A soft-scope interventional surgical robot system with force feedback function

Abstract

The present invention provides a soft endoscope interventional surgical robot system with a force feedback function, comprising a main control terminal and a robot, wherein the main control terminal comprises a display control module, a processing module and a communication module; the display control module is used to receive and display surgical control information; the processing module is used to process the surgical control information; the communication module is used to send the processed surgical control information to the robot; the robot is used to realize the intraoperative perfusion function and the auxiliary surgical instrument delivery function and drive the soft endoscope to move vertically, horizontally, and rotate and bend the end, and send the robot state information to the communication module, and the robot state information at least includes force information; the communication module is also used to send the robot state information to the processing module for processing, and send the processed robot state information to the display control module. The present invention has a safe and intelligent perfusion function, and a complete and accurate force feedback function, which can improve the safety and efficiency of surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a soft-scope interventional surgical robot system with a force feedback function. Background Art

[0002] Ureteroscopy is an important interventional diagnosis and treatment technique in urology, which can be used to diagnose and treat a variety of urinary system diseases. Due to its significant advantages of minimally invasive and rapid postoperative recovery, it is widely used in clinical practice and has a large demand from patients. During the operation, the doctor holds the ureteroscope and passes the slender part of the soft mirror from the patient's urethra through the bladder into the ureter and kidney, and performs diagnosis and treatment operations with the assistance of X-rays and laser fibers. However, there are still many challenges in this operation: the operation needs to be performed with the assistance of X-rays, and medical staff are harmed by X-ray radiation; the intrarenal space is complex and has low recognition, and the soft mirror manipulation is not fine enough, which requires high requirements for the operator; multiple assistants are required to assist in completing operations such as perfusion and fiber delivery, and it is difficult for a single person to complete the operation; the ergonomics of the operation is poor, and the doctor needs to stand for a long time to operate, which has a heavy workload; intraoperative perfusion can easily cause the intrarenal pressure to exceed the normal range, and there is a risk of complications caused by excessive or low intrarenal pressure.

[0003] With the development of surgical robot technology, technicians in this field are committed to developing surgical robot systems that can solve the above clinical problems. Through the search of prior art, it is found that: the patent with application publication number CN105283144A discloses a robot manipulator system that can remotely control the ureteroscope, which can avoid the doctor from being exposed to radiation; the patent with application publication number CN106983560A also discloses a soft endoscope surgery assisted robot system to improve the control accuracy and versatility of the robot; the patent with application publication number CN111557737A discloses a ureteroscope surgery robot arm system that can convert the resistance of the driving device into a detectable electrical signal to improve the safety of robot-assisted surgery.

[0004] However, the above patents still have obvious deficiencies: when the surgical robot assists in remote surgery, since the doctor no longer directly contacts the ureteroscope, the doctor will not be able to feel the interactive force generated by the contact between the soft mirror and the human body, which will bring major challenges to the doctor's operation, surgical safety and instrument safety. The force feedback function of the surgical robot is an important way to re-establish the doctor's force perception. However, the soft mirror robot systems proposed in the existing patent documents do not have a good force feedback function. Specifically, the patent with publication number CN105283144A only designs a force feedback function for the deflection of the end of the soft mirror, but lacks force feedback in the horizontal movement and rotation of the soft mirror; the patent with publication number CN111557737A realizes force feedback by integrating pressure optical fiber inside the soft mirror or in the built-in sensor of the robot. However, both solutions have problems. The pressure measurement of the integrated pressure optical fiber inside the soft mirror will be disturbed by the active bending of the soft mirror, and the force sensor designed in the robot will be disturbed by the movement of the robot mechanism itself, which will lead to an increase in force feedback error. In addition, the system in the above patent still requires the doctor to control the perfusion, and cannot intelligently adjust the perfusion according to the surgical needs. The efficiency of robot-assisted surgery still needs to be improved. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a soft endoscopic interventional surgical robot system with a force feedback function. The system is more intelligent and efficient, and can be used not only for ureteroscopy, but also for soft endoscopic interventional surgeries such as bronchoscopy.

[0006] The present invention is achieved through the following technical solutions:

[0007] According to one aspect of the present invention, there is provided a soft mirror interventional surgical robot system with a force feedback function, comprising a main control end and a robot communicatively connected to the main control end, the main control end comprising a display control module, a processing module and a communication module; the display control module is used to receive and display surgical control information; the processing module is used to process the surgical control information; the communication module is used to send the processed surgical control information to the robot; the robot is used to implement an intraoperative perfusion function and an auxiliary surgical instrument delivery function according to the processed surgical control information and drive the soft mirror to perform one or more of vertical movement, horizontal movement, rotational movement and terminal bending, and send robot status information to the communication module, the robot status information at least including force information; the communication module is also used to send the robot status information to the processing module for processing, and send the processed robot status information to the display control module.

[0008] Furthermore, the display and manipulation module includes a display and a manipulator, and both the display and the manipulator are configured to receive and display the surgical control information and the processed robot state information.

[0009] Furthermore, the manipulator is also constructed to be able to provide force feedback to the user.

[0010] Furthermore, the robot includes: a soft mirror, a soft mirror loading platform, a base, and a height adjustment mechanism, a linear and rotational drive mechanism, and an intelligent endoscope perfusion module which are sequentially arranged on the base; the height adjustment mechanism is constructed to be able to achieve height adjustment, the linear and rotational drive mechanism is constructed to be able to achieve vertical, horizontal and rotational movement, the soft mirror loading platform is fixedly connected to one end of the linear and rotational drive mechanism, the soft mirror is clamped on the soft mirror loading platform, and the central axis of the slender mirror body portion of the soft mirror coincides with the rotation axis of the linear and rotational drive mechanism; the water outlet pipe of the intelligent endoscope perfusion module is connected to the working channel of the soft mirror.

[0011] Furthermore, the base includes a first bottom plate and a universal wheel fixedly connected to the bottom of the first bottom plate, and the robot is moved or locked by the universal wheel; the height adjustment mechanism includes a lifting column and a first upper plate, one end of the lifting column is fixedly connected to the first bottom plate, and the first upper plate is fixedly connected to the other end of the lifting column.

[0012] Further, the linear and rotational drive mechanism includes a second base plate, a first linear module, a second upper plate and a first force sensor; the lower surface of the second base plate is fixedly connected to the upper surface of the first upper plate, the upper surface of the second base plate is fixedly connected to a first slider, the first linear module is arranged above the first slider, and the first linear module is connected to a first motor for driving the first linear module to realize linear motion relative to the first upper plate; the lower surface of the second upper plate is fixedly connected to the first linear module, the lower surface of the second upper plate is installed with a second motor, the output shaft of the second motor is connected to the input end of the first force sensor through a rotating shaft, and the output end of the first force sensor is fixedly connected to the soft mirror loading platform.

[0013] Furthermore, the processing module is also used to receive the video image of the soft endoscope based on the trained neural network model, and output the clarity of the field of view and the surgical status information; the intelligent endoscope perfusion module includes a perfusion rate controller and a perfusion mechanism; the perfusion rate controller is used to calculate the perfusion rate information and control the perfusion mechanism to perform intraoperative perfusion according to the doctor's instructions, intrarenal pressure and the output information of the neural network.

[0014] Furthermore, the perfusion mechanism includes a second linear module, a syringe, a push rod groove, a water inlet pipe and a water outlet pipe; the outer tube of the syringe and the second linear module are both fixed to the upper surface of the second upper plate, and the second linear module is connected to a second slider; the push rod of the syringe is placed in the push rod groove, the push rod groove is fixedly connected to the second slider, the second linear module is connected to a third motor, and the third motor is used to drive the push rod of the syringe to move back and forth; the water inlet pipe and the water outlet pipe are both connected to the nozzle of the syringe, and the water inlet pipe and the water outlet pipe are both provided with a one-way valve for controlling the flow direction of the perfusion fluid.

[0015] Furthermore, the soft endoscope loading platform includes a third bottom plate and a soft endoscope driving structure and an auxiliary surgical instrument delivery structure provided on the upper surface of the third bottom plate;

[0016] The end driving structure of the soft mirror comprises a driving gear, a driven gear and a second force sensor; the driving gear is driven to rotate by a fourth motor, the driving gear is used to transmit the rotational motion to the driven gear, the driven gear is fixedly connected to the second force sensor, a slot is provided on the end surface of the second force sensor, the handle of the soft mirror is provided with a bending knob, and the bending knob is stuck in the slot;

[0017] The auxiliary surgical instrument delivery structure includes a driven friction wheel and an active friction wheel. The active friction wheel is driven to rotate by a fifth motor. The driven friction wheel is pressed against the active friction wheel by a spring. The auxiliary surgical instrument passes between the active friction wheel and the driven friction wheel.

[0018] Furthermore, the processing module is also used to process the force information of the first force sensor and the second force sensor to correct the signals of the first force sensor and the second force sensor to obtain the interaction force between the soft mirror and the environment.

[0019] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0020] 1. The soft endoscope interventional surgical robot system with force feedback function of the present invention can realize all the control requirements of the soft endoscope, and at the same time has the auxiliary surgical instrument control function and perfusion function, etc. It has comprehensive functions. The intervention operation that requires the cooperation of multiple people in traditional surgery can be completed by one doctor with the assistance of the soft endoscope interventional surgical robot system of the present invention, and the operation is more efficient.

[0021] 2. The soft endoscope interventional surgical robot system with force feedback function of the present invention can automatically control perfusion according to information such as soft endoscope video images, so that doctors no longer need to perform manual perfusion, which not only reduces the labor intensity of doctors, but also improves the safety of surgery, and has a safe and intelligent perfusion function;

[0022] 3. Compared with the prior art, the soft-scope interventional surgical robot system with force feedback function of the present invention has a more complete and accurate force feedback function, including axial force, axial torque and terminal bending torque generated by the interaction between the soft-scope and the environment, which helps to improve the doctor's hand feel and further improve the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0024] Figure 1 is a schematic structural diagram of a robot system according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the robot's structure after removing part of its outer shell;

[0026] Figure 3 This is a schematic diagram of the structure of the base and height adjustment mechanism of the robot after removing the outer shell;

[0027] Figure 4 This is a partial exploded diagram of the robot's linear and rotary drive mechanisms after the outer shells have been removed;

[0028] Figure 5 A schematic diagram of the intelligent perfusion function of the robot system;

[0029] Figure 6 It is a top view schematic diagram of the robot perfusion mechanism;

[0030] Figure 7 This is a top view of the robot soft mirror loading platform after removing the upper shell;

[0031] Figure 8 This is a schematic diagram of the structure of the end drive structure of the robot soft mirror;

[0032] Fig. 9 A schematic diagram of the structure of the robot-assisted surgical instrument delivery structure after the outer shell is removed;

[0033] Fig.10 Schematic diagram of the force feedback function of the robot system.

[0034] In the figure: 1 is a robot, 2 is a main control end, 20 is a display, 21 is a manipulator, 22 is a processing module, and 23 is a communication module; 10 is a soft endoscope, 11 is a base, 12 is a height adjustment mechanism, 13 is a linear and rotary drive mechanism, 14 is an intelligent endoscope perfusion module, and 15 is a soft endoscope loading platform; 110 is a universal wheel, 111 is a first bottom plate; 120 is a lifting column, and 121 is a first upper plate; 1300 is a second bottom plate, 1301 is a first slider, 1302 is a first linear module, 1303 is a second upper plate, 1304 is a first motor, 1305 is a second motor, 1306 is a motor plate, 1307 is a coupling, 1308 is a rotating shaft, 1309 is a first connecting flange, and 1310 is a first force sensor; 1400 is a third motor, 1401 is a third Two linear modules, 1402 is the second slider, 1403 is the push rod slot, 1404 is the syringe, 1405 is the water inlet pipe, 1406 is the water outlet pipe, and 1407 is the connecting rod; 150 is the third base plate, 151 is the soft mirror end driving structure, and 152 is the auxiliary surgical instrument delivery structure; 1510 is the fourth motor, 1511 is the driving gear, 1512 is the driven gear, 1513 is the second connecting flange, 1514 is the second force sensor, and 1515 is the card slot; 1520 is the fifth motor, 1521 is the first gear, 1522 is the second gear, 1523 is the third gear, 1524 is the gear shaft, 1525 is the driving friction wheel shaft, 1526 is the driving friction wheel, 1527 is the driven friction wheel, 1528 is the driven friction wheel bracket, and 1529 is the adjustment spring. DETAILED DESCRIPTION

[0035] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention. In the description of the embodiments of the present invention, it should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0036] An embodiment of the present invention provides a soft-scope interventional surgical robot system with a force feedback function, the system includes a main control terminal 2 and a robot 1 connected to the main control terminal 2 in communication, the main control terminal 2 includes a display control module, a processing module 22 and a communication module 23; the display control module is used to receive and display surgical control information, wherein the surgical control information comes from the input of the doctor (or user); the processing module 22 is electrically connected to the display control module, and the processing module 22 is used to process the surgical control information; the communication module 23 is electrically connected to the processing module 22 and the display control module respectively, and the communication module 23 can communicate in a wired communication or a wireless communication mode. The communication module 23 is used to send the processed surgical control information to the robot 1; the robot 1 is used to realize the intraoperative perfusion function and the auxiliary surgical instrument delivery function according to the processed surgical control information and drive the soft mirror to perform at least one of vertical movement, horizontal movement, rotational movement and terminal bending, and send the robot state information to the communication module 23, the robot state information at least includes force information, and may also include position, endoscopic video image and other information; the communication module 23 is also used to send the robot state information to the processing module 22 for processing, and send the processed robot state information to the display and operation module.

[0037] The soft-scope interventional surgical robot system of the embodiment of the present invention can realize all the control requirements of the soft-scope, and at the same time has the auxiliary surgical instrument control function and perfusion function, etc. It is comprehensive in functions. Interventional operations that require the cooperation of multiple people in traditional surgeries can be completed by one doctor with the assistance of the soft-scope interventional surgical robot system of the embodiment of the present invention, and the surgery is more efficient.

[0038] To receive and display surgical control information and robot status information, refer to Figure 1 As shown, in some preferred embodiments, the display and manipulation module includes a display 20 and a manipulator 21, and the display 20 and the manipulator 21 are both constructed to receive and display surgical control information and processed robot state information. The force information of the robot 1 is displayed on the display 20 and / or the manipulator 21 in the form of images or sounds to achieve the purpose of force feedback function. The display 20 is also used for the user to set surgical related parameters. The display 20 can be a touch panel with input function, or it can be composed of multiple monitors. The user's control information is received through the manipulator 21 and / or the display 20, and the surgical control instructions processed by the processing module 22 are sent to the robot 1 through the communication module 23. The robot 1 completes the action expected by the user according to the surgical control instructions. At the same time, the robot 1 will also transmit its own state information to the communication module 23 of the main control terminal 2, and after being processed by the processing module 22, it will be displayed on the display 20 and / or the manipulator 21.

[0039] In some more preferred embodiments, the manipulator 21 is also constructed to be able to provide force feedback to the user. The force information measured by the robot 1 is reproduced on the user's hand through the manipulator 21, thereby achieving force feedback, which can not only improve the safety of the operation, but also help the doctor regain the feel of the hand; and other information can be displayed on the display 20. The manipulator 21 can be a force feedback operation device that can not only receive the operator's actions, but also provide feedback to the operator. The feedback can be in the form of applying force or vibration to the operator. Specifically, the manipulator 21 can apply force or vibration to the doctor through a motor, magnetorheological fluid, etc. Of course, other general technologies in the field can also be used to achieve this, which will not be elaborated here.

[0040] Reference Figure 2 In some preferred embodiments, the robot 1 includes: a soft endoscope 10, a soft endoscope loading platform 15, a base 11, and a height adjustment mechanism 12, a linear and rotational drive mechanism 13, and an intelligent endoscope perfusion module 14 arranged on the base 11 in sequence; the height adjustment mechanism 12 is configured to achieve height adjustment, the linear and rotational drive mechanism 13 is configured to achieve vertical, horizontal and rotational movement, the soft endoscope loading platform 15 is fixedly connected to one end of the linear and rotational drive mechanism 13, the soft endoscope 10 is clamped on the soft endoscope loading platform 15, and the central axis of the slender body of the soft endoscope 10 coincides with the rotation axis of the linear and rotational drive mechanism 13 to ensure that the central axis of the body will not deviate during rotation; the water outlet pipe of the intelligent endoscope perfusion module 14 is connected to the working channel of the soft endoscope 10. In the above manner, the robot 1 can drive the soft endoscope 10 to perform vertical, horizontal and rotational movements, and realize the intraoperative perfusion function.

[0041] Figure 3 It is a structural schematic diagram of the base 11 and the height adjustment mechanism 12 of the robot 1 after the outer shell is removed. In some preferred embodiments, the base 11 includes a first base plate 111 and a universal wheel 110 fixedly connected to the bottom of the first base plate 111. The robot 1 can be easily moved by the universal wheel 110 and can also be locked when needed.

[0042] The height adjustment mechanism 12 includes a lifting column 120 and a first upper plate 121. One end of the lifting column 120 is fixedly connected to the first bottom plate 111, and the first upper plate 121 is fixedly connected to the other end of the lifting column 120. Specifically, the lifting column 120 is connected to the first bottom plate 111 through a threaded connection. The lifting column 120 can be an electric, pneumatic or hydraulic device, or a device that can generate linear motion including a screw rod, such as a crank slider, a synchronous belt, a gear rack and a linear module, etc., as long as it can achieve the same function as the embodiment of the present invention.

[0043] Figure 41 is a schematic diagram of a partial exploded structure of the linear and rotary drive mechanism 13 of the robot 1 after removing the outer shell. The linear and rotary drive mechanism 13 includes a second base plate 1300, a first linear module 1302, a second upper plate 1303 and a first force sensor 1310; the lower surface of the second base plate 1300 is fixedly connected to the upper surface of the first upper plate 121, and the upper surface of the second base plate 1300 is fixedly connected to the first slider 1301 by a threaded connection. The first linear module 1302 is arranged above the first slider 1301. 302 is connected to a first motor 1304 for driving the first linear module 1302 to realize linear motion relative to the first upper plate 121; the lower surface of the second upper plate 1303 is fixedly connected to the first linear module 1302 by a threaded connection, and the motor plate 1306 on the lower surface of the second upper plate 1303 is installed with a second motor 1305, and the output shaft of the second motor 1305 is connected to the input end of the first force sensor 1310 through a rotating shaft 1308, and the output end of the first force sensor 1310 is fixedly connected to the soft mirror loading platform 15.

[0044] Specifically, the first motor 1304 drives the screw rod in the first linear module 1302 to perform rotational motion, and the screw rod then converts the rotational motion into the linear motion of the first linear module 1302. The first linear module 1302 can slide on the first slider 1301, so that the part of the linear and rotary drive mechanism 13 other than the first slider 1301 and the second bottom plate 1300 can perform linear motion relative to the first upper plate 121. Since the soft lens loading platform 15 is connected to the linear and rotary drive mechanism 13, the soft lens loading platform 15 is also driven by the first motor 1304 to perform linear motion relative to the first upper plate 121, and then the soft lens 10 can also be driven to perform linear motion, so as to realize the forward and backward functions of the soft lens 10. The output shaft of the second motor 1305 is connected to the rotating shaft 1308 through the coupling 1307, and the rotating shaft 1308 is connected to the first force sensor 1310 through the first connecting flange 1309. The first force sensor 1310 is fixedly connected to the soft mirror loading platform 15, so that the soft mirror loading platform 15 is driven by the second motor 1305 to rotate, thereby driving the soft mirror 10 to rotate. The first force sensor 1310 is used to detect the axial force and axial torque of the soft mirror loading platform 15, wherein the axial force refers to the force along the rotation axis of the soft mirror, and the axial torque refers to the torque around the rotation axis of the soft mirror; the rotation axis of the soft mirror 10 coincides with the axis of the rotating shaft 1308. During surgery, the interactive force information generated by the soft mirror 10 and the environment, such as the patient's tissues and organs, will be transmitted to the first force sensor 1310 through the soft mirror loading platform 15, and then detected by the first force sensor 1310, and the above interactive force information will be sent to the communication module 23 of the main control terminal 2, and fed back to the surgeon after being processed by the processing module 22.

[0045] Traditional surgery requires the assistance of multiple assistants, one of whom determines whether perfusion is needed and how much perfusion speed is needed based on the soft mirror video image. There are problems of poor communication and coordination between assistants and surgeons. The robot system proposed in the embodiment of the present invention can realize safe and intelligent automatic perfusion operation based on the intelligent endoscope perfusion module 14. The processing module 22 is also used to receive the video image of the soft mirror based on the trained neural network model, and output the clarity of the field of view and the operation status information; the intelligent endoscope perfusion module 14 includes a perfusion speed controller and a perfusion mechanism; the perfusion speed controller is used to calculate the perfusion speed information according to the doctor's instructions, the intrarenal pressure and the output information of the neural network, and control the perfusion mechanism to perform intraoperative perfusion. The soft mirror interventional surgery robot system of the embodiment of the present invention can automatically control the perfusion according to the information such as the soft mirror video image, and the doctor no longer needs to perform manual perfusion, which not only reduces the doctor's labor intensity, but also improves the safety of the operation, and has a safe and intelligent perfusion function.

[0046] The neural network model can be run in the processing module 22 of the main control terminal 2. A preferred implementation is as follows: Figure 5 As shown. The video image of the soft mirror 10 is input into the pre-trained neural network 1 and neural network 2. Neural network 1 outputs the clarity of the field of vision, and neural network 2 outputs the surgical status. Neural network 1 can be a classification neural network that outputs discrete values ​​describing the clarity of the field of vision, or a regression neural network that outputs continuous values ​​to describe the clarity of the field of vision; neural network 2 can be a simple binary classification network that outputs two surgical states, namely a state that requires a clear field of vision and a state that does not require a clear field of vision. In some other embodiments, neural networks 1 and 2 can also be replaced by one neural network, which outputs both the clarity of the field of vision and the surgical status, and can even directly output the expected perfusion rate determined from the perspective of the image, as long as the data is processed accordingly when the neural network is trained. The data for training the neural network can be obtained from model experiments, and / or animal experiments, and / or clinical data, and doctors with rich surgical experience can annotate the images, and the annotation content can be consistent with the output of the neural network, such as Figure 5 The clarity of the visual field, the surgical status, or the doctor directly gives the expected perfusion rate based on the image.

[0047] Next, the perfusion rate controller comprehensively considers the output of the neural network, the doctor's instructions, and the intrarenal pressure to output the final perfusion rate. Specifically, the doctor's instructions are at the highest priority. When the equipment is operating normally, the perfusion rate controller will give priority to meeting the needs of the doctor's instructions; the intrarenal pressure information has a higher priority than the output of the neural network, that is, the perfusion rate controller will give priority to generating an allowable perfusion rate range based on the patient's intrarenal pressure. The acquisition of intrarenal pressure information can be measured using a pressure sensor guide wire and other methods known in the art. Through the above methods, the robot system of the embodiment of the present invention can achieve safe and intelligent perfusion operations without the need for assistants to assist in perfusion.

[0048] It will be appreciated by those skilled in the art that in other embodiments of the present invention, the neural network may be a deep convolutional neural network, a fully connected neural network, etc., or may be replaced by other commonly used methods in the field of machine learning, such as a support vector machine, etc., as long as the relationship between the image input and the target output can be fitted in a data-driven manner.

[0049] See also Figure 6 The structural schematic diagram of the perfusion mechanism includes a second linear module 1401, a syringe 1404, a push rod groove 1403, a water inlet pipe 1405, a water outlet pipe 1406, and a connecting rod 1407; the outer cylinder of the syringe 1404 and the second linear module 1401 are fixed to the upper surface of the second upper plate 1303, and move with the linear and rotational drive mechanism 13, the second linear module 1401 is connected to the second slider 1402, and the second slider 1402 can move back and forth on the second linear module 1401; the push rod of the syringe 1404 is placed in the push rod groove 1403, and the push rod groove 1403 is fixedly connected to the second slider 1402 by the connecting rod 1407, and the second linear module 1401 is connected to the third motor 1400, and the third motor 1400 is used to drive the push rod of the syringe 1404 to move back and forth. The water inlet pipe 1405 and the water outlet pipe 1406 are connected to the nozzle of the syringe 1404 through a three-way pipe. Both the water inlet pipe 1405 and the water outlet pipe 1406 are provided with a one-way valve, and the one-way valve is used to control the flow direction of the irrigation liquid, so that the water inlet pipe 1405 can only take in water, and the water outlet pipe 1406 can only discharge water, so that when the push rod slot 1403 moves back and forth, the irrigation liquid is sucked from the water inlet pipe 1405 into the syringe 1404 and poured out of the water outlet pipe 1406. Since the water outlet pipe 1406 is connected to the working channel of the soft endoscope 10, the irrigation liquid can be further injected into the working channel of the soft endoscope 10 to achieve the irrigation function.

[0050] In some other embodiments, other power generating devices besides motors may be used, such as pneumatic or hydraulic devices. Other devices capable of generating linear motion besides linear modules may also be used, such as crank sliders, gear racks, etc.

[0051] Figure 7 The figure is a structural diagram of the robot 1 with the upper shell of the soft mirror loading platform 15 removed. The soft mirror loading platform 15 includes a third base plate 150 and a soft mirror terminal driving structure 151 and an auxiliary surgical instrument delivery structure 152 arranged on the upper surface of the third base plate 150; the soft mirror 10 is placed on the third base plate 150, and the terminal bending knob of the soft mirror 10 is stuck in the soft mirror terminal driving structure 151, so as to realize the control of the soft mirror terminal bending knob.

[0052] Reference Figure 8 As shown, the end driving structure 151 of the soft endoscope includes a driving gear 1511, a driven gear 1512 and a second force sensor 1514; the driving gear 1511 is driven to rotate by the fourth motor 1510, and the driving gear 1511 is used to transmit the rotational motion to the driven gear 1512, and the driving gear 1511 transmits the rotational motion to the driven gear 1512 through the intermediate gear. The driven gear 1512 is fixedly connected to the second force sensor 1514, and the driven gear 1512 is fixedly connected to the second force sensor 1514 through the second connecting flange 1513. A slot 1515 is provided on the end surface of the second force sensor 1514, and the handle of the soft endoscope 10 is provided with a bending knob, which is stuck in the slot 1515, so that the motor drives the soft endoscope knob to rotate while accurately measuring the torque of the knob. The knob torque and axial force and axial torque information will be sent to the communication module 23 of the main control terminal 2, and after being processed by the processing module 22, the manipulator 21 is used to feed back to the surgeon in real time. Compared with the prior art, the system in this embodiment has a more complete and accurate force feedback function, including the axial force, axial torque and terminal bending torque generated by the interaction of the soft mirror 10 with the environment, which helps to improve the doctor's feel and further improve the safety of the operation.

[0053] Reference Fig. 9As shown, the auxiliary surgical instrument delivery structure 152 includes a fifth motor 1520, a first gear 1521, a second gear 1522, a third gear 1523, a gear shaft 1524, an active friction wheel shaft 1525, an active friction wheel 1526, a driven friction wheel 1527, a driven friction wheel bracket 1528 and an adjustment spring 1529 after removing the outer shell; the active friction wheel 1526 is driven to rotate by the fifth motor 1520 through gears. Specifically, the output shaft of the fifth motor 1520 is connected to the first gear 1521, and the first gear 1521, the second gear 1522 and the third gear 1523 are meshed with each other in sequence. The gear shaft 1524 is fixedly connected to the active friction wheel shaft 1525, so that the active friction wheel 1526 is driven to rotate by the fifth motor 1520; the driven friction wheel 1527 is adjusted by the spring 1529 is pressed tightly against the active friction wheel 1526. Specifically, the driven friction wheel bracket 1528 has a cavity, and the driven friction wheel 1527 is partially accommodated in the cavity of the driven friction wheel bracket 1528. The adjusting spring 1529 is arranged inside the driven friction wheel bracket 1528, and the other end of the adjusting spring 1529 is abutted against the outer shell, so that the driven friction wheel bracket 1528 together with the driven friction wheel 1527 is pressed tightly against the active friction wheel 1526, and auxiliary surgical instruments such as optical fibers pass through the middle of the active friction wheel 1526 and the driven friction wheel 1527, thereby delivering instruments such as laser optical fibers to the working channel of the soft mirror 10, and due to the elastic force of the adjusting spring 1529, the distance between the driven friction wheel 1527 and the active friction wheel 1526 is flexible, and can adapt to a variety of auxiliary surgical instruments with different outer diameters.

[0054] Although the interaction force between the soft mirror 10 and the environment will be transmitted to the first force sensor 1310 and the second force sensor 1514 at the joint of the robot 1, the sensors will also be affected by forces caused by other internal factors, including gravity, inertia, friction of the mechanism, etc. This will cause the sensor signal to fail to accurately reflect the interaction force between the soft mirror 10 and the environment. Therefore, in order to feed back more accurate interaction force between the soft mirror 10 and the environment to the operator, the processing module 22 is also used to process the force information of the first force sensor 1310 and the second force sensor 1514 to correct the signals of the first force sensor 1310 and the second force sensor 1514 to obtain the interaction force between the soft mirror 10 and the environment.

[0055] In some preferred embodiments, the robot system utilizes Fig.10The force information of the first force sensor 1310 and the second force sensor 1514 is processed in the manner shown. Specifically, a data-driven method is used to establish a neural network model 3, and the magnitude of the force caused by the intrinsic factors is estimated in real time, and it is removed from the signals of the first force sensor 1310 and the second force sensor 1514, so as to obtain the interaction force between the soft mirror 10 and the environment, and reproduce it on the manipulator 21. More preferably, the neural network 3 for estimating the force value caused by the intrinsic factors can be trained in the following manner: let the robot 1 operate the soft mirror 10 to perform random movements, and the specific method can be to let the robot 1 follow the random trajectory generated by the computer to move, or to let the operator manually operate the manipulator 21 to control the movement of the robot 1. In this process, the movement of the soft mirror 10 is not subject to any restrictions, so the interaction force between the soft mirror 10 and the environment can be regarded as zero. At the same time, the joint angles of the robot 1 and the signals of the first force sensor 1310 and the second force sensor 1514 are collected at a certain sampling frequency. The angle sequence is used as the input of the neural network 3, and the corresponding sensor signal is used as the output to train the neural network. In other embodiments of the present invention, the neural network can be a fully connected neural network, a long short-term memory neural network, etc., and can also be replaced by other commonly used methods in the field of machine learning, such as a linear regression model, etc., as long as the relationship between joint angle input and force output can be fit in a data-driven manner.

[0056] In order to more clearly understand the working conditions of the soft ureteroscope interventional surgery robot system in the embodiment of the present invention, the working process of the soft ureteroscope interventional surgery robot system in the embodiment of the present invention is described in detail below in combination with the above-mentioned preferred technical features. The soft ureteroscope interventional surgery robot system with force feedback function described in the present invention implements safe and efficient ureteroscopy through the following steps.

[0057] 1. Data-driven model tuning:

[0058] First, the data-driven model in the robot system needs to be trained and adjusted to achieve more accurate interactive force feedback and intelligent and safe perfusion functions. The specific training method has been described in detail in the previous article and will not be repeated here.

[0059] 2. Preoperative preparation:

[0060] Move the robot 1 that has been disinfected and sterilized to a suitable position relative to the patient, install the soft endoscope 10 on the soft endoscope loading platform 15 of the robot 1, and connect the water outlet pipe 1406 of the intelligent endoscope perfusion module 14 to the working channel of the soft endoscope 10, and issue a command at the main control terminal 2 to empty the air in the pipeline, and adjust the height adjustment mechanism 12 to a suitable height position; reset the other joints of the robot 1.

[0061] 3. Intraoperative operation:

[0062] After the preparation work is completed, the doctor can sit on the main control terminal 2 and use the manipulator 21 to remotely control the soft mirror 10, auxiliary surgical instruments and perfusion to perform surgery. At the same time, the robot 1 sends its own status to the main control terminal 2 and displays it to the surgeon in real time. Specifically, the force information will be processed by the processing module 22 and fed back to the doctor through the manipulator 21. The force information processed by the processing module 22 can more accurately reflect the interactive force information between the soft mirror 10 and the environment, which can enhance the doctor's feel and surgical safety.

[0063] The soft endoscope interventional surgical robot system of the above embodiment of the present invention can realize all the control requirements of the soft endoscope, and at the same time has the auxiliary surgical instrument control function and perfusion function, etc. It has comprehensive functions. The intervention operation that requires the cooperation of multiple people in traditional surgery can be completed by one doctor with the assistance of the soft endoscope interventional surgical robot system of the present invention, and the operation is more efficient; moreover, the perfusion can be automatically controlled according to the information such as the soft endoscope video image, and the doctor no longer needs to perfuse manually, which not only reduces the doctor's labor intensity, but also improves the safety of the operation, and has a safe and intelligent perfusion function; compared with the existing technology, it has a more complete and accurate force feedback function, including the axial force, axial torque and terminal bending torque generated by the interaction between the soft endoscope and the environment, which helps to improve the doctor's feel, thereby further improving the safety of the operation. The system in the embodiment of the present invention is more intelligent and efficient, and can be used not only for ureteroscopy, but also for soft endoscope interventional surgeries such as bronchoscopy, and has a wide range of applications.

[0064] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A soft endoscope interventional surgical robot system with force feedback function, characterized in that: It includes a main control terminal and a robot connected to the main control terminal in communication, wherein the main control terminal includes a display control module, a processing module and a communication module; The display and manipulation module is used to receive and display surgical control information; The processing module is used to process the surgery control information; The communication module is used to send the processed surgical control information to the robot; The robot is used to realize intraoperative perfusion function and auxiliary surgical instrument delivery function according to the processed surgical control information, and drive the soft mirror to perform one or more of vertical movement, horizontal movement, rotational movement and terminal bending, and send robot state information to the communication module, and the robot state information at least includes force information; The communication module is also used to send the robot state information to the processing module for processing, and send the processed robot state information to the display and manipulation module; The robot comprises: a soft endoscope, a soft endoscope loading platform, a base, and a height adjustment mechanism, a linear and rotary drive mechanism, and an intelligent endoscope perfusion module which are sequentially arranged on the base; The height adjustment mechanism is configured to achieve height adjustment, the linear and rotational drive mechanism is configured to achieve vertical, horizontal and rotational movement, the soft endoscope loading platform is fixedly connected to one end of the linear and rotational drive mechanism, the soft endoscope is clamped on the soft endoscope loading platform, and the central axis of the slender body of the soft endoscope coincides with the rotation axis of the linear and rotational drive mechanism; the water outlet pipe of the intelligent endoscope perfusion module is connected to the working channel of the soft endoscope; The base includes a first bottom plate and a universal wheel fixedly connected to the bottom of the first bottom plate, and the robot is moved or locked by the universal wheel; The height adjustment mechanism comprises a lifting column and a first upper plate, one end of the lifting column is fixedly connected to the first bottom plate, and the first upper plate is fixedly connected to the other end of the lifting column; The linear and rotary drive mechanism includes a second bottom plate, a first linear module, a second upper plate and a first force sensor; The lower surface of the second bottom plate is fixedly connected to the upper surface of the first upper plate, a first slider is fixedly connected to the upper surface of the second bottom plate, the first linear module is arranged above the first slider, and the first linear module is connected to a first motor for driving the first linear module to realize linear motion relative to the first upper plate; The lower surface of the second upper plate is fixedly connected to the first linear module, a second motor is installed on the lower surface of the second upper plate, an output shaft of the second motor is connected to the input end of the first force sensor through a rotating shaft, and an output end of the first force sensor is fixedly connected to the soft mirror loading platform; the first force sensor is used to detect the axial force and axial torque exerted on the soft mirror loading platform; The soft endoscope loading platform comprises a third bottom plate and a soft endoscope driving structure and an auxiliary surgical instrument delivery structure arranged on the upper surface of the third bottom plate; The end driving structure of the soft mirror comprises a driving gear, a driven gear and a second force sensor; the driving gear is driven to rotate by a fourth motor, the driving gear is used to transmit the rotational motion to the driven gear, the driven gear is fixedly connected to the second force sensor, a slot is provided on the end surface of the second force sensor, the handle of the soft mirror is provided with a bending knob, the bending knob is stuck in the slot, and the knob torque of the bending knob is measured by the second force sensor; the knob torque and axial force and axial torque information are all sent to the communication module of the main control end and processed by the processing module; The auxiliary surgical instrument delivery structure comprises a driven friction wheel and an active friction wheel, wherein the active friction wheel is driven to rotate by a fifth motor, the driven friction wheel is pressed against the active friction wheel by a spring, and the auxiliary surgical instrument passes between the active friction wheel and the driven friction wheel; The processing module is also used to receive the video image of the soft endoscope based on the trained neural network model, and output the clarity of the visual field and the surgical status information; The intelligent endoscope perfusion module includes a perfusion speed controller and a perfusion mechanism; The perfusion rate controller is used to calculate the perfusion rate information and control the perfusion mechanism to perform intraoperative perfusion according to the doctor's instructions, the intrarenal pressure and the output information of the neural network.

2. The soft endoscope interventional surgical robot system with force feedback function according to claim 1, characterized in that: The display and manipulation module includes a display and a manipulator, and both the display and the manipulator are configured to receive and display surgical control information and processed robot state information.

3. The soft endoscope interventional surgical robot system with force feedback function according to claim 2, characterized in that: The manipulator is also configured to provide force feedback to the user.

4. The soft endoscope interventional surgical robot system with force feedback function according to claim 1, characterized in that: The perfusion mechanism includes a second linear module, a syringe, a push rod slot, a water inlet pipe and a water outlet pipe; The outer barrel of the syringe and the second linear module are both fixed to the upper surface of the second upper plate, and the second linear module is connected to a second slider; The push rod of the syringe is placed in the push rod groove, the push rod groove is fixedly connected to the second slider, the second linear module is connected to a third motor, and the third motor is used to drive the push rod of the syringe to move back and forth; The water inlet pipe and the water outlet pipe are both connected to the nozzle of the syringe, and one-way valves for controlling the flow direction of the perfusion liquid are arranged on the pipelines of the water inlet pipe and the water outlet pipe.

5. The soft endoscope interventional surgical robot system with force feedback function according to claim 1, characterized in that: The processing module is further used to process the force information of the first force sensor and the second force sensor to correct the signals of the first force sensor and the second force sensor to obtain the interaction force between the soft mirror and the environment.

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