A continuum cholangioscopic surgical robot for biliary tract surgery

Abstract

The present application belongs to the field of minimally invasive surgery robots, and proposes a continuum cholangioscopy surgery robot for biliary surgery, which comprises a fixed table module and a continuum mechanism, a continuum driving mechanism and an endoscope mechanism arranged on the fixed table. The continuum mechanism comprises a flexible pipeline, a spiral continuum, a channel pipe and a miniature camera; the bending and feeding motion of the end of the continuum mechanism is realized through the continuum driving mechanism, and the existing endoscope instrument is clamped and fixed through the endoscope clamping mechanism of the fixed table module, so that the continuum mechanism can smoothly pass through the endoscope catheter to reach the surgery position. The surgery instrument can adapt to the complex environment of the human body, has a compact overall structure and a small bending radius, and can realize direct observation of the biliary tract in a narrow surgery space.

Description

Technical Field

[0001] This invention belongs to the field of minimally invasive surgical robots, and particularly relates to a continuous cholangioscopic surgical robot for biliary surgery and its control method. Background Technology

[0002] The application of robotics in minimally invasive gastrointestinal surgery, such as in biliary tract surgery or examinations, reduces trauma and pain for patients, and facilitates faster recovery. Furthermore, cholangioscopy significantly reduces the physical exertion required of medical workers, greatly improving surgical efficiency.

[0003] The inventors discovered that most existing cholangioscopic surgical robots are developing towards smaller, more flexible, more functional, and lower-cost directions, but a balanced solution to the above problems has not yet emerged. Currently, cholangioscopes on the market still suffer from problems such as low freedom of movement, excessive size, cumbersome operation, and limited functionality. Solving these problems will simplify the current surgical procedure and reduce surgical risks. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a continuum cholangioscopy surgical robot and its control method for biliary surgery. The continuum mechanism comprises a helical continuum, a miniature camera, and an instrument channel. The feed and bending movements of the continuum are controlled by a continuum drive mechanism. Using a fine wire driven by this continuum-based design, a 180° turn can be achieved within a small turning radius, enabling effective observation of lesions within the bile duct. A motor-driven lead screw drives the drive wire, and a tension sensor acquires tension data. This drive method transforms the original manual operation into motor-driven operation. A digital handle collects the surgeon's hand movements and performs signal processing and correction to drive the motor rotation, ultimately achieving precise control of the cholangioscopy movement.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a continuous bile duct endoscopic surgical robot for biliary tract surgery, employing the following technical solution:

[0006] A continuous cholangioscopic surgical robot for biliary tract surgery includes a fixed stage module. The fixed stage module includes a support and a base, with one end of the support higher than the other. The base is installed at the higher end, and a continuous drive mechanism is installed on the base. An endoscope mechanism is installed at the lower end, and the continuous mechanism is installed at the end of the endoscope mechanism. The continuous mechanism includes a flexible tube and a helical continuous body nested at the end of the flexible tube. A miniature camera and a channel tube are provided at the head of the helical continuous body. A drive wire for controlling the bending of the helical continuous body is provided inside the helical continuous body. The drive wire is located inside the flexible tube, enters from the instrument inlet of the endoscope mechanism, reaches the surgical position through the flexible tube of the endoscope mechanism, and is driven by the continuous drive mechanism.

[0007] Furthermore, the spiral continuous body is located at the end of the flexible pipe and is nested with the flexible hose through a conduit. The spiral continuous body has four steel wire holes evenly distributed in an array along the circumferential direction of the pipe wall, and a driving wire is provided in each driving wire hole.

[0008] Furthermore, a camera and surgical instrument channel are also installed at the head of the spiral continuum.

[0009] Furthermore, the continuous body driving mechanism includes a motor screw drive, a drive plate, and a retraction mechanism. The motor screw drive drives the drive plate to perform linear motion. One end of the drive wire is fixed on the drive plate, and the other end is retracted by the retraction mechanism and passes through the drive wire guide tube into the flexible tube. Then, the flexible tube enters the endoscope hose and passes through the endoscope hose to connect with the spiral continuous body.

[0010] Furthermore, the gathering mechanism includes a fixed plate and a gathering plate. Multiple guide pulleys are installed on the fixed plate, and a drive wire inlet is set at the center of the gathering plate. The multiple guide pulleys guide multiple drive wires to gather towards the drive wire inlet.

[0011] Furthermore, a tension sensor is provided on the drive board, and the tension sensor is connected to the drive wire.

[0012] Furthermore, the motor screw drive includes a motor and a screw. The motor is fixed on the base, the motor drives the screw to rotate, the screw drives the drive plate, and the screw is connected to the retracting mechanism through a bearing.

[0013] Furthermore, the continuous body drive mechanism also includes a guide rod, which passes through the drive plate and is fixed to the base by the retraction mechanism.

[0014] Furthermore, the endoscope mechanism includes an endoscope body, an endoscope knob, and an endoscope hose; the endoscope body is clamped and fixed on the bracket by the two clamps; the endoscope knob and the endoscope hose are mounted on the endoscope body; the continuum mechanism passes through the instrument channel of the distal endoscope assembly, enters the endoscope hose, and extends out at the end of the endoscope hose.

[0015] Furthermore, a duodenal lens is installed at the end of the endoscope tube.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. The continuum-type cholangioscopic surgical robot for biliary tract surgery proposed in this invention achieves a compact overall structure and solves the problem of excessive size by designing a fixed stage module, a fixed stage assembly, an endoscope mechanism, and a continuum drive mechanism, and by cleverly arranging these components. Furthermore, the continuum mechanism in this invention employs an extremely fine helical continuum, making it compatible with most existing endoscope systems on the market. It enters the lesion site through the endoscope tube, and its compact structure allows for 180° bending within confined spaces, enabling effective observation of the lesion via a miniature camera. Driven by four drive wires, the continuum mechanism possesses four degrees of freedom, overcoming the problem of low degrees of freedom.

[0018] 2. This invention uses a motor-driven lead screw to move the drive wire and the continuous body, and a tension sensor to acquire tension data. This driving method transforms the original manual operation into motor-driven operation. A digital handpiece collects the doctor's hand movements and processes and corrects the signals to drive the motor, thereby improving the accuracy and reliability of the continuous body movement. It solves the problem of cumbersome operation.

[0019] 3. This invention is compatible with most endoscopic instruments on the market and provides them with access, space and image guidance for operation. Different functions can be achieved by changing different instruments, which solves the problem of the single function of existing cholangioscopy. Attached Figure Description

[0020] The accompanying drawings, which constitute a part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0021] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0022] Figure 2 This is a schematic diagram of the continuum mechanism according to Embodiment 1 of the present invention;

[0023] Figure 3 This is a schematic diagram of the endoscope mechanism in Embodiment 1 of the present invention;

[0024] Figure 4 This is a schematic diagram of the fixed platform module according to Embodiment 1 of the present invention;

[0025] Figure 5 This is a schematic diagram of the continuum drive mechanism according to Embodiment 1 of the present invention;

[0026] Figure 6 This is a schematic diagram of the drive wire winding mechanism in the continuum drive mechanism of Embodiment 1 of the present invention;

[0027] Among them, 1. Connecting body mechanism; 1-1. Camera; 1-2. Channel tube; 1-3. Front end of spiral continuum; 1-4. Spiral continuum; 1-5. Drive wire; 1-6. End of spiral continuum; 1-7. Flexible tube; 1-8. Duodenal lens; 1-9. Equipment catheter;

[0028] 2. Endoscope mechanism; 2-1. Endoscope body; 2-2. Endoscope knob; 2-3. Endoscope flexible tube;

[0029] 3. Fixed platform module; 3-1. Bolt; 3-2. Spur rod; 3-3. Bracket; 3-4. Lower clamping plate; 3-5. Upper clamping plate; 3-6. Base; 3-7. Equipment channel tube; 3-8. Continuous channel tube; 3-9. Continuous channel tube connector; 3-10. Drive wire guide tube; 3-11. Lead screw bearing seat; 3-12. Bolt; 3-13. Nut; 3-14. Lead screw ball bearing; 3-15. Controller connector; 3-16. Flange carrier plate; 3-17. Flange connector; 3-18. Motor base;

[0030] 4. Continuous body drive mechanism; 4-1. Front cover of continuous body drive mechanism; 4-2. Front plate; 4-3. Lead screw of continuous body drive plate; 4-4. Bearing fixing block; 4-5. Nut; 4-6. Bolt; 4-7. Smooth rod of continuous body drive plate; 4-8. Smooth rod of motor carrier plate; 4-9. Quick change mechanism; 4-10. Tension sensor; 4-11. Continuous body drive plate; 4-12. Nut of continuous body drive plate lead screw; 4-13. Nut; 4-14. Bolt; 4-15. Coupling; 4-16. Motor carrier plate; 4-17. Motor; 4-18. Continuous body drive lead screw; 4-19. Feed drive motor; 4-20. Linear bearing of continuous body drive plate; 4-21. Pulley carrier plate; 4-22. Pulley; 4-23. Linear bearing of front plate. Specific implementation methods

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0033] Example 1:

[0034] like Figure 1 As shown, this embodiment provides a continuous bile duct endoscopy surgical robot for biliary surgery, including a fixed stage module 3, and a continuous mechanism 1, an endoscope mechanism 2, and a continuous drive mechanism 4, etc., disposed on the fixed stage module 3.

[0035] like Figure 1 , Figure 4 As shown, the fixed platform module 3 includes an M3 bolt 3-1, a 6mm smooth rod 3-2, a bracket 3-3, a lower clamping plate 3-4, an upper clamping plate 3-5, a base 3-6, an equipment channel tube 3-7, a continuous channel tube 3-8, a continuous channel tube connector 3-9, a 3.5mm drive wire guide tube 3-10, a lead screw bearing seat 3-11, an M2 bolt 3-12, an M2 nut 3-13, a lead screw ball bearing 3-14, a ur5 controller connector 3-15, a flange carrier plate 3-16, a flange connector 3-17, and a motor base 3-18.

[0036] The two brackets 3-3 are fixedly connected by several M3 bolts 3-1 and 6mm smooth rods 3-2; and after the two brackets 3-3 are connected together, they form a structure with one end high and the other end low.

[0037] A lower clamping plate 3-4 is installed at the lower end of the two brackets 3-3, and the lower clamping plate 3-4 is fixedly connected to the bracket 3-3 by bolts or welding; an upper clamping plate 3-5 is located above the lower clamping plate 3-4, and the upper clamping plate 3-5 is hinged to the lower clamping plate 3-4; an endoscope knob 2-2 is installed on the upper clamping plate 3-5.

[0038] One end of the two brackets 3-3 is connected to the base 3-6, and the continuous channel pipe connector 3-9, the lead screw bearing seat 3-11, the flange connector 3-17, and the motor base 3-18 are all fixedly connected to the base 3-6. Specifically, they can be fixedly connected by bolts and nuts such as the M2 bolt 3-12 and the M2 nut 3-13.

[0039] The instrument channel tube 3-7 is nested within a 3.5mm drive wire guide tube 3-10, which in turn is nested within a continuous channel tube 3-8. The continuous channel tube 3-8 is mounted on the base 3-6 via a continuous channel tube connector 3-9. The instrument channel tube 3-7 is... Figure 4The longest straight tube is used to pass external surgical instruments. The continuous channel tube connector 3-9 is used to fix the continuous channel tube 3-8 and the components installed on the continuous channel tube 3-8 on the support. The drive wire conduit 3-10 is used to pass through the instrument channel tube 3-7 and at the same time to transmit the drive wire 1-5.

[0040] The flange carrier plate 3-16 is fixedly connected to the flange connector 3-17, and the ur5 controller connector 3-15 is fixedly connected to the flange carrier plate 3-16, specifically, by bolts.

[0041] like Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 As shown, the continuum mechanism includes a camera 1-1, a channel tube 1-2, a continuum front end 1-3, a spiral continuum 1-4, a drive wire 1-5, a flexible tube 1-7, a duodenal lens 1-8, and an instrument catheter 1-9.

[0042] The instrument conduit 1-9 is connected to the previously mentioned instrument channel tube 3-7. The flexible tube 1-7 has the same structure as the previously mentioned drive wire conduit 3-10, both used for transmitting the drive wire. The instrument conduit 1-9 is nested within the flexible tube 1-7. The flexible tube 1-7 and the instrument conduit 1-9 enter the endoscope flexible tube 2-3 and then exit from the end of the endoscope flexible tube 2-3. The duodenal lens 1-8 is mounted on the endoscope flexible tube 2-3. The spiral continuum 1-4 is nested at the end of the flexible tube 1-7. Several drive wires are distributed on the inner wall of the front end 1-3 of the spiral continuum. Each drive wire hole contains a fixed drive wire 1-5. The camera 1-1 and the channel tube 1-2 are fixedly connected to the front end 1-3 of the spiral continuum by interference fit. The main function of the channel tube 1-2 is to allow surgical instruments to pass through the channel. Specifically, after the surgical instruments enter through the instrument channel tube of the fixed stage module, they extend out of the channel tube 1-2 through the instrument conduit 1-9. At the same time, the drive wire of this application also enters the instrument conduit 1-9 after exiting from the drive wire conduit 3-10, and they are conducted forward together. In this invention, the path of the drive wire is consistent with the path of the instrument.

[0043] In this embodiment, there can be 4 drive wire holes. Correspondingly, 4 drive wires for controlling deflection are arranged in the 4 drive wire holes distributed in a circular array on the inner wall of the front end 1-3 of the continuum. When the 4 drive wires for controlling deflection are retracted and extended in pairs, they drive the continuum mechanism 1 to perform 360° swaying and pitching motion in space.

[0044] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the main body of the endoscope mechanism 2 is a common duodenoscope mechanism, including an endoscope body 2-1, an endoscope knob 2-2, and an endoscope flexible tube 2-3; the endoscope knob 2-2 is fixedly connected to the upper clamp 3-5 by threads, so that the endoscope knob 2-2 presses against the endoscope body 2-1 to fix the endoscope body 2-1; the endoscope flexible tube 2-3 is installed at the end of the endoscope body 2-1; the instrument conduit 1-9 of the continuum mechanism 1 enters from the instrument inlet of the endoscope body 2-1 and reaches the surgical position through the internal instrument channel of the endoscope flexible tube 2-3.

[0045] like Figure 1 , Figure 5 , Figure 6 As shown, the continuous body drive mechanism 4 includes a continuous body drive mechanism front cover 4-1, a front plate 4-2, a continuous body drive plate lead screw 4-3, a bearing fixing block 4-4, an M1.6 nut 4-5, an M1.6 bolt 4-6, a continuous body drive plate guide rod 4-7, a motor carrier plate guide rod 4-8, a quick-change mechanism 4-9, a tension sensor 4-10, a continuous body drive plate 4-11, a continuous body drive plate lead screw nut 4-12, an M1 nut 4-13, an M1 bolt 4-14, a coupling 4-15, a motor carrier plate 4-16, a RE16 motor 4-17, a continuous body drive lead screw 4-18, a feed drive motor 4-19, a continuous body drive plate linear bearing 4-20, a pulley carrier plate 4-21, a pulley 4-22, and a front plate linear bearing 4-23.

[0046] like Figure 6 As shown, the pulley 4-22 is connected to the pulley carrier plate 4-21, and the pulley carrier plate 4-21 is fixedly connected to the front plate 4-2. The above parts together form the drive wire gathering mechanism in the continuous body drive mechanism 4. The drive wire 1-5 passes through the channel reserved on the front plate 4-2 and enters the drive wire gathering mechanism. By winding the drive wire 1-5 around the pulley 4-22, the drive wires 1-5 distributed around the pulley can be gathered and guided into the equipment channel tube 3-7 and the 3.5mm drive wire guide tube 3-10.

[0047] The front plate linear bearing 4-23 is connected to the bearing fixing block 4-4 via an interference fit. The bearing fixing block 4-4 is connected to the front plate 4-2 via an M1.6 nut 4-5 and an M1.6 bolt 4-6. Alternatively, a linear bearing can be installed at a corresponding position on the motor carrier plate 4-16 in the same manner. The continuous drive plate lead screw 4-3 is connected to the front plate 4-2 via a bearing and one end of the continuous drive plate guide rod 4-7 via bolts. Simultaneously, the continuous drive plate lead screw 4-3 is connected to the output shaft of the RE16 motor 4-17 via a coupling 4-15. The RE16 motor 4-17 is connected to the motor carrier plate 4-16 via bolts, and the other end of the continuous drive plate guide rod 4-7 is connected to the motor carrier plate 4-16 via bolts. The above connections fix the motor carrier plate 4-16 and the front plate 4-2 together to form a whole.

[0048] The motor carrier plate light rod 4-8 passes through the front plate linear bearing 4-23 and the linear bearing on the motor carrier plate, and its two ends are fixedly connected to the two ends of the base 3-6 by bolts, thereby forming a sliding pair between the continuous body drive module 4 and the fixed platform module 3.

[0049] One end of the continuous drive screw 4-18 is connected to the screw bearing seat 3-11 via a bearing, and the other end is connected to the output shaft of the feed drive motor 4-19 via the coupling 4-15. The feed drive motor 4-19 is fixedly connected to the motor base 3-18.

[0050] The motor carrier plate 4-16 is connected to the continuous body drive screw 4-18 through a lead screw nut. The lead screw nut converts the rotational motion of the feed drive motor 4-19 into the linear motion of the continuous body drive mechanism 4, thereby realizing the feed motion of the continuous body.

[0051] The continuous drive plate 4-11 is connected to the continuous drive plate guide rod 4-7 via the continuous drive plate linear bearing 4-20, and is also connected to the continuous drive plate guide rod 4-3 via the continuous drive plate guide rod nut 4-12. The above two connections form a sliding pair between the continuous drive plate 4-11 and the continuous drive plate guide rod 4-7. The continuous drive plate guide rod nut 4-12 converts the rotational motion of the re16 motor 4-17 into the linear motion of the continuous drive plate 4-11.

[0052] The tension sensor 4-10 is fixedly connected to the continuous body drive plate 4-11 via a quick-change mechanism 4-9, and the drive wire 1-5 is connected to the tension sensor 4-10. Therefore, the linear motion of the continuous body drive plate 4-11 can be directly transmitted to the drive wire 1-5, realizing the extension and retraction of the drive wire 1-5, thereby controlling the yaw bending motion at the end of the continuous body mechanism 1; at the same time, the tension received on the drive wire 1-5 is fed back to the operating end as an electrical signal through the tension sensor 4-10, realizing signal processing and correction.

[0053] Example 2

[0054] This embodiment provides a control method for a continuous cholangioscopic surgical robot for biliary surgery. It employs the continuous cholangioscopic surgical robot for biliary surgery described in Embodiment 1, comprising: a motor controlling the linear motion of a drive plate drives a lead screw controlling the linear motion of the drive plate, converting the rotational motion of the motor into the linear motion of the drive plate; the linear motion of the drive plate enables the extension and retraction of a drive wire, and the drive wire transmits power to the helical continuous body of the continuous mechanism, achieving the bending motion of the continuous body; the motor controlling the linear motion of the continuous body drives the lead screw controlling the linear motion of the continuous body, converting the rotational motion of the motor into the linear feed motion of the continuous body, achieving the feed motion of the continuous mechanism; and a tension sensor acquires tension information on the drive wire to achieve force control and feedback.

[0055] Simultaneously, the camera can be used to observe the surgical site, locate the lesion, and guide the direction of progress. The continuous bile duct endoscopic surgical robot used for biliary surgery is compatible with most existing endoscopic instruments. The endoscopic instruments can be replaced according to the specific medical situation, and multiple surgical instruments can be used to complete the treatment, thus expanding its functions.

[0056] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this embodiment by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment should be included within the protection scope of this embodiment.

Claims

1. A continuous cholangioscopic surgical robot for biliary tract surgery, characterized in that, The device includes a fixed stage module; the fixed stage module includes a bracket and a base, the bracket being higher at one end and lower at the other. The base is installed at the higher end, and a continuum drive mechanism is installed on the base; an endoscope mechanism is installed at the lower end, and the continuum mechanism is installed at the end of the endoscope mechanism. The continuum mechanism includes a flexible tube, a spiral continuum nested at the end of the flexible tube, and an instrument catheter. A miniature camera and a channel tube are provided at the head of the spiral continuum; a drive wire for controlling the bending of the spiral continuum is provided inside the spiral continuum; the drive wire is located inside the flexible tube, enters from the instrument inlet of the endoscope mechanism, reaches the surgical position through the flexible tube of the endoscope mechanism, and is driven by the continuum drive mechanism. The fixed platform module also includes an instrument channel tube, a drive wire guide tube, and a continuous channel tube; the instrument channel tube is nested inside the drive wire guide tube, the drive wire guide tube is nested inside the continuous channel tube, and the continuous channel tube is installed on the base through a continuous channel tube connector; the instrument guide tube is connected to the instrument channel tube; the instrument guide tube is nested in a flexible tube, and the flexible tube and the instrument guide tube enter the endoscope flexible tube; The continuous body drive mechanism includes a motor screw drive device, a drive plate, and a retraction mechanism. The motor screw drive device drives the drive plate to perform linear motion. One end of the drive wire is fixed to the drive plate, and the other end is retracted by the retraction mechanism and passes through the drive wire guide tube into a flexible tube. The flexible tube then enters the endoscope hose and passes through the endoscope hose to connect with the spiral continuous body. A tension sensor is installed on the drive plate. The retraction mechanism includes a fixed plate and a gathering plate. Multiple guide pulleys are installed on the fixed plate, and a drive wire inlet is set at the center of the gathering plate. The multiple guide pulleys guide multiple drive wires to converge towards the drive wire inlet. The continuous body drive mechanism further includes a continuous body drive plate guide rod, a motor carrier plate guide rod, a continuous body drive plate, and a motor carrier plate; one end of the continuous body drive plate guide rod is fixedly connected to the retraction mechanism, and the other end is fixedly connected to the motor carrier plate; the motor carrier plate guide rod passes through the retraction mechanism and the motor carrier plate, and both ends of the motor carrier plate guide rod are fixedly connected to both ends of the base; thereby, a sliding pair can be formed between the continuous body drive module and the fixed platform module.

2. The continuous cholangioscopic surgical robot for biliary tract surgery as described in claim 1, characterized in that, The spiral continuum has multiple wire holes evenly distributed in an array along the circumference of its tube wall, and a drive wire is installed in each drive wire hole.

3. The continuous cholangioscopic surgical robot for biliary tract surgery as described in claim 1, characterized in that, A camera and surgical instrument channel are also installed at the head of the spiral continuum.

4. The continuous cholangioscopic surgical robot for biliary tract surgery as described in claim 1, characterized in that, The tension sensor is fixedly connected to the continuous body drive plate via a quick-change mechanism, and the drive wire is connected to the tension sensor.

5. The continuous cholangioscopic surgical robot for biliary tract surgery as described in claim 4, characterized in that, The aforementioned motor-screw drive includes a motor and a screw. The motor is fixed on the base, the motor drives the screw to rotate, the screw drives the drive plate, and the screw is connected to the retracting mechanism through a bearing.

6. The continuous cholangioscopic surgical robot for biliary tract surgery as described in claim 1, characterized in that, The endoscope mechanism includes an endoscope body, an endoscope knob, and an endoscope hose; the endoscope body is clamped and fixed on the bracket by two clamps; the endoscope knob and the endoscope hose are mounted on the endoscope body; the flexible tube passes through the instrument channel of the distal endoscope assembly, enters the endoscope hose, and extends out at the end of the endoscope hose.

7. The continuous cholangioscopic surgical robot for biliary tract surgery as described in claim 1, characterized in that, A duodenal lens is installed at the end of the endoscope tube.

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