembled for thorough disinfection and maintenance when not in use.

[0047] like Figure 1 As shown, the outer baffle plate 104 is provided with a first sensing protrusion 106, and the first sensing protrusion 106 controls the outer tube 101 to move relative to the robot arm in response to a first control signal; the inner baffle plate 202 is provided with a second sensing protrusion 206, and the second sensing protrusion 206 controls the inner tube 201 to slide relative to the outer tube 101 in response to a second control signal. The first sensing protrusion 106 and the second sensing protrusion 206 cooperate to flexibly control the movement of the outer tube 101 and the inner tube 201, thereby enhancing the flexibility of the single robot arm ligation operation.

[0048] like Figure 1 and Figure 2 As shown, the first sensing protrusion 106 and the second sensing protrusion 206 are arranged in opposite directions along the diameter direction of the outer tube 101, and the second sensing protrusion 206 can contact the end surface of the outer tube 101. After the second sensing protrusion 206 contacts the end surface of the outer tube 101, it can limit the excessive slippage between the inner tube 201 and the outer tube 101, thereby enhancing the safety of the auxiliary knotter.

[0049] like Figure 1 and Figure 4 As shown, the outer tube 101 is provided with a plurality of limiting protrusions 107, which are arranged at intervals along the edge of the sliding groove 108; the inner tube 201 is provided with a triggering protrusion 207 that can contact and block the limiting protrusion 107, and the triggering protrusion 207 automatically retracts in response to the third control signal. The limiting protrusion 107 cooperates with the triggering protrusion 207 to ensure that the inner tube 201 can slide in sections on the outer tube 101, but will not slide freely without applying external force, thereby improving the reliability and stability of the operation.

[0050] In this embodiment, the outer baffle 104 and the inner baffle 202 are both soft. The soft outer baffle 104 and the inner baffle 202 can fully prevent the tissues and organs near the wound suture from being damaged during the operation.

[0051] In this embodiment, the inner tube 201 and the outer tube 101 are both hard bodies made of nano antibacterial polymer materials. The hard body made of nano antibacterial polymers has good plasticity and biocompatibility.

[0052] Embodiment 2: A surgical robot, such as Figure 1 , 5, 6, comprising a controller 301, a soft robotic arm 302, a hard robotic arm 303 and an auxiliary knotter based on single robotic arm suturing as in any one of the first aspects; the inner tube 201 is fitted with the outer wall of the hard robotic arm 303, and the soft robotic arm 302 can be placed in the placement groove 105; the soft robotic arm 302, the hard robotic arm 303, the first sensing protrusion 106, the second sensing protrusion 206, and the trigger protrusion 207 are all connected to the output end of the controller 301; a first driving member 304 is provided between the hard robotic arm 303 and the outer tube 101, and the first driving member 304 responds to the control command of the first sensing protrusion 106; a second driving member 305 is provided between the inner tube 201 and the outer tube 101, and the second driving member 305 responds to the control command of the second sensing protrusion 206. In this embodiment, the first driving member 304 and the second driving member 305 can be any one of motor drive, cylinder drive, and electric telescopic joint drive, and their sizes are designed according to surgical requirements.

[0053] Working process: After the inner tube 201 and the outer tube 101 are installed together, the suture thread is laid in the arc groove 204, and then the inner plate 103 is installed in a close relationship with the outer wall of the hard robotic arm 303; then the outer baffle plate 104 of the outer tube 101 is brought close to the wound suture site, and the soft robotic arm 302 on the hard robotic arm 303 operates the suture needle to complete the suture independently. At this time, the suture thread pre-laid in the arc groove 204 of the inner baffle plate 202 is continuously output during the suture; after suture, the soft robotic arm 302 operates the suture needle The suture thread can be formed into a ring in the arc-shaped groove 204 of the outer baffle plate 104, and then the suture needle is passed through the ring-shaped suture thread arranged in the arc-shaped groove 204 to complete the knotting; after the ligation is completed, the inner tube 201 is driven to move toward the outer baffle plate 104, and when the inner baffle plate 202 contacts the outer baffle plate 104, the cutting blade 205 on the inner baffle plate 202 cuts off the ligated suture thread; while ensuring the safety and reliability of ligation, the time of suturing and ligation is reduced, the structure is simple, the production cost is low, and the maintenance difficulty is convenient.

[0054] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An auxiliary knotter based on single-arm suturing, characterized in that: The invention comprises an inner tube (201) and an outer tube (101), wherein an outer baffle (104) is provided at the distal end of the outer tube (101), and an inner baffle (202) is provided at the distal end of the inner tube (201); the outer tube (101) comprises an inner plate (103) and an outer plate (102) which are coaxially arranged, a sliding groove (108) for the inner tube (201) to be slidably inserted is reserved between the inner plate (103) and the outer plate (102), and a through hole (203) for the inner plate (103) to pass through is penetrated by the inner baffle (202); arc-shaped grooves (204) for pre-arranging sutures are provided on the facing surfaces of the inner baffle (202) and the outer baffle (104); a cutting blade (205) is installed on the surface of the inner baffle (202) facing the outer baffle (104); The outer baffle plate (104) and the inner baffle plate (202) are both provided with a placement slot (105) for the robot arm to be placed; The outer baffle plate (104) is provided with a first sensing protrusion (106), and the first sensing protrusion (106) controls the outer tube (101) to move relative to the robot arm in response to a first control signal; the inner baffle plate (202) is provided with a second sensing protrusion (206), and the second sensing protrusion (206) controls the inner tube (201) to slide relative to the outer tube (101) in response to a second control signal; The first sensing protrusion (106) and the second sensing protrusion (206) are arranged in opposite directions along the diameter direction of the outer tube (101), and the second sensing protrusion (206) can contact the end surface of the outer tube (101); The outer tube (101) is provided with a plurality of limiting protrusions (107), and the plurality of limiting protrusions (107) are arranged at intervals along the edge of the sliding groove (108); the inner tube (201) is provided with a triggering protrusion (207) that can contact and block the limiting protrusion (107), and the triggering protrusion (207) automatically retracts and contracts in response to a third control signal.

2. The auxiliary knotter based on single mechanical arm suturing according to claim 1 is characterized in that: The inner tube (201) and the outer tube (101) are both non-enclosed tubes, and the corresponding center angle of the tubes is 150 degrees to 210 degrees.

3. The auxiliary knotter based on single mechanical arm suturing according to claim 2 is characterized in that: Arc-shaped clamping pieces (109) are symmetrically provided on both sides of the inner plate (103), and the two arc-shaped clamping pieces (109) can be clamped and fixed by a mechanical arm.

4. The auxiliary knotter based on single mechanical arm suturing according to claim 1 is characterized in that: The outer baffle plate (104) and the inner baffle plate (202) are both soft bodies.

5. The auxiliary knotter based on single mechanical arm suturing according to claim 1 is characterized in that: The inner tube (201) and the outer tube (101) are both hard bodies made of nano antibacterial polymer materials.

6. A surgical robot, characterized in that: The invention comprises a controller (301), a soft robotic arm (302), a hard robotic arm (303) and an auxiliary knotter based on single robotic arm suturing as described in any one of claims 1 to 5; the inner tube (201) is fitted with the outer wall of the hard robotic arm (303), and the soft robotic arm (302) can be placed in a placement groove (105); the soft robotic arm (302), the hard robotic arm (303), the first sensing protrusion (106), the second sensing protrusion (206), and the trigger protrusion (207) are all connected to the output end of the controller (301); a first driving member (304) is provided between the hard robotic arm (303) and the outer tube (101), and the first driving member (304) responds to the control command of the first sensing protrusion (106); a second driving member (305) is provided between the inner tube (201) and the outer tube (101), and the second driving member (305) responds to the control command of the second sensing protrusion (206).

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