A pig abdomen punching and positioning device for surgical robot training and an operating method thereof

Abstract

The application relates to a pig abdomen punching and positioning device for surgical robot training and an operating method thereof, relates to the technical field of training equipment, and comprises an abdomen circumference belt, a first magic tape and a second magic tape are arranged on the abdomen circumference belt, a connecting plate is arranged on the abdomen circumference belt, a punching plate is arranged on the connecting plate, the punching plate is rotationally connected to the connecting plate, meanwhile, a positioning disc is arranged on the connecting plate, the positioning disc is rotationally connected to the connecting plate, a Joka cylinder is arranged on the punching plate, the Joka cylinder is detachably installed on the punching plate, meanwhile, an anti-fog assembly is arranged on the Joka cylinder. In the process of training the abdomen of an experimental pig, the application does not need to consume a long time to measure and determine the punching position of a lens arm, reduces the step of additionally heating the lens to prevent the lens from fogging, improves the training efficiency, and improves the operation precision.

Description

Technical Field

[0001] The present application relates to the technical field of training equipment, and in particular to a pig abdomen drilling and positioning device for surgical robot training and an operating method thereof. Background Art

[0002] The da Vinci surgical robot is one of the world's most advanced minimally invasive surgical systems and is widely used in surgical procedures. It is a laparoscopic-assisted system consisting of an instrument arm, an imaging system, and a control console. It allows for surgical procedures to be performed through tiny incisions, reducing surgical trauma and bleeding while improving surgical precision and safety.

[0003] Currently, all doctors must complete a standardized surgical robot safety training course before they can perform clinical surgeries. According to the da Vinci surgical robot training program, doctors' operational training is standardized: they practice trocar drilling and robotic arm docking on the abdomen of a laboratory pig of the same size and weight as a clinical patient, and then use the instrument arm to perform specific organ or tissue separation, suturing, knotting, and electrical energy manipulation.

[0004] "Trocar puncture" is a medical term that refers to the use of a special tool to puncture or punch a hole in the body during a medical procedure. A trocar is a long, thin, needle-like instrument that usually has a sharp cutting edge on one end to help cut through skin and tissue.

[0005] When using the da Vinci surgical robot for surgery, since the robotic arm of the da Vinci surgical robot is larger than traditional laparoscopic instruments, the placement of the Trocar must follow the drilling principles of the da Vinci surgical robot. The drilling position must be measured separately according to the patient's body shape and surgical procedure to avoid damage to the machine due to collision of the robotic arm during the operation.

[0006] Regarding the above-mentioned related technologies, the inventors believe that the experimental animals used in the training process have uniform weight and body specifications and the same surgical procedures, so the locations of the holes are relatively uniform. Conventional training takes a long time to measure the abdominal circumference, hole locations and spacing of the experimental pigs, which reduces training efficiency. Summary of the Invention

[0007] The technical problem to be solved by the present invention is that: since the weight and body specifications of training pigs are relatively uniform, the distance between the abdominal holes and the punching positions are also relatively fixed. The present invention provides a pig abdominal punching positioning device for surgical robot training and an operating method thereof, which solves the technical problem that it takes a long time to measure the abdominal circumference, punching position and spacing of experimental pigs during the training process, which reduces the training efficiency.

[0008] The technical problem to be solved by the present invention is achieved by adopting the following technical solutions:

[0009] Option 1: It includes a belly belt, which is provided with a first Velcro and a second Velcro, and a connecting plate is provided on the belly belt, and a perforated plate is provided on the connecting plate, and the perforated plate is rotatably connected to the connecting plate, and a positioning plate is provided on the connecting plate, and the positioning plate is rotatably connected to the connecting plate; and a card tube is provided on the perforated plate, and the card tube can be detachably installed on the perforated plate, and an anti-fog component is provided on the card tube.

[0010] Using the above technical solution, the side of the positioning plate facing away from the connecting plate is placed on the pubic end of a prone pig after establishing pneumoperitoneum. The connecting plate is then pressed against the pig's abdomen. The positioning plate is then used to draw an outline on the pig's abdomen, representing the surgical target area. The perforated plate and connecting plate are adjusted to a perpendicular angle to determine the position of the abdominal belt. The belt is then passed around the pig's abdomen and secured with the first and second Velcro strips. The perforated plate is used to determine the drilling positions for the surgical robot's camera arm and three robotic arms. Perforated skin cutting pins are then inserted into the holes in the perforated plate. Pressing firmly creates a "single" incision in the skin, facilitating the insertion of the CHOKA. After the position is confirmed, the first Velcro and the second Velcro on the abdominal belt are separated to remove the positioning plate, the connecting plate and the punching plate from the experimental pig. Then the cajole is placed into the abdominal cavity of the experimental pig. During the operation, the lens of the surgical robot is passed through the cajole. When the lens passes through the cajole, the anti-fog component on the cajole prevents the end of the lens from fogging caused by the temperature difference between the environment and the animal's abdominal cavity. Therefore, during the training process using the abdomen of the experimental pig, it is not necessary to spend a long time measuring and determining the lens punching position, and at the same time reduces the steps of skin incision and preventing the lens from fogging, thereby improving the efficiency of training and the accuracy of operation.

[0011] Option 2: Based on Option 1, a No. 3 robot arm positioning hole and a No. 1 robot arm positioning hole are opened on one side of the punch plate, and a No. 2 robot arm positioning hole is opened on the other side. At the same time, a lens arm positioning hole is also opened on the punch plate. The lens arm positioning hole passes through the punch plate and the connecting plate, and the card barrel corresponds to the lens arm positioning hole.

[0012] By adopting the above technical solution, the No. 1 robotic arm positioning hole, the No. 2 robotic arm positioning hole, the No. 3 robotic arm positioning hole, the lens arm positioning hole and the skin cutting pins are used to locate the abdomen of the experimental pig and quickly make a skin incision of appropriate size. On the one hand, it can improve the convenience of positioning, and on the other hand, it can prevent the skin incision from being too large, causing pneumoperitoneum leakage, and at the same time, it can also prevent the skin incision from being too small to place the Choka.

[0013] Solution three: Based on solution one, a limiting hole is provided on the connecting plate, at least two limiting holes are arranged at intervals on the connecting plate, and a limiting protrusion is provided on the punching plate, and the limiting protrusion is engaged with the limiting hole.

[0014] By adopting the above technical solution, the limiting protrusions on the punching plate are engaged with the limiting holes on the connecting plate, so that the stability of the punching plate on the connecting plate is improved. At the same time, the convenience of adjusting the punching plate to be perpendicular to the connecting plate is improved.

[0015] Solution 4: Based on Solution 1, a through hole is opened on the positioning plate, and the range of the through hole is the outlined surgical target area.

[0016] By adopting the above technical solution, the convenience of drawing the surgical target area is improved.

[0017] Solution 5: Based on Solution 1, a measuring ruler is provided on the connecting plate, a fixing hook is provided on the measuring ruler, a hanging rod is provided on the connecting plate, and the measuring ruler is hung on the hanging rod through the fixing hook.

[0018] By adopting the above technical solution, the measuring ruler is hung on the hanging rod of the connecting plate through a fixed hook, and then the measuring ruler is rotated on the hanging rod through the fixed hook, so that the convenience of the measuring ruler in measuring the distance between the No. 1 robotic arm positioning hole, the No. 2 robotic arm positioning hole, the No. 3 robotic arm positioning hole and the lens arm positioning hole and the surgical target is improved.

[0019] Option 6: Based on Option 2, a connecting sleeve is provided on the punch plate, one end of the connecting sleeve passes through the lens arm positioning hole on the punch plate and the connecting plate in sequence, and the card barrel passes through the connecting sleeve.

[0020] By adopting the above technical solution, the stability of the punching plate in rotating on the connecting plate is improved.

[0021] Option 7: Based on Option 6, a limiting sleeve is provided on the connecting sleeve, and the limiting sleeve can be detachably installed on the connecting sleeve, and the limiting sleeve is provided on the outside of the Qiao card tube. At the same time, a clamping block is provided on the limiting sleeve, and a pull rod is provided on the clamping block, one end of the pull rod passes through the limiting sleeve, and a clamping slot is provided on the Qiao card tube, and the clamping block is engaged with the clamping slot, and a scale bar is provided on the side of the Qiao card tube close to the limiting sleeve, and several scale bars are provided at intervals on the Qiao card tube.

[0022] By adopting the above technical solution, the Qiao card tube is passed through the limit sleeve, and then the position of the Qiao card tube is limited by the pull rod and the card block, and then the Qiao card tube is inserted into the abdominal cavity of the experimental pig. As the Qiao card tube is inserted, the scale bar on the Qiao card tube is observed to understand the insertion depth of the Qiao card tube. When the Qiao card tube of the lens arm positioning hole is installed, the punching plate and the abdominal girth belt are removed from the abdomen of the experimental pig, and then one end of the lens of the surgical robot is placed into the abdominal cavity of the experimental pig through the Qiao card barrel, and the lens is rotated to align with the direction of the robot arm hole. Under the direct sight of the lens, the drilling of the No. 1 robot arm positioning hole, the No. 2 robot arm positioning hole and the No. 3 robot arm positioning hole and the placement of the Qiao card tube are assisted.

[0023] Option 8: Based on Option 7, the anti-fog component includes a heating wire, which is embedded in the Qiaoka tube, and a support bar is provided in the Qiaoka tube, one end of the support bar is connected to the Qiaoka tube, and the other end extends toward the inner side of the Qiaoka tube.

[0024] By adopting the above technical solution, when one end of the lens passes through the Joca tube, the heating wire heats one end of the lens, thereby preventing the lens from fogging on the surface when it is inserted from the relatively low temperature in vitro environment into the higher temperature abdominal cavity of the experimental pig, thereby eliminating the need for the operator to heat one end of the lens separately.

[0025] Solution nine: Based on solution seven, a limit strip is provided on the limit sleeve, and a limit groove is provided on the clamping tube, and the limit strip is slidably engaged with the limit groove.

[0026] By adopting the above technical solution, the limiting groove on the Qiao card tube and the sliding cooperation on the limiting sleeve can prevent the Qiao card tube from shifting when being inserted into the abdominal cavity of the experimental pig.

[0027] The present invention also seeks to protect an operating method of the above-mentioned pig abdomen drilling and positioning device for surgical robot training, which specifically comprises the following steps:

[0028] Step 1: Place the side of the positioning plate away from the connecting plate on the pubic end of the experimental pig in the prone position after establishing pneumoperitoneum. Place the connecting plate against the pig's abdomen. Then, use the positioning plate to draw the surgical target area on the pig's abdomen. Adjust the perforated plate and the connecting plate to a vertical angle to determine the position of the abdominal girth belt.

[0029] Step 2: Wrap the waist belt around the abdomen of the experimental pig, and then attach the waist belt tightly with the first Velcro and the second Velcro to fix the entire device;

[0030] Step 3: The punching position is quickly determined through the lens arm positioning hole, the first mechanical arm positioning hole, the second mechanical arm positioning hole and the third mechanical arm positioning hole on the punching plate, and a skin incision is quickly made on the abdominal skin of the test pig using a skin incision needle, and then the lens arm positioning hole on the abdomen of the test pig is punched;

[0031] Step 4: Connect the limiting sleeve to the connecting sleeve of the connecting plate, then pass one end of the Joka tube through the limiting sleeve, and when in use, the operator can know the depth of the Joka tube into the abdominal cavity of the test pig by observing the scale bar on the Joka tube;

[0032] Step 5: Adjust the Joka tube through the limiting strip and the limiting sleeve, and when the Joka tube is adjusted to the specified position, the Joka tube can be adjusted on the limiting sleeve through the clamping of the clamping block and the clamping groove on the Joka tube;

[0033] Step 6: After the Joka tube at the lens arm positioning hole is fixed, the operator quickly determines the positions of the other three mechanical arm holes using the punching plate, and then makes skin incisions using a skin incision needle;

[0034] Step 7: Separate the first and second magic tapes on the abdominal girth belt, so that the connecting plate, the punching plate and the positioning disc can be removed from the abdomen of the test pig, and at the same time, the Joka tube remains in the abdomen of the test pig;

[0035] Step 8: Place the lens of the surgical robot into the Joka tube, and when one end of the lens passes through the Joka tube, the heating wire on the Joka tube heats the lens;

[0036] Step 9: After the lens is placed into the abdominal cavity of the test pig, punch holes and place Joka tubes in the positions of the first, second and third mechanical arm positioning holes under the direct vision of the lens, and measure the distances between the surgical target area and the first, second and third mechanical arm positioning holes and the lens arm positioning hole using a measuring ruler.

[0037] In summary, the pig abdominal punching positioning device for surgical robot training and the operation method thereof have at least one of the following beneficial technical effects:

[0038] 1. Place the side of the positioning plate away from the connecting plate on the pubic end of the experimental pig after the prone position and pneumoperitoneum is established, and use the connecting plate to press against the abdomen of the experimental pig. Then use the positioning plate to draw an outline on the abdomen of the experimental pig, which is the target range of the operation. Adjust the punching plate and the connecting plate to a vertical angle to determine the position of the abdominal belt. Then, pass the abdominal belt around the abdomen of the experimental pig, and tighten the abdominal belt with the first Velcro and the second Velcro to fix the entire device. Determine the position of the surgical robot's lens and robotic arm through the punching plate, and make a skin incision. Separate the first Velcro and the second Velcro on the abdominal belt to remove the positioning plate, connecting plate and punching plate from the experimental pig. Then, insert the cajole into the abdominal cavity of the experimental pig through the skin incision. During the operation, pass the lens of the surgical robot through the cajole. When the lens passes through the cajole, the anti-fog component on the cajole prevents the end of the lens from fogging due to the temperature difference between the environment and the animal's abdominal cavity. The present invention can eliminate the need to spend a long time measuring and determining the hole position of the lens arm during the process of inserting the instrument into the abdomen of experimental pigs, and reduces the extra step of heating the lens to prevent it from fogging, thereby improving training efficiency and operation accuracy.

[0039] 2. Through the arrangement of the No. 1 robotic arm positioning hole, the No. 2 robotic arm positioning hole, the No. 3 robotic arm positioning hole, and the lens arm positioning hole, as well as the limiting holes on the connecting plate and the limiting protrusions on the punching plate, the punching plate can improve the accuracy of punching holes in the experimental pig's abdomen and prevent the punching position from shifting;

[0040] 3. By setting the connecting sleeve and the limiting sleeve, the stability of the Qiao card tube is improved when it passes through the positioning hole of the lens arm. At the same time, when it is necessary to remove the connecting plate, punching plate and positioning plate from the abdomen of the experimental pig, the limiting sleeve can also be quickly separated from the connecting sleeve, which improves the convenience of disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This embodiment mainly embodies the overall structural diagram of a pig abdomen drilling and positioning device for surgical robot training;

[0042] Figure 2 This is a schematic diagram of the rear structure of the restraint belt in this embodiment;

[0043] Figure 3 This is a schematic diagram of the exploded structure of the connecting plate and the perforated plate of this embodiment;

[0044] Figure 4 yes Figure 2 An enlarged schematic diagram of part A;

[0045] Figure 5 yes Figure 3 An enlarged schematic diagram of part B;

[0046] Figure 6 yes Figure 3 An enlarged schematic diagram of the local C section;

[0047] Figure 7 This is a schematic diagram of the structure of the leather cutting nail mainly embodied in this embodiment;

[0048] Figure 8 It is a flow chart of the main embodiment of the operation method of the present invention.

[0049] Reference numerals: 1, abdominal belt; 11, first Velcro; 111, hook surface; 12, second Velcro; 121, fleece surface; 13, skin-friendly cotton; 2, connecting plate; 21, limiting hole; 22, rotating shaft; 221, hanging rod; 23, pulling plate; 24, positioning rod; 25, through hole; 251, surgical target area; 26, measuring ruler; 261, fixing hook; 3, punching plate; 31, positioning hole of robot arm No. 1; 3 2. Positioning hole for robot arm No. 2; 33. Positioning hole for robot arm No. 3; 34. Positioning hole for lens arm; 35. Connecting sleeve; 36. Limiting protrusion; 37. Limiting sleeve; 371. Block; 372. Pull rod; 373. Tightening spring; 374. Limiting strip; 4. Positioning plate; 5. Card tube; 51. Card slot; 52. Scale bar; 53. Limiting slot; 6. Anti-fog assembly; 61. Heating wire; 62. Support bar. DETAILED DESCRIPTION

[0050] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the present invention is further described below in conjunction with specific embodiments.

[0051] In the description of the present invention, it should be understood that the terms "transverse", "longitudinal", "end", "edge", "sidewall", "up", "down", "upper part", "lower part", "directly above", "surface", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "end", "head" and "tail" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the technical solutions of 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 should not be understood as limiting the present invention.

[0052] The following is combined with Figure 1-7 This application is described in further detail.

[0053] The embodiments of the present application disclose a pig abdomen drilling positioning device for surgical robot training and an operating method thereof.

[0054] Reference Figure 1A pig abdomen punching and positioning device for surgical robot training includes a belly belt 1, the belly belt 1 is provided with a first Velcro 11 and a second Velcro 12, the belly belt 1 is provided with a connecting plate 2, the connecting plate 2 is provided with a punching plate 3, the punching plate 3 is rotatably connected to the connecting plate 2, and a positioning plate 4 is provided on the connecting plate 2, the positioning plate 4 is rotatably connected to the connecting plate 2; and a card tube 5 is provided on the punching plate 3, the card tube 5 is detachably installed on the punching plate 3, and an anti-fog component 6 is provided on the card tube 5.

[0055] Reference Figure 7 By adopting the above technical solution, the side of the positioning plate 4 away from the connecting plate 2 is placed on the pubic end of the experimental pig after the pneumoperitoneum is established in the prone position, and the connecting plate 2 is pressed against the abdomen of the experimental pig. Then, an outline is drawn on the abdomen of the experimental pig by the positioning plate 4, which is the surgical target range. The punching plate 3 and the connecting plate 2 are adjusted to a vertical angle to determine the position of the abdominal belt 1. Then, the abdominal belt 1 is passed around the abdomen of the experimental pig, and the abdominal belt 1 is tightly attached by the first Velcro 11 and the second Velcro 12 to fix the entire device. The position of the lens arm and the mechanical arm of the surgical robot is determined by the punching plate 3. After the position is confirmed, a skin cutting nail is used to make an "I"-shaped incision of uniform size and appropriate size to facilitate the insertion of the Qiaoka, and the incision cut by the skin cutting nail is 1 cm long.

[0056] Separate the first Velcro 11 and the second Velcro 12 on the abdominal band 1, so that the positioning plate 4, the connecting plate 2 and the punching plate 3 are removed from the experimental pig, and then the jockey tube 5 is placed into the abdominal cavity of the experimental pig. During the operation, the lens of the surgical robot is passed through the jockey tube 5. When the lens passes through the jockey tube 5, the anti-fog component 6 on the jockey tube 5 prevents the end of the lens from fogging due to the temperature difference between the environment and the animal's abdominal cavity.

[0057] The present invention enables the process of inserting an instrument into the abdomen of an experimental pig, so that during the process of training using the abdomen of the experimental pig, it is no longer necessary to spend a long time measuring and determining the hole position of the lens arm and making a skin incision of an appropriate size. At the same time, the step of heating the lens to prevent the lens from fogging is reduced, thereby improving the efficiency of training and the accuracy of operation.

[0058] The abdominal belt 1 is in the shape of a long strip as a whole and is made of elastic nylon stretch elastic band. The first Velcro 11 and the second Velcro 12 are respectively located at the two ends of the length direction of the abdominal belt 1, and the first Velcro 11 is formed with a hook surface 111, and the second Velcro 12 is formed with a fur surface 121. When in use, the abdominal belt 1 can be tied to the pig's abdomen through the adhesion and cooperation of the first Velcro 11 and the second Velcro 12.

[0059] At the same time, skin-friendly cotton 13 is provided on the abdominal belt 1. The skin-friendly cotton 13 is located on the inner side of the abdominal belt 1, and two skin-friendly cotton 13 are arranged at intervals on the abdominal belt 1. The two skin-friendly cotton 13 are connected to the abdominal belt 1. When the abdominal belt 1 is tied around the abdomen of the experimental pig, the skin-friendly cotton 13 conflicts with the abdomen of the experimental pig. When the abdominal belt 1 is tied around the pig's abdomen, the operator also needs to adjust the position of the abdominal belt 1. By conflicting with the abdomen of the experimental pig, the abdominal belt 1 can be prevented from tightening the abdomen of the experimental pig, which facilitates the operator to adjust the abdominal belt 1.

[0060] Preferably, the experimental pig waist girth belt 1 is made of elastic nylon stretch elastic magic belt, 5 cm wide and 100 cm long. The inner side that contacts the abdomen of the experimental pig is filled with skin-friendly sponge, and the outer side is made of nylon magic tape, which can be adjusted and fixed for animals with different waist circumferences.

[0061] The connecting plate 2 is in the shape of a rectangular plate as a whole, and the length direction of the connecting plate 2 is perpendicular to the length direction of the abdominal belt 1. One end of the connecting plate 2 in the length direction is connected to the abdominal belt 1, and the other end extends away from one side of the abdominal belt 1.

[0062] Reference Figure 2 、 Figure 4 The punch plate 3 is rectangular in shape and is preferably made of hard silicone, conforming to the pig's abdomen. Furthermore, the punch plate 3 is rotatably mounted on the connecting plate 2. A first robotic arm positioning hole 31, a second robotic arm positioning hole 32, and a third robotic arm positioning hole 33 are defined along the length of the punch plate 3. Furthermore, a lens arm positioning hole 34 is defined on the punch plate 3, extending through the connecting plate 2.

[0063] At the same time, the diameters of the No. 1 robotic arm positioning hole 31, the No. 2 robotic arm positioning hole 32, the No. 3 robotic arm positioning hole 33, and the lens arm positioning hole 34 are the same. The use of skin cutting nails allows the operator to quickly make a skin incision of appropriate size to prevent the incision from being too small to place the Qiaoka tube 5, or the incision from being too large to cause pneumoperitoneum leakage, thereby improving the convenience of inserting the Qiaoka tube 5.

[0064] In order to improve the convenience of rotating the perforated plate 3 on the connecting plate 2, a connecting sleeve 35 is provided on the perforated plate 3. One end of the connecting sleeve 35 passes through the perforated plate 3 and the connecting plate 2, and the connecting plate 2 and the perforated plate 3 are connected through the connecting sleeve 35, so that the perforated plate 3 can rotate on the connecting plate 2.

[0065] Da Vinci surgery typically requires four small incisions in the patient's abdomen, primarily for inserting surgical instruments and a camera, allowing the surgeon to perform precise surgery using a surgical robot. The arm positioning holes are used to insert the camera, while the first, second, and third robotic arm positioning holes 31, 32, and 33 are used to insert surgical instruments. These holes allow the surgeon to perform highly delicate surgeries, minimizing incisions and trauma, and improving surgical accuracy and safety.

[0066] Typically, the four incisions required for da Vinci surgery are not very large, typically only about one centimeter in diameter. Therefore, the procedure is less traumatic and requires less recovery time than traditional surgical methods. Less tissue is damaged, resulting in faster wound healing, shorter recovery time, and less postoperative pain. Furthermore, the procedure is more precise, less invasive, and has a lower risk of postoperative complications.

[0067] When punching holes through the punch plate 3, in order to meet the punching requirements, the punch plate 3 needs to be perpendicular to the connecting plate 2. However, it is not possible to determine whether the punch plate 3 and the connecting plate 2 are perpendicular by observation alone. Therefore, after improvement, the designers provide a limit hole 21 on the connecting plate 2. The limit holes 21 are spaced four apart on the connecting plate 2, and the four limit holes 21 are evenly spaced around the lens arm positioning hole 34. At the same time, the punch plate 3 is provided with a limit protrusion 36, which corresponds to the limit hole 21. When the punch plate 3 is rotated, when the limit protrusion 36 on the punch plate 3 is embedded and matched with the limit hole 21 on the connecting plate 2, the punch plate 3 and the connecting plate 2 are in a mutually perpendicular state.

[0068] A rotating shaft 22 is provided on the side of the connecting plate 2 away from the abdominal belt 1 in the length direction, and a hole with a diameter of 1 cm is provided on the upper edge of the positioning plate 4. The positioning plate 4 is rotatably connected to the connecting plate 2 on the rotating shaft 22 through the hole on its upper side. At the same time, a pull plate 23 is provided on the side of the positioning plate 4 relative to the connecting plate 2. One end of the pull plate 23 is connected to the positioning plate 4, and the other end extends to the side away from the positioning plate 4. At the same time, a positioning rod 24 is provided on the pull plate 23, and the positioning rod 24 is fixed on the pull plate 23. When in use, the operator tightens the positioning rod 24, and after the positioning rod 24 corresponds to the pubic bone of the experimental pig, the abdominal belt 1 is tightened again.

[0069] Preferably, the surgical range positioning disk 4 is made of hard medical silicone, and the positioning disk 4 is circular as a whole with a diameter of 16 cm. Furthermore, the inner side of the positioning disk 4 that contacts the abdomen of the experimental pig is filled with a skin-friendly sponge.

[0070] When the abdominal region of the experimental pig is drawn as the surgical target area 251, it needs to be drawn along the outer side of the positioning disc 4. Since the positioning disc 4 is connected with the connecting plate 2, the operator cannot draw continuously. Therefore, the designer improves the design. The positioning disc 4 is provided with a through hole 25. The inner side of the through hole 25 is formed with the surgical target area 251. When the surgical target area 251 is drawn, it is drawn along the inner side of the through hole 25, so that the operator can draw continuously.

[0071] During the experiment, the length of the first mechanical arm positioning hole 31, the second mechanical arm positioning hole 32 and the third mechanical arm positioning hole 33 and the surgical target area 251 also need to be measured. In order to improve the convenience of measurement during the experiment, the designer improves the design. The connecting plate 2 is provided with a measuring scale 26. The lens arm hole measuring scale 26 is made of plastic and has a length of 22 cm. The measuring scale 26 is provided with a fixing hook 261. The fixing hook 261 is made of stainless steel. The connecting plate 2 is provided with a hanging rod 221. When in use, the measuring scale 26 is hung on the hanging rod 221 through the fixing hook 261. When the distance between the first mechanical arm positioning hole 31, the second mechanical arm positioning hole 32 and the third mechanical arm positioning hole 33 needs to be measured, the measuring scale 26 is rotated around the hanging rod 221 to obtain the specific data.

[0072] In use, the lens end of the surgical robot is placed in the lens arm positioning hole 34 of the punching plate 3. After the lens is placed, the first mechanical arm positioning hole 31, the second mechanical arm positioning hole 32 and the third mechanical arm positioning hole 33 are punched and the jockey cylinder 5 is placed, so that the jockey cylinder 5 needs to be adjusted repeatedly, thereby improving the convenience of punching.

[0073] Referring to Figure 3 , Figure 5 , Figure 6Since there is no lens assistance when installing the first Qiaoka tube 5, the placement depth of the Qiaoka tube 5 needs to be adjusted to avoid excessive penetration into the abdominal organs causing damage, or excessive insertion into the peritoneum causing subcutaneous emphysema. In order to improve the safety and convenience of adjusting the Qiao card cylinder 5 during use, a limiting sleeve 37 is provided on the connecting sleeve 35, and the limiting sleeve 37 is threadedly connected to the connecting sleeve 35, and the Qiao card cylinder 5 passes through the limiting sleeve 37. In order to improve the stability of the Qiao card cylinder 5 on the limiting sleeve 37, a clamping block 371 is provided on the limiting sleeve 37, and the clamping block 371 is slidably installed on the limiting sleeve 37, and a pull rod 372 is provided on the clamping block 371, one end of the pull rod 372 is connected to the clamping block 371, and the other end passes through the limiting block. At the same time, a tightening spring 373 is provided between the clamping block 371 and the limiting sleeve 37, one end of the tightening spring 373 is connected to the clamping block 371, and the other end is connected to the limiting sleeve 37. In addition, a card slot 51 is provided on the Qiao card tube 5, and a number of card slots 51 are evenly spaced on the Qiao card tube 5. When the Qiao card tube 5 moves to the corresponding position, the pressing spring 373 presses the card block 371 into the card slot 51 of the Qiao card tube 5 to prevent the Qiao card tube 5 from being accidentally pushed into the abdominal organs of the experimental pig during operation.

[0074] At the same time, in order to enable the operator to understand the depth of the insertion of the Qiaoka tube 5 into the abdominal cavity of the experimental pig, a scale bar 52 is provided on the Qiaoka tube 5. Several scale bars 52 are arranged at intervals on the Qiaoka tube 5. During the operation, by observing the scale bar 52 corresponding to the limit sleeve 37, the operator can understand the depth of the insertion of the Qiaoka tube 5 into the abdominal cavity of the experimental pig.

[0075] During operation, in order to prevent the Qiaoka from rotating during operation, a limiting groove 53 is provided on the Qiaoka tube 5, and three limiting grooves 53 are evenly spaced on the Qiaoka tube 5. At the same time, a limiting strip 374 is provided on the limiting sleeve 37, and the limiting strip 374 corresponds to the limiting groove 53, and one end of the limiting strip 374 is connected to the limiting sleeve 37, and the other end is slidably matched with the limiting groove 53 on the Qiaoka, so that the stability of the Qiaoka tube 5 in the limiting sleeve 37 is improved, preventing the Qiaoka tube 5 from rotating during use, thereby affecting the installation of the Qiaoka tube 5.

[0076] During use, since the body temperature of the experimental pigs is higher than the room temperature, and the lens is stored at room temperature, when the lens is placed into the abdominal cavity of the experimental pigs, fog is easily formed on the lens of the surgical robot, affecting the operator's vision and the implementation of the operation.

[0077] In the prior art, operators usually prepare a portion of hot water similar to the body temperature of the experimental pig, immerse the lens in the hot water, and then quickly insert the lens into the abdominal cavity of the experimental pig after heating. This method, on the one hand, affects the training progress, and on the other hand, it is difficult to control the temperature of the lens heating. If one end of the lens is not heated properly, it is still easy to fog when inserted into the abdominal cavity of the experimental pig. Therefore, after improvement by the designers, the anti-fog component 6 includes a heating wire 61, which is located on the side of the Qiaoka tube 5 away from the pig's abdomen, and a number of heating wires 61 are evenly spaced on the Qiaoka tube 5. At the same time, there is only a support bar 62 on the inner wall of the Qiaoka tube 5. One end of the support bar 62 is connected to the Qiaoka tube 5, and the other end extends to the inner side of the Qiaoka tube 5. The structural strength of the Qiaoka tube 5 close to the heating wire 61 is provided by the support bar 62.

[0078] During use, one end of the surgical robot's lens passes through the support bars 62. As the lens passes through, the heating wire 61 heats the lens. By heating the lens to the body temperature of the experimental pig, fog is prevented from forming on the lens when the lens is inserted into the abdominal cavity of the experimental pig.

[0079] Since the heating wire 61 heats the lens at intervals by dissipating heat, and this heat is lost during the transfer process, the lens heating temperature is not ideal. Furthermore, the distance of the Joka tube 5 is relatively short. If the temperature of the heating chamber is the same as the body temperature of the experimental pig when the lens passes through the Joka tube 5, the lens will not be fully heated to the same temperature as the experimental pig. The following is the relationship between the temperature of the heating wire 61, the heating temperature of the lens, and the amount of fogging at the lens end:

[0080]

[0081]

[0082] Through experimental comparison, it is known that the temperature of the heating wire 61 only needs to be maintained at 40° C. during the time when the lens passes through the Jockey tube 5. When the lens is inserted into the pig's abdominal cavity, the heating of the heating wire 61 is stopped.

[0083] Reference Figure 8 The present invention also seeks to protect an operating method of the above-mentioned pig abdomen drilling and positioning device for surgical robot training, which specifically includes the following steps:

[0084] Step 1: Place the side of the positioning plate 4 away from the connecting plate 2 on the pubic end of the experimental pig in the prone position after establishing pneumoperitoneum, and place the connecting plate 2 against the abdomen of the experimental pig. Then, use the positioning plate 4 to draw the surgical target area 251 on the abdomen of the experimental pig. Adjust the perforated plate 3 and the connecting plate 2 to form a vertical angle to determine the position of the abdominal girth belt 1.

[0085] Step 2: Wrap the waist belt 1 around the abdomen of the experimental pig, and then attach the waist belt 1 tightly through the first Velcro 11 and the second Velcro 12 to fix the entire device;

[0086] Step 3: Quickly determine the punching positions through the lens arm positioning hole 34, the first robot arm positioning hole 31, the second robot arm positioning hole 32, and the third robot arm positioning hole 33 on the punch plate 3, and use a skin cutting nail to quickly make a uniform "I" incision of appropriate size on the abdominal skin of the test pig, and then punch the position of the lens arm positioning hole 34 on the abdomen of the test pig;

[0087] Step 4: Connect the limiting sleeve 37 to the connecting sleeve 35 of the connecting plate 2, and then pass one end of the Qiao card tube 5 through the limiting sleeve 37. When in use, by observing the scale bar 52 on the Qiao card tube 5, the operator can know the depth of the Qiao card tube 5 entering the abdominal cavity of the experimental pig;

[0088] Step 5: Adjust the clamping tube 5 through the limiting strip 374 and the limiting sleeve 37. When the clamping tube 5 is adjusted to the specified position, the clamping block 371 engages with the clamping slot 51 on the clamping tube 5, so that the clamping tube 5 can be adjusted on the limiting sleeve 37.

[0089] Step 6: After the Jockey tube 5 at the lens arm positioning hole 34 is fixed, the operator uses the punch plate 3 to quickly determine the positions of the other three robot arm holes and uses skin cutting nails to make skin incisions;

[0090] Step 7: Separate the first Velcro 11 and the second Velcro 12 on the abdominal band 1 so that the connecting plate 2, the punching plate 3 and the positioning plate 4 can be removed from the abdomen of the experimental pig. Meanwhile, the card tube 5 remains on the abdomen of the experimental pig.

[0091] Step 8: Place the lens of the surgical robot into the Qiaoka tube 5. When one end of the lens passes through the Qiaoka tube 5, the heating wire 61 on the Qiaoka tube 5 heats the lens;

[0092] Step 9: After the lens is placed in the abdominal cavity of the experimental pig, complete the drilling and insertion of the card tube 5 at the positioning holes 31, 32 and 33 of the robot arm No. 1, 31, 32 and 33 under the direct view of the lens, and use the measuring ruler 26 to measure the distance between the surgical target area 251 and the positioning holes 31, 32, 33 and 34 of the robot arm No. 1, 31, 32 and 33 of the robot arm No. 3 and the lens arm positioning hole.

[0093] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A pig abdomen punching and positioning device for surgical robot training, comprising an abdominal belt (1), wherein the abdominal belt (1) is provided with a first Velcro (11) and a second Velcro (12), characterized in that: The abdominal girth belt (1) is provided with a connecting plate (2), and the connecting plate (2) is provided with a punching plate (3), and the punching plate (3) is rotatably connected to the connecting plate (2). At the same time, the connecting plate (2) is provided with a positioning plate (4), and the positioning plate (4) is rotatably connected to the connecting plate (2); and the punching plate (3) is provided with a card tube (5), and the card tube (5) is detachably mounted on the punching plate (3). At the same time, the card tube (5) is provided with an anti-fog component (6); A No. 3 robot arm positioning hole (33) and a No. 1 robot arm positioning hole (31) are provided on one side of the punch plate (3), and a No. 2 robot arm positioning hole (32) is provided on the other side. At the same time, a lens arm positioning hole (34) is also provided on the punch plate (3), and the lens arm positioning hole (34) passes through the punch plate (3) and the connecting plate (2), and the card barrel (5) corresponds to the lens arm positioning hole (34).

2. The pig abdomen drilling and positioning device for surgical robot training according to claim 1, characterized in that: A limiting hole (21) is provided on the connecting plate (2), at least two limiting holes (21) are arranged at intervals on the connecting plate (2), and a limiting protrusion (36) is provided on the punching plate (3), and the limiting protrusion (36) is engaged with the limiting hole (21).

3. The pig abdomen drilling and positioning device for surgical robot training according to claim 1, characterized in that: The positioning plate (4) is provided with a through hole (25), and the area within the through hole (25) is the outlined surgical target area (251).

4. The pig abdomen drilling and positioning device for surgical robot training according to claim 1, characterized in that: A measuring ruler (26) is provided on the connecting plate (2), a fixing hook (261) is provided on the measuring ruler (26), a hanging rod (221) is provided on the connecting plate (2), and the measuring ruler (26) is hung on the hanging rod (221) via the fixing hook (261).

5. The pig abdomen drilling and positioning device for surgical robot training according to claim 1, characterized in that: A connecting sleeve (35) is provided on the punch plate (3), one end of the connecting sleeve (35) passes through the lens arm positioning hole (34) on the punch plate (3) and the connecting plate (2) in sequence, and the card barrel (5) passes through the connecting sleeve (35).

6. The pig abdomen drilling and positioning device for surgical robot training according to claim 5, characterized in that: A limiting sleeve (37) is provided on the connecting sleeve (35), and the limiting sleeve (37) is detachably mounted on the connecting sleeve (35), and the limiting sleeve (37) is sleeved on the outer side of the Qiao card tube (5). At the same time, a clamping block (371) is provided on the limiting sleeve (37), and a pull rod (372) is provided on the clamping block (371), and one end of the pull rod (372) passes through the limiting sleeve (37). A clamping slot (51) is provided on the Qiao card tube (5), and the clamping block (371) is clamped with the clamping slot (51). A scale bar (52) is provided on the side of the Qiao card tube (5) close to the limiting sleeve (37), and a plurality of scale bars (52) are arranged at intervals on the Qiao card tube (5).

7. The pig abdomen drilling and positioning device for surgical robot training according to claim 6, characterized in that: The anti-fog assembly (6) includes a heating wire (61), which is embedded in the Qiaoka tube (5), and a support bar (62) is provided in the Qiaoka tube (5), one end of the support bar (62) is connected to the Qiaoka tube (5), and the other end extends toward the inside of the Qiaoka tube (5).

8. The pig abdomen drilling and positioning device for surgical robot training according to claim 6, characterized in that: A limiting strip (374) is provided on the limiting sleeve (37), and a limiting groove (53) is provided on the Qiao card cylinder (5), and the limiting strip (374) is slidably matched with the limiting groove (53).

9. An operating method for a pig abdomen drilling and positioning device for surgical robot training according to any one of claims 1 to 8, the operating method comprising: Step 1: Place the positioning plate (4) away from the connecting plate (2) on the pubic end of the experimental pig in a prone position after establishing pneumoperitoneum, and place the connecting plate (2) against the abdomen of the experimental pig. Then, draw a surgical target area (251) on the abdomen of the experimental pig using the positioning plate (4), adjust the punching plate (3) and the connecting plate (2) to form a vertical angle, and determine the position of the abdominal girth belt (1); Step 2: Wrap the waist belt (1) around the abdomen of the experimental pig, and then attach the waist belt (1) tightly through the first Velcro (11) and the second Velcro (12) to fix the entire device; Step 3: quickly determine the punching position through the lens arm positioning hole (34), the first mechanical arm positioning hole (31), the second mechanical arm positioning hole (32) and the third mechanical arm positioning hole (33) on the punching plate (3), quickly make a uniform "I" incision of appropriate size on the abdominal skin of the test pig using a skin cutting nail, and then punch the position of the lens arm positioning hole (34) on the abdomen of the test pig; Step 4: Connect the limiting sleeve (37) to the connecting sleeve (35) of the connecting plate (2), and then pass one end of the Qiao card tube (5) through the limiting sleeve (37). When in use, by observing the scale bar (52) on the Qiao card tube (5), the operator can know the depth of the Qiao card tube (5) entering the abdominal cavity of the experimental pig; Step 5: The Qiao card tube (5) is adjusted by the limiting strip (374) and the limiting sleeve (37). When the Qiao card tube (5) is adjusted to the specified position, the card block (371) is engaged with the card slot (51) on the Qiao card tube (5), so that the Qiao card tube (5) can be adjusted on the limiting sleeve (37); Step 6: After the fixation of the Qiao card cylinder (5) at the lens arm positioning hole (34) is completed, the operator uses the punch plate (3) to quickly determine the positions of the other three robot arm holes and uses the skin cutting nail to make the skin incision; Step 7: Separate the first Velcro (11) and the second Velcro (12) on the abdominal belt (1), so that the connecting plate (2), the punching plate (3) and the positioning plate (4) can be removed from the abdomen of the experimental pig, while the Jockey tube (5) remains in the abdomen of the experimental pig; Step 8: Place the lens of the surgical robot into the Joka tube (5). When one end of the lens passes through the Joka tube (5), the heating wire (61) on the Joka tube (5) heats the lens. Step 9: After the lens is placed in the abdominal cavity of the experimental pig, the drilling and insertion of the card tube (5) are completed at the positioning holes of the No. 1 robot arm positioning hole (31), the No. 2 robot arm positioning hole (32) and the No. 3 robot arm positioning hole (33) under the direct view of the lens, and the distance between the surgical target area (251) and the No. 1 robot arm positioning hole (31), the No. 2 robot arm positioning hole (32), the No. 3 robot arm positioning hole (33) and the lens arm positioning hole (34) is measured using a measuring ruler (26).

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