A da Vinci robot instrument cleaning device

Abstract

The present invention provides a da Vinci robot instrument cleaning device, including an equipment body, the equipment body having a first inner cavity, a second inner cavity, a third inner cavity and a sixth inner cavity, a da Vinci instrument is placed in the second inner cavity, the third inner cavity has a piston slidably connected thereto, a first motor installed in the first inner cavity is connected to a gear, a second motor is installed on the equipment body, the output shaft of the second motor is connected to a turntable, the turntable has a water flow channel, one end of the water flow channel is connected to a water pipe of a water pump, and the other end of the water flow channel has a nozzle that can correspond to the upper opening of the second inner cavity. The present invention cleans the da Vinci instrument by placing the da Vinci instrument into the second inner cavity along the upper opening of the second inner cavity, and then spraying water from the nozzle into the second inner cavity through the water pipe connected to the water pump. During the cleaning process, the piston is driven to move up and down by controlling the forward and reverse rotation of the first motor, thereby lifting the da Vinci instrument upward for further convenient cleaning.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a da Vinci robot device cleaning device. Background Art

[0002] The da Vinci surgical robot is an auxiliary surgical system that was initially used for minimally invasive surgeries in urology, such as prostatectomy. It has now been widely used in multiple disciplines, including gynecological surgery, cardiac surgery, and pediatric surgery. It was named "Da Vinci" because the manufacturer believed that Da Vinci was the inventor of the world's first robot. Existing da Vinci surgical instruments need to be cleaned after use. The commonly used cleaning method is to soak the instruments in a cleaning solution and take them out after a period of time. However, this cleaning method is not perfect and sometimes the cleaning is not thorough. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a da Vinci robot instrument cleaning device to facilitate the cleaning of da Vinci instruments in view of the above-mentioned deficiencies in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a da Vinci robot instrument cleaning device, comprising an equipment body, the equipment body having a first inner cavity, a second inner cavity, a third inner cavity and a sixth inner cavity, the second inner cavity having an upper opening opening facing upward, the lower opening of the second inner cavity communicating with the upper opening of the third inner cavity, the lower opening of the third inner cavity communicating with the first inner cavity through a vertical channel, the inner wall of the sixth inner cavity having a slope, the left side of the sixth inner cavity communicating with the right side opening of the second inner cavity, the sixth inner cavity specifically communicating with the right opening of the outside, the da Vinci instrument being placed in the second inner cavity, the third inner cavity having a piston slidably connected thereto, the piston being connected to a vertical rod through a screw, the outer wall of the vertical rod being provided with a circle of teeth engaging with a gear, the gear being connected to a first motor installed in the first inner cavity, a second motor being installed on the equipment body, the output shaft of the second motor being connected to a turntable, the turntable having a water flow channel, one end of the water flow channel being connected to a water pipe of a water pump, and the other end of the water flow channel having a nozzle corresponding to the upper opening of the second inner cavity.

[0005] Furthermore, a first robot arm and a second robot arm are installed on the device body, and the first robot arm and the second robot arm respectively have a first gripper and a second gripper that can grip the Da Vinci instrument.

[0006] Furthermore, the inner wall of the sixth inner cavity has a slope that extends horizontally to the left to form a horizontal platform, the height of the horizontal platform is higher than the ground surface of the second inner cavity, and the inner diameter of the second inner cavity is greater than the inner diameter of the third inner cavity.

[0007] Furthermore, the Da Vinci robot instrument cleaning device also includes a fluorescence detector installed on the device body, the fluorescence detector includes a first injection channel, a second injection channel, a processor and a sensor, the processor is connected to the sensor, the sensor, the first injection channel, and the second injection channel respectively extend into the horizontal notch, the horizontal notch is connected vertically to the third inner cavity, and the first injection channel and the second injection channel are connected to the first injection pump and the second injection pump respectively.

[0008] Compared with the prior art, the present invention has the following beneficial effects: the present invention cleans the da Vinci instrument by placing the da Vinci instrument into the second inner cavity along the upper opening of the second inner cavity, and then spraying water from the nozzle into the second inner cavity through a water pipe connected to a water pump. During the cleaning process, the first motor is controlled to rotate forward and reversely to drive the piston to move up and down, thereby lifting the da Vinci instrument upward for further convenient cleaning. After the cleaning is completed, the da Vinci instrument is lifted upward by the piston to be dumped on the slope of the sixth inner cavity, and then taken out from the right opening of the sixth inner cavity.

[0009] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 The present invention is a schematic structural diagram of a Da Vinci robot instrument cleaning device. DETAILED DESCRIPTION

[0011] In order to make the technical means, creative features, objectives and functions of the present invention clearer and easier to understand, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0012] The present invention proposes a da Vinci robot instrument cleaning device, including an equipment body 1, wherein the equipment body 1 has a first inner cavity 2, a second inner cavity 3, a third inner cavity 4 and a sixth inner cavity 6, wherein the second inner cavity 3 has an upper opening facing upward, the lower opening of the second inner cavity 3 is connected to the upper opening of the third inner cavity 4, the lower opening of the third inner cavity 4 is connected to the first inner cavity 2 through a vertical channel 19, the inner wall of the sixth inner cavity 6 has a slope, the left side of the sixth inner cavity 6 is connected to the right side opening of the second inner cavity 3, and the sixth inner cavity 6 is specifically connected to the right opening of the outside, a da Vinci instrument is placed in the second inner cavity 3, the third inner cavity 4 has a piston 10 slidably connected thereto, the piston 10 is connected to a vertical rod 17 through a screw 18, and the screw 18 is spirally matched with the vertical channel 19 with a spiral inner wall so that when the vertical rod 17 rotates, the piston 10 can be driven in the vertical channel 19. The third inner cavity 4 moves up and down, the outer wall of the vertical rod 17 is provided with a circle of teeth meshed with a gear 16, the gear 16 is connected to the first motor 9 installed in the first inner cavity 2, and the second motor 7 is installed on the equipment body 1. The output shaft of the second motor 7 is connected to the turntable 12, and the turntable 12 has a water flow channel 14, one end of the water flow channel 14 is connected to the water pipe of the water pump, and the other end of the water flow channel 14 has a nozzle corresponding to the opening on the second inner cavity 3. The first motor 9 and the second motor 7 are both servo motors and can rotate forward and reverse. When the first motor 9 rotates forward and reverse, it drives the gear 16 meshed with it to rotate forward and reverse; the upper side wall of the third inner cavity 4 is provided with a water outlet channel 13, and the water outlet channel 13 is installed with a valve. The water outlet channel 13 is closed and connected by the valve, and the flushing water preferably flows out from the valve opened in the water outlet channel 13.

[0013] The first robot arm 20 and the second robot arm 21 are installed on the equipment body 1. The first robot arm 20 and the second robot arm 21 respectively have a first gripper 22 and a second gripper 23 that can grasp the da Vinci instrument 8. The da Vinci instrument 8 is grasped by the first gripper 22 and the second gripper 23 to facilitate rotation so that the nozzle can spray different positions. The first gripper 22 and the second gripper 23 can grasp the da Vinci instrument at the same time or separately. The first gripper 22 grasps the da Vinci instrument so that its main flushing port corresponds to the nozzle, and the da Vinci instrument is rotated and flushed by the two grippers 22. The first robot arm 20 and the second robot arm 21 are prior art and can control the first gripper 22 and the second gripper 23 to grasp and rotate respectively.

[0014] The inner wall of the sixth inner cavity 6 has a slope that extends horizontally to the left and a horizontal platform, the height of the horizontal platform is higher than the ground surface of the second inner cavity 3, the inner diameter of the second inner cavity 3 is larger than the inner diameter of the third inner cavity 4, and the piston 10 is controlled to move upward so that its upper surface is flush with the horizontal platform, and then the Da Vinci instrument is tilted on the slope of the second inner cavity 4, and then taken out from the right opening of the sixth inner cavity 6. The device body 1 is also provided with a vertical storage cavity 5, and the taken out Da Vinci instrument is placed in storage through the upper opening of the vertical storage cavity 5; the upper wall of the sixth inner cavity 6 is provided with an attraction end 15 that can attract the Da Vinci instrument 8 to be driven, and the attraction end 15 is a magnetic block, and the magnetic block is used to assist the Da Vinci instrument 8 to be dumped on the slope, and the length of the slope is shorter than that of the Da Vinci instrument 8 to make it dump so that its end is exposed from the left opening of the sixth inner cavity 6.

[0015] The Da Vinci robot instrument cleaning device also includes a fluorescence detector 11 installed on the device body 1, the fluorescence detector 11 includes a first injection channel, a second injection channel, a processor and a sensor, the processor is connected to the sensor, the sensor, the first injection channel, and the second injection channel extend into the horizontal gap respectively, the horizontal gap is connected to the third inner cavity 4 vertically, the first injection channel and the second injection channel are connected to the first injection pump and the second injection pump respectively; by first adding the first luciferase substrate to the first injection channel and detecting the first luciferin signal value through the sensor, the fluorescence detection instrument mainly uses the fluorescent substance, that is, the luciferin injected by the first injection pump and the second injection pump When the enzyme substrate receives incident light of a certain wavelength, it is irradiated through the probe of the fluorescence detector 11, enters an excited state after absorbing light energy, and immediately de-excites and emits an outgoing light of a wavelength different from the incident light. This fluorescence characteristic, by using light of wavelength λ1 as excitation light and irradiating the fluorescent substance, the fluorescent substance will be correspondingly excited to form emission light of wavelength λ2, and then by detecting the intensity of the emission light of wavelength λ2, the content of the substance marked with the fluorescent substance can be indirectly obtained, and then the second luciferase substrate is added through the second injection channel and the second luciferin signal value is detected. After two measurements, errors are avoided. The sensor is a sensor that can sense the luciferin signal value in the prior art.

[0016] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A da Vinci robot instrument cleaning device, characterized in that: The device comprises a device body (1), wherein the device body (1) comprises a first inner cavity (2), a second inner cavity (3), a third inner cavity (4) and a sixth inner cavity (6), wherein the second inner cavity (3) comprises an upper opening which opens upward, the lower opening of the second inner cavity (3) is connected to the upper opening of the third inner cavity (4), the lower opening of the third inner cavity (4) is connected to the first inner cavity (2) via a vertical passage (19), the inner wall of the sixth inner cavity (6) comprises a slope, the left side of the sixth inner cavity (6) is connected to the right side opening of the second inner cavity (3), and the right opening of the sixth inner cavity (6) is specifically connected to the outside, the second inner cavity (3) is provided with a da Vinci instrument, the third inner cavity (3) is provided with a da Vinci instrument, and the third inner cavity (3) is provided with a da Vinci instrument. (4) having a piston (10) slidably connected thereto, the piston (10) being connected to a vertical rod (17) via a screw rod (18), the vertical rod (17) having an outer wall provided with a circle of teeth meshing with a gear (16), the gear (16) being connected to a first motor (9) installed in the first inner cavity (2), the device body (1) being provided with a second motor (7), the output shaft of the second motor (7) being connected to a rotating disk (12), the rotating disk (12) having a water flow channel (14), one end of the water flow channel (14) being connected to a water pipe of a water pump, the other end of the water flow channel (14) having a nozzle that can correspond to an opening on the second inner cavity (3); A first robot arm (20) and a second robot arm (21) are mounted on the device body (1); the first robot arm (20) and the second robot arm (21) respectively have a first gripper (22) and a second gripper (23) capable of gripping a da Vinci instrument; The inner wall of the sixth inner cavity (6) has a slope extending horizontally to the left to form a horizontal platform, the height of the horizontal platform is higher than the ground surface of the second inner cavity (3), and the inner diameter of the second inner cavity (3) is greater than the inner diameter of the third inner cavity (4); The da Vinci robot instrument cleaning device further comprises a fluorescence detector (11) mounted on the device body (1), the fluorescence detector (11) comprising a first injection channel, a second injection channel, a processor and a sensor, the processor being connected to the sensor, the sensor, the first injection channel and the second injection channel respectively extending into a horizontal notch, the horizontal notch being vertically connected to the third inner cavity (4), the first injection channel and the second injection channel being respectively connected to a first injection pump and a second injection pump.

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