Single / multi-port surgical robotic multi-degree of freedom surgical manipulator assembly

Abstract

The application provides a single-hole / multi-hole surgical robot multi-freedom surgical operating instrument assembly, and relates to the technical field of medical instruments.In the application, a rigid pipeline provides strength support for a surgical operating instrument and can drive a connected soft pipeline to rotate; the soft pipeline comprises two different configurations of a snake bone structure and a snake bone-like structure, the unique design of which can meet different single-hole surgical scenes, and the rigidity and stability of the soft pipeline can be increased through the mode of a rigid sleeve, and the soft pipeline can be applied to a multi-hole surgical robot, so that the surgical operating instrument can be shared in single-hole and multi-hole surgical scenes.The design of double soft pipelines greatly increases the movement space of a mechanical arm and simplifies the complex preoperative adjustment link of a doctor during single-hole surgery.Meanwhile, the design of rope movement compensation enables the snake bone-like structure to also rotate by 360 DEG, and compared with the snake bone structure, the snake bone-like structure has better rigidity and stability and is very suitable for application scenes with higher operation precision.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot. Background Technology

[0002] In modern minimally invasive surgery, surgical robots are used to treat a variety of surgical conditions. Since minimally invasive surgery typically requires three or more incisions, which prolongs healing time and affects scar aesthetics, single-port surgical robots are increasingly being used, proving to offer the same benefits as multi-port surgical robots. Single-port surgery delivers multiple surgical instruments and endoscopes through a single channel into the incision, reducing trauma, intraoperative bleeding, and shortening postoperative wound healing time.

[0003] However, current single-port surgeries typically require 3 to 4 surgical instruments to be present within the wound simultaneously, resulting in the robotic arms being very close to each other. This necessitates surgeons spending more time calibrating and adjusting the positions of the instruments before surgery. Furthermore, current surgical instruments do not allow for the sharing of instruments between single-port and multi-port surgeries, undoubtedly increasing the costs of research and development and large-scale application. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a multi-degree-of-freedom surgical instrument assembly for single-port / multi-port surgical robots, solving the technical problem that single-port minimally invasive surgical instruments and multi-port minimally invasive surgical instruments cannot be used interchangeably.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0008] A multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot includes a first rigid tube, a first flexible tube, a second rigid tube, and a second flexible tube.

[0009] One end of the first rigid tube is connected to the main body of the surgical instrument via a linear operating tube, and the other end is connected to the head end of the first flexible tube.

[0010] One end of the second rigid pipe is connected to the tail end of the first flexible pipe, and the other end is connected to the head end of the second flexible pipe.

[0011] The tail end of the second flexible tube is connected to the end of the surgical instrument via a third rigid tube, which is located inside the surgical wound cannula.

[0012] Both the first and second flexible pipes can be transformed into rigid pipes by fitting a rigid sleeve of the corresponding shape when they are bent or straightened.

[0013] Preferably, in the bent state, the first flexible pipe is sleeved with the first rigid sleeve, and the second flexible pipe is sleeved with the third rigid sleeve.

[0014] Alternatively, in the straightened state, the first flexible pipe is fitted with the second rigid sleeve, and the second flexible pipe is fitted with the fourth rigid sleeve.

[0015] Preferably, it also includes several ropes, the starting end of any one of the ropes being connected to a control motor inside the surgical instrument body via a coupling;

[0016] Both the first rigid pipe and the second rigid pipe have an internal hollow structure. The first rigid pipe has a first through-hole plate inside, and the second rigid pipe has a second through-hole plate inside.

[0017] The first flexible pipe has a third through-hole plate at its tail end, and the second flexible pipe has a fourth through-hole plate at its tail end.

[0018] The first set of ropes passes through the first through-hole plate and is connected to the third through-hole plate; the second set of ropes passes through the first through-hole plate, the first flexible pipe, and the second through-hole plate in sequence and is connected to the fourth through-hole plate.

[0019] Preferably, the first flexible conduit adopts a flexible snake-bone structure or a rigid snake-like structure; the second flexible conduit adopts a flexible snake-bone structure or a rigid snake-like structure.

[0020] Wherein, when the first flexible pipe and / or the second flexible pipe adopt a rigid serpentine structure, kinematic compensation is performed on the corresponding rope length.

[0021] Preferably, both the first and second groups of ropes consist of four ropes, evenly distributed about the central axis of their respective flexible pipes; the kinematic compensation for the rope lengths specifically refers to:

[0022] Define any two mutually coupled joints of the snake-like structure, with a supporting link between the two joints; the rope is two of the four ropes, and is symmetrical about the supporting link;

[0023] The control motor inside the main body of the surgical instrument rotates. Angle, the rope is stretched by the motor and the joint rotates by an angle θ, the rope length changes ΔL=2dsin(θ);

[0024] Define the coupling radius as R, then the change in rope length caused by the motor's rotation is equal to the change in rope length when the joint bends, i.e. Therefore, the joint rotation angle θ can be calculated.

[0025] Calculate the rotation angle of the motor The difference between the joint rotation angle θ and the joint rotation angle θ And used as compensation value.

[0026] Preferably, the surgical instrument is a laparoscope, an electric hook, scissors, or a needle holder.

[0027] Beneficial effects

[0028] This invention provides a multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot, which has the following advantages compared with the prior art:

[0029] In this invention, the rigid tube provides structural support for the surgical instruments and can drive the rotation of the connected flexible tubes. The flexible tubes can also be transformed into rigid tubes by fitting a rigid sleeve of the corresponding shape. In the bent state, due to its flexibility, multiple surgical instruments with the same structure can be combined for surgery through a fixed incision, thus enabling its application in single-port robotic surgery. In the straightened state, the rigid sleeve increases the rigidity and stability of the surgical instrument tubes, allowing for independent use. Combined with a robotic arm, it can be used in multi-port surgical scenarios. Furthermore, the dual flexible tube design significantly increases the robotic arm's range of motion, simplifying the complex pre-operative adjustments required for single-port surgery and overcoming the technical drawback of traditional single-port surgical instruments, which result in a compact end-effector layout. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram illustrating a usage scenario of a multi-degree-of-freedom surgical instrument component for a single-port / multi-port surgical robot, as provided in an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure of a multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot provided in an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of a single-port / multi-port surgical robot multi-degree-of-freedom surgical instrument assembly with a sleeve in a bent state, provided as an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of a single-port / multi-port surgical robot multi-degree-of-freedom surgical instrument assembly with a sleeve in a straightened state, provided as an embodiment of the present invention;

[0035] Figures 5(a) to (b) are physical images of the snake-bone structure and snake-like structure provided in the embodiments of the present invention, respectively.

[0036] Figure 6 This is a schematic diagram of a snake-bone-like flexible pipe structure provided in an embodiment of the present invention;

[0037] Figure 7 for Figure 6 A schematic diagram of motion analysis for the snake-like flexible pipe shown in the figure;

[0038] Figures 8(a) to (b) are schematic diagrams of the first rigid (flexible) pipe circular connection through-hole plate and the second rigid (flexible) pipe circular connection through-hole plate provided in the embodiments of the present invention;

[0039] Figure 9 This is a schematic diagram of the first and second rigid pipe circular connection through-hole plate structures provided in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] This application provides a multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot, solving the technical problem that single-port minimally invasive surgical instruments and multi-port minimally invasive surgical instruments cannot be used interchangeably.

[0042] The technical solution in this application is to solve the above-mentioned technical problems, and the general idea is as follows:

[0043] like Figure 1 The diagram shows a single-port surgical procedure performed by two robots. Figure 1 Only one of them is labeled, but the overall structure of the two is the same. The robot includes: a robotic arm 100, a linear platform 102, a surgical instrument body 104, a surgical instrument linear operation channel 106, a designed surgical instrument operation channel 108 (within the dashed rectangle), a surgical operation wound cannula 110, and a surgical instrument end effector 112.

[0044] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0045] Example:

[0046] like Figure 2 As shown, this embodiment of the invention provides a multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot, comprising: a first rigid tube 10, a first flexible tube 12, a second rigid tube 14, and a second flexible tube 16. It serves as... Figure 1 A portion of the surgical instrument operating channel 108 shown is connected to the surgical instrument linear operating channel 106 and the surgical instrument end 112, respectively. In more detail:

[0047] One end of the first rigid tube 10 is connected to the main body of the surgical instrument 104 via the surgical instrument linear operation tube 106, and the other end is connected to the head end of the first flexible tube 12.

[0048] One end of the second rigid pipe 14 is connected to the tail end of the first flexible pipe 12, and the other end is connected to the head end of the second flexible pipe 16.

[0049] The tail end of the second flexible tube 16 is connected to the end of the surgical instrument 112 via a third rigid tube 18, the third rigid tube 18 being located inside the surgical wound cannula 110;

[0050] Both the first flexible pipe 12 and the second flexible pipe 16 can be transformed into rigid pipes by fitting a rigid sleeve of the corresponding shape when in a bent or straight state.

[0051] like Figure 3 As shown, in the bent state, the first flexible tube 12 is sleeved on the first rigid sleeve 11, and the second flexible tube 16 is sleeved on the third rigid sleeve 15; the bending angle can be selected according to the actual clinical operation, such as 30°, 45°, 60°, etc.

[0052] Or such as Figure 4 As shown, in the straightened state, the first flexible pipe 12 is sleeved on the second rigid sleeve 13, and the second flexible pipe 16 is sleeved on the fourth rigid sleeve 17.

[0053] For example, rigid sleeves 11, 13, 15, and 17 maintain a rigid connection between the flexible tubes 12 and 16 and the rigid tubes 10 and 16 through structural constraints (such as bayonets). This allows the instrument's tubing to be used in both a bent and straightened state. In the bent state, due to its flexibility, multiple surgical instruments with the same structure can be combined for surgery through a fixed surgical incision, thus enabling its application in single-port robotic surgery. In the straightened state, the rigid sleeves increase the stiffness and stability of the surgical instrument tubing, allowing it to be used independently, or combined with a robotic arm for multi-port surgical procedures.

[0054] In particular, to achieve bending in all directions, the multi-degree-of-freedom surgical instrument assembly of the single-hole / multi-hole surgical robot provided in this embodiment of the invention also includes several ropes, and the starting end of any of the ropes is connected to a control motor inside the surgical instrument body 104 via a coupling.

[0055] Both the first rigid pipe 10 and the second rigid pipe 14 have an internal hollow structure. The first rigid pipe 10 has a first through-hole plate inside, and the second rigid pipe 14 has a second through-hole plate inside.

[0056] The tail end of the first flexible pipe 12 is provided with a third through-hole plate, and the tail end of the second flexible pipe 16 is provided with a fourth through-hole plate.

[0057] The first set of ropes passes through the first through-hole plate and is connected to the third through-hole plate; the second set of ropes passes through the first through-hole plate, the first flexible pipe 12, and the second through-hole plate in sequence and is connected to the fourth through-hole plate.

[0058] Specifically, the first flexible conduit 12 and the second flexible conduit 16 have two different design methods:

[0059] One is the snake bone structure, as shown in Figure 5(a). When the first rigid tube 10 rotates 360° under the control of the surgical instrument body 104, the flexible design of the snake bone structure allows the first soft tube 12 and the second soft tube 16 to rotate 360° without obstruction. The rope inside rotates accordingly, and the length remains unchanged.

[0060] The second type is a serpentine structure, as shown in Figure 5(b). When the first flexible pipe 12 and the second flexible pipe 16 rotate 360° with the first rigid pipe 10, due to the design of this structure with only two degrees of freedom, such as... Figures 6-7 As shown, it lacks the flexibility to rotate 360°, therefore kinematic compensation is required for the rope length, such as... Figure 7 Only in this way can the length of the rope remain unchanged when it rotates with the flexible structure.

[0061] When both the first flexible conduit 12 and the second flexible conduit 16 are of a serpentine structure, no kinematic compensation is required for the corresponding rope length. For example, as shown in Figure 8(a), the circular connecting through-hole plates 60 inside the first rigid conduit 10 and the first flexible conduit 12 are identical, each including two layers of through-holes: an outer layer 62 and an inner layer 64. Each layer has four through-holes, such as through-hole 62-1 in the outer layer 62 and through-hole 64-1 in the inner layer 64. These through-holes serve as channels for the ropes to pass through within the first rigid conduit 10, providing positioning, support, and constraint for the ropes. The ropes passing through the first rigid conduit 10 also consist of two layers, four ropes in each layer.

[0062] The outer four ropes reach only the first flexible pipe 12 and are secured by through holes inside the first flexible pipe 12. The inner four ropes, constrained by through holes inside the second rigid pipe 14, reach the second flexible pipe 16 and are secured by through holes inside the pipe.

[0063] As shown in Figure 8(b), the circular through-hole plate 66 inside the second rigid pipe 14 and the second flexible pipe 16 is the same, with only one layer of through holes 68. This layer has a total of 4 through holes, such as 68-1. This layer of through holes receives the rope from the first flexible pipe 12, then passes the rope to the through hole inside the second flexible pipe 16, and finally fixes the rope by the through hole, thereby realizing the control of the second flexible pipe 16.

[0064] When both the first flexible conduit 12 and the second flexible conduit 16 are of a serpentine structure, kinematic compensation is applied to the corresponding rope lengths. For example, such as... Figure 9 As shown, the circular connecting through-hole plate 70 inside the first rigid pipe 10 and the second rigid pipe 14 each has a total of 16 through holes. The inner layer 74 contains 4 through holes, such as 74-1; the outer layer 72 contains 12 through holes, of which 4 through holes are for ropes to pass through, such as 72-1, and the remaining 8 through holes are for spares, such as 72-2 and 72-3.

[0065] Specifically, the first and second groups of ropes each consist of four ropes, evenly distributed about the central axis of their respective flexible pipes; the kinematic compensation for the rope lengths specifically refers to:

[0066] like Figure 6 As shown, this motion analysis diagram is based on Figure 7 As shown in the cross section, any two mutually coupled joints 80 and 82 of the snake-like structure are defined, and a supporting link 88 is provided between the two joints; ropes 84 and 86 are two of the four ropes, and are symmetrical about the supporting link 88.

[0067] The control motor inside the surgical instrument body 104 rotates Angle, ropes 84 and 86 are stretched by the motor and joints 80 and 82 rotate by an angle θ, the rope length changes ΔL=2dsin(θ);

[0068] Define the coupling radius as R, then the change in rope length caused by the motor's rotation is equal to the change in rope length when the joint bends, i.e. Therefore, the joint rotation angle θ can be calculated.

[0069] Calculate the rotation angle of the motor The difference between the joint rotation angle θ and the joint rotation angle θ And used as compensation value.

[0070] It is easy to understand that the single-port / multi-port surgical robot multi-degree-of-freedom surgical instrument assembly provided in the embodiments of the present invention can be used in combination with any suitable surgical instrument, including but not limited to endoscopes, electric hooks, scissors or needle holders.

[0071] Furthermore, the embodiments of the present invention do not explicitly limit the dimensions of the provided components. The following is only a set of reference values, which should not be construed as limiting the scope of protection.

[0072] For example, the first rigid pipe 10 is 6-12cm long, the first flexible pipe 14 is 2-5cm long, the second rigid pipe 12 is 2-4cm long, and the second flexible pipe 16 is 2-5cm long; and the diameter of the through hole inside the rigid pipe and the flexible pipe is 0.8-1mm.

[0073] In summary, compared with existing technologies, it has the following beneficial effects:

[0074] In this embodiment of the invention, rigid tubing provides structural support for surgical instruments and can drive the rotation of connected flexible tubing. The flexible tubing includes two different configurations: a snake-bone structure and a snake-like structure. Its unique design can meet different single-port surgical scenarios, and the rigidity and stability of the flexible tubing can be increased by using an outer rigid sleeve, thus enabling its application in multi-port surgical robots and allowing for the sharing of surgical instruments in both single-port and multi-port surgical scenarios. The dual flexible tubing design significantly increases the robotic arm's motion space, simplifying the complex pre-operative adjustments required for single-port surgery. Simultaneously, the cable motion compensation design allows the snake-like structure to rotate 360°, offering better rigidity and stability compared to the snake-bone structure, making it highly suitable for applications requiring higher precision. For single-port surgery, multiple surgical instruments can be inserted through a single incision, greatly reducing surgical trauma. For multi-port surgery, the rigid design of the flexible tubing enables the sharing of surgical instruments, reducing the research and development and application costs of surgical instruments to some extent, increasing companies' research and development interest, and improving hospitals' purchasing willingness, thereby alleviating the pressure on patients.

[0075] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0076] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot, characterized in that, It includes a first rigid pipe (10), a first flexible pipe (12), a second rigid pipe (14), and a second flexible pipe (16); One end of the first rigid tube (10) is connected to the main body of the surgical instrument (104) through the surgical instrument linear operation tube (106), and the other end is connected to the head end of the first flexible tube (12); One end of the second rigid pipe (14) is connected to the tail end of the first flexible pipe (12), and the other end is connected to the head end of the second flexible pipe (16); The tail end of the second flexible tube (16) is connected to the end of the surgical instrument (112) through a third rigid tube (18), which is located inside the surgical operation wound cannula (110). Both the first flexible pipe (12) and the second flexible pipe (16) can be transformed into rigid pipes by fitting a rigid sleeve of the corresponding shape in a bent or straight state. When both the first flexible tube (12) and the second flexible tube (16) are in a bent state, the first flexible tube (12) is sleeved with the first rigid sleeve (11), and the second flexible tube (16) is sleeved with the third rigid sleeve (15) to adapt to single-port surgery. When both the first flexible tube (12) and the second flexible tube (16) are in a straight state, the first flexible tube (12) is fitted with the second rigid sleeve (13), and the second flexible tube (16) is fitted with the fourth rigid sleeve (17) to adapt to multi-port surgery.

2. The multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot as described in claim 1, characterized in that, It also includes several ropes, which include a first group of ropes and a second group of ropes; The starting end of any of the ropes is connected to a control motor inside the surgical instrument body (104) via a coupling; Both the first rigid pipe (10) and the second rigid pipe (14) have an internal hollow structure. The first rigid pipe (10) has a first through-hole plate inside, and the second rigid pipe (14) has a second through-hole plate inside. The tail end of the first flexible pipe (12) is provided with a third through-hole plate, and the tail end of the second flexible pipe (16) is provided with a fourth through-hole plate; The first set of ropes passes through the first through-hole plate and is connected to the third through-hole plate; the second set of ropes passes through the first through-hole plate, the first flexible pipe (12), and the second through-hole plate in sequence and is connected to the fourth through-hole plate.

3. The multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot as described in claim 2, characterized in that, The first flexible conduit (12) adopts a flexible snake-bone structure or a rigid snake-like structure; the second flexible conduit (16) adopts a flexible snake-bone structure or a rigid snake-like structure. When at least one of the first flexible pipe (12) and the second flexible pipe (16) adopts a rigid serpentine structure, kinematic compensation is performed on the corresponding rope length.

4. The multi-degree-of-freedom surgical instrument assembly for a single-port / multi-port surgical robot as described in claim 3, characterized in that, The first and second groups of ropes each consist of four ropes, evenly distributed about the central axis of their respective flexible pipes; the kinematic compensation for the rope lengths specifically refers to: Define any two mutually coupled joints (80, 82) of the snake-like structure, with a supporting link (88) between the two joints; the ropes (84, 86) are two of the four ropes of the first group of ropes, and are symmetrical about the supporting link (88); The control motor inside the main body (104) of the surgical instrument rotates Angle, driven by the winding of ropes (84, 86) via coupling, deflects the intercoupled joints (80, 82). angle; When joint (80, 82) deflects At the angle, one of the ropes (84, 86) shortens relative to its initial straight state. The other symmetrical rope is relatively straight and initially elongated. The total stroke of the motor-driven rope required to achieve joint deflection is ; Define the coupling radius as Then control the motor to rotate. At the angle, the length of the rope wound by the coupling is It is equal to the total stroke of the motor-driven rope. ,Right now Therefore, the joint rotation angle is calculated. ; Calculate and control the rotation angle of the motor With joint rotation angle The difference And use the difference as a compensation value.

5. The single-port / multi-port surgical robot multi-degree-of-freedom surgical instrument assembly as described in any one of claims 1 to 4, characterized in that, The surgical instrument (112) is a laparoscope, an electric hook, scissors, or a needle holder.

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