Plasma rotary cutting device

Abstract

The present invention discloses a plasma rotary cutting device. The device as a whole adopts a multi-layer nested cylindrical structure, and can deliver working devices such as cutting electrodes and detection devices to the tissue to be treated through a narrow channel in the patient's body. In the device, the detection device is used to collect information about the tissue to be treated, and the control system can analyze the morphology, properties, position, etc. of the tissue to be treated according to the collection results, and adjust the parameters of each driving component in real time; the cutting electrode is used to cut the tissue to be treated, and its shape can be pre-set according to the use requirements; the channel on the outer shell is used to transmit liquid, including the working medium and / or flushing liquid required for plasma cutting, to ensure the effect of information collection and cutting. The device provides a rotary cutting method different from the scraping cutting method, and can replace manual operation to realize the automation of the tissue cutting process in a narrow space and improve the cutting accuracy.

Description

Technical Field

[0001] The invention relates to a plasma rotary cutting device and belongs to the field of medical equipment. Background Art

[0002] The following descriptions and examples are not admitted to be prior art by reason of their inclusion in this section.

[0003] In plasma surgery, by applying AC excitation of a certain power and frequency to electrodes made of specific materials and arranged in a certain manner, plasma can be generated on the electrodes. The plasma forms a plasma sheath with the surface of physiological saline. The ions in the plasma sheath are accelerated and bombard the surface of the solution to generate active radicals. The active radicals bombard the surface of biological tissues under the acceleration of the electric field, breaking the molecular chains and causing the cells to decompose, thereby achieving tissue ablation, cutting and other operations. This type of surgery has been widely used in prostatectomy and other surgeries because of its advantages of small damage to human tissues, fast cutting speed and short postoperative recovery time.

[0004] In situations where open surgery is not suitable, such as prostatectomy, plasma resectoscope resection is often used for related cutting operations. In a plasma resectoscope, the cutting electrode used to generate plasma is fixed to the sliding sleeve under the endoscope pole. At the beginning of the resection, the operator manually inserts the electrode into the patient's body, and then the operator cuts the tissue to be treated by scraping. Since the entire operation is completed manually, the operation accuracy cannot be accurately grasped, which may affect the surgical effect. Summary of the invention

[0005] The following description of various system embodiments is not to be construed in any way as limiting the subject matter of the appended claims.

[0006] The present invention proposes a plasma rotary cutting device. The device as a whole adopts a multi-layer nested cylindrical structure, which can deliver the cutting electrode and the detection device to the tissue to be treated through a narrow channel in the patient's body. In the device, the detection device is used to collect information about the tissue to be treated, and the control system can analyze the morphology, properties, position, etc. of the tissue to be treated according to the collection results, and adjust the parameters of each driving component in real time; the cutting electrode is used to cut the tissue to be treated, and its shape can be pre-set according to the use requirements; the channel on the shell is used to transmit liquid, including the working medium and / or flushing liquid required for plasma cutting (the working medium may also play a flushing role), to ensure the effect of information collection and cutting.

[0007] The plasma rotary cutting device proposed by the present invention comprises a shell, a first motor, a rotating drum, a second motor, a first telescopic cylinder, a third motor, a second telescopic cylinder, a detection device, a first cutting electrode, a second cutting electrode, a plasma generator, a water pump, a liquid supply source, a control system, and a mechanical arm.

[0008] The plasma rotary cutting device adopts a multi-layer nested cylinder structure as a whole, and is internally divided into three levels of transmission: the first level is a motor-driven rotating cylinder, which can make the detection device, cutting electrode A, and cutting electrode B rotate; the second level is a motor drive and a threaded transmission, under the joint action of the two, the telescopic cylinder A moves along the corresponding guide groove, which can make the detection device and cutting electrode A, cutting electrode B move in a straight line; the third level is a motor drive and a threaded transmission, under the joint action of the two, the telescopic cylinder B moves along the corresponding guide groove, which can cause the cutting electrode A, cutting electrode B to deform.

[0009] During plasma resection surgery, cutting electrode A and cutting electrode B are respectively connected to a plasma generator via wires to form a loop to generate plasma, and the plasma and the external liquid environment work together to achieve cutting of the tissue to be treated.

[0010] There are several notches on the cutting electrode, which can reduce the rigidity of the corresponding positions. When the two ends of the cutting electrode fixed on different cylinders move relative to each other, the above positions are prone to large deformation, which can change the shape of the entire cutting electrode. The effect is as follows: Figure 1 shown.

[0011] The detection device is fixed in the telescopic cylinder B and can make linear or rotational motion to collect relevant information (such as images, etc.) of the tissue to be processed. The control system can analyze the morphology, properties, location, etc. of the tissue to be processed based on the collected results, design a cutting plan based on the analysis results, and adjust the relevant motion parameters of each drive component in real time.

[0012] The shell is provided with a water inlet channel and a water outlet channel, which can transmit liquid, including the working medium and / or flushing liquid required for plasma cutting (the working medium may also play a flushing role), to ensure the effect of information collection and cutting.

[0013] The advantages of the present invention are:

[0014] 1) It can replace manual operation, realize the automation of tissue removal process in narrow space, and improve operation accuracy;

[0015] 2) provides a rotational excision method that is different from the scraping excision method;

[0016] 3) Strong adaptability, can be applied to handheld equipment or robot terminals. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other objects and advantages of the present invention will become apparent after reading the following detailed description and referring to the accompanying drawings:

[0018] Figure 1It is a schematic diagram of the deformation effect of the cutting electrode in the present invention;

[0019] Figure 2 It is the overall structural appearance diagram of the present invention;

[0020] Figure 3 is a cross-sectional view of the structure of the present invention;

[0021] Figure 4 is a cross-sectional view of the structure of the present invention;

[0022] Figure 5 This is a schematic diagram of the connection between the present invention and some external devices.

[0023] Wherein: 1-housing, 2-A motor, 3-rotating drum, 4-B motor, 5-A telescopic cylinder, 6-C motor, 7-B telescopic cylinder, 8-detection device, 9-A cutting electrode, 10-B cutting electrode, 11-plasma generator, 12-water pump, 13-liquid supply source, 14-control system, 15-mechanical arm, 101-water inlet channel, 102-water outlet channel.

[0024] Furthermore, it should be noted that the drawings are not necessarily drawn to scale and certain features may be depicted in larger scale than other features in order to illustrate their specificity. DETAILED DESCRIPTION

[0025] Although the present invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will be described in detail herein. However, it should be understood that the drawings and detailed description thereof are not intended to limit the invention to the particular forms disclosed, but on the contrary, are intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] The present invention is a plasma rotary cutting device, such as Figure 2-Figure 4 As shown, the device includes a shell 1, a motor A 2, a rotating drum 3, a motor B 4, a telescopic cylinder A 5, a motor C 6, a telescopic cylinder B 7, a detection device 8, a cutting electrode A 9, a cutting electrode B 10, a plasma generator 11, a water pump 12, a liquid supply source 13, a control system 14, and a robotic arm 15.

[0028] The housing 1 is fixed to the end of the mechanical arm 15, and the first motor 2 is fixedly installed on the bottom surface inside the housing 1, and its extended shaft is fixedly connected to the rotating drum 3 to ensure that the two can rotate synchronously; the second motor 4 is fixedly installed on the bottom surface inside the rotating drum 3, and its extended shaft is connected to the first telescopic cylinder 5 through a thread, and at the same time, the outer wall protrusion of the first telescopic cylinder 5 is placed in the inner wall groove of the rotating drum 3, so that the first telescopic cylinder 5 can make a linear motion along the groove direction; the third motor 6 is fixedly installed on the bottom surface inside the first telescopic cylinder 5, and its extended shaft is connected to the second telescopic cylinder 7 through a thread, and at the same time, the outer wall protrusion of the second telescopic cylinder 7 is placed in the inner wall groove of the first telescopic cylinder 5, so that the second telescopic cylinder 7 can make a linear motion along the groove direction. It makes a linear motion along the groove direction; the detection device 8 is fixedly installed in the B telescopic cylinder 7; the notched ends of the A cutting electrode 9 and the B cutting electrode 10 are respectively fixedly connected to the A telescopic cylinder 5, and the non-notched ends are respectively fixedly connected to the B telescopic cylinder, and at the same time, both ends are connected to the plasma generator 11 through wires; the water inlet channel 101 and the water outlet channel 102 are located in the side wall of the shell 1, and the outlets of the two away from the working area are respectively connected to the liquid supply source 13 and the water pump 12; the control system 14 is connected to each driving component, the detection device 8, the plasma generator 11, the liquid supply source 13, the water pump 12, etc. through cable connection or wireless transmission.

[0029] The plasma rotary cutting device can be driven in various places in other ways according to specific needs while ensuring that the movement mode remains unchanged.

[0030] The plasma rotary cutting device and the detection device 8 can be selected according to specific needs, including but not limited to cameras, sensors, scanners and other equipment.

[0031] In the plasma rotary cutting device, the shapes, sizes, materials, etc. of the cutting electrode A 9 and the cutting electrode B 10 can be designed according to specific needs. The number, shape, position, etc. of the notches can also be designed according to specific needs. The number of cutting electrodes can also be selected according to specific needs. At the same time, other deformation methods based on stiffness difference can also be used to change the shape of the entire cutting electrode, for example, different sections of the electrode can be made of different materials.

[0032] The positions, shapes, quantities, etc. of the water inlet channel 101 and the water outlet channel 102 of the plasma rotary cutting device can be selected according to specific needs.

[0033] Above, such disclosure should not be interpreted as necessarily limiting the design methods described herein, and the components / parts / parts of the devices described herein may have any size and shape, depending on the design specifications of these devices. The structures used to implement various operations may include all possible ranges covered and any combination thereof, as well as any combination between different categories.

[0034] Working process: Typical working process

[0035] The device is delivered to the tissue to be treated through a narrow channel in the patient's body by a robotic arm. Through the rotation and extension of the cylinders at each level, the detection device collects relevant information of the tissue to be removed in the required posture, and then the control system can analyze the morphology, properties, position, etc. of the tissue based on the image, design a removal plan, and send relevant instructions. The liquid supply source is turned on, and the working medium required for plasma cutting (the working medium used here also has the function of flushing) is delivered to the tissue to be treated through the water inlet channel. Driven by the cylinders at each level, the cutting electrode becomes the required shape, the plasma generator is turned on, and plasma removal is performed. After the target tissue is removed, the plasma generator is turned off, and the cylinders at each level return to their initial positions. The liquid supply source is turned off, the water pump is turned on, and the waste liquid generated during the cutting process is discharged from the patient's body. After the waste liquid is treated, the water pump is turned off, and the device is taken out of the patient's body by a robotic arm or a handheld device.

Claims

1. Plasma rotary cutting device, characterized in that: The device generally comprises a housing (1), a first motor (2), a rotating drum (3), a second motor (4), a first telescopic cylinder (5), a third motor (6), a second telescopic cylinder (7), a detection device (8), a first cutting electrode (9), a second cutting electrode (10), a plasma generator (11), a water pump (12), a liquid supply source (13), and a control system (14); The housing (1) is fixed to the end of the mechanical arm (15); the first motor (2) is fixedly mounted on the bottom surface of the housing (1); its extended shaft is fixedly connected to the rotating cylinder (3) to ensure that the two can rotate synchronously; the second motor (4) is fixedly mounted on the bottom surface of the rotating cylinder (3); its extended shaft is connected to the first telescopic cylinder (5) through a thread; at the same time, the outer wall protrusion of the first telescopic cylinder (5) is placed in the inner wall groove of the rotating cylinder (3), so that the first telescopic cylinder (5) can move linearly along the groove direction; the third motor (6) is fixedly mounted on the bottom surface of the first telescopic cylinder (5); its extended shaft is connected to the second telescopic cylinder (7) through a thread; at the same time, the outer wall protrusion of the second telescopic cylinder (7) is placed in the inner wall groove of the first telescopic cylinder (5), so that the second telescopic cylinder (7) moves linearly along the groove direction; the detection device (8) is fixedly installed in the second telescopic cylinder (7); the notched ends of the first cutting electrode (9) and the second cutting electrode (10) are respectively fixedly connected to the first telescopic cylinder (5), and the non-notched ends are respectively fixedly connected to the second telescopic cylinder, and at the same time, the two ends are respectively connected to the plasma generator (11) through wires; the water inlet channel (101) and the water outlet channel (102) on the outer shell (1) are located in the side wall of the outer shell (1), and the outlets of the two away from the working area are respectively connected to the liquid supply source (13) and the water pump (12); the control system (14) is connected to each driving member, the detection device (8), the plasma generator (11), the liquid supply source (13), and the water pump (12) through cables.

2. The plasma rotary cutting device according to claim 1, characterized in that: The plasma rotary cutting device adopts a rotary cutting method.

3. The plasma rotary cutting device according to claim 1, characterized in that: The cutting work in the plasma rotary cutting device is completed by motor drive, and the relevant parameters are adjusted in real time through the control system.

4. The plasma rotary cutting device according to claim 1, characterized in that: Based on the difference in stiffness between the first cutting electrode (9) and the second cutting electrode (10), the first cutting electrode (9) and the second cutting electrode (10) are deformed according to the difference in stiffness, so as to achieve the removal of tissues of different shapes, properties and positions.

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