A microwave water jet surgical robot system

Abstract

The present invention belongs to the technical field of microwave water jets, and specifically relates to a microwave water jet surgical robot system, including a cutting blade, a serpentine joint tube, a mechanical arm body, a workbench and a medical booster pump, wherein the cutting blade is connected to the mechanical arm body through the serpentine joint tube, the mechanical arm body is electrically connected to the workbench, the mechanical arm body is connected to the medical booster pump pipeline, the cutting blade includes a sleeve, a microwave blade, a cooling bracket, a high-pressure injection pipe and a return pipe, the front end of the microwave blade is provided with an arc-shaped cutting edge, the rear end of the microwave blade is arranged in the middle of the cooling bracket, the sleeve is filled with a filler for fixing the cooling bracket, one side of the arc-shaped cutting edge is provided with an injection hole, the high-pressure injection pipe passes through the cooling bracket and is connected to the injection hole, and the return pipe passes through the cooling bracket and is arranged on one side of the microwave blade. The present invention can use water flow to accurately remove soft tissue, use the microwave blade to quickly stop bleeding, and the water flow can also cool the microwave blade.

Description

Technical Field

[0001] The present invention belongs to the technical field of microwave water jet surgery, and in particular relates to a microwave water jet surgery robot system. Background Art

[0002] Surgical robots are advanced medical devices invented with the help of the development of minimally invasive surgery and related underlying technologies. Surgical robots are a sub-field of medical robots. Surgical robots are precision-operating robots that surgeons can control remotely and enter the patient's body through tiny incisions to assist surgeons in performing minimally invasive surgery. Surgical robots are used in the field of minimally invasive surgery that is beyond human capabilities to achieve precision operations that cannot be completed by human capabilities alone. Laparoscopic surgical robots usually consist of a surgical console, a surgical cart equipped with a robotic arm, and a video system. The robotic arm simulates the human arm, providing surgeons with a series of movements that simulate the human wrist, while filtering the tremor of the human hand itself. At present, the most mature laparoscopic surgical robot is the da Vinci surgical robot. For more than 20 years, the da Vinci platform has pioneered new functions in the operating room and changed the field of minimally invasive surgery. Through more than 5 million surgeries, Intuitive has become a recognized leader in the field of surgical robots. Its advantage lies in the flexible rotation of the distal end of its robotic arm. Unfortunately, the energy devices of Da Vinci and other robots are relatively scarce. For example, although the water jet can be softly connected and can quickly and accurately cut the soft tissue of the human body, its hemostatic function is weak, and the impact of the water flow is not conducive to rapid hemostasis. Therefore, it is urgent to design a microwave water jet surgical robot system combined with a microwave hemostatic knife to have the advantages of both precise cutting and good hemostatic effect. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention discloses a microwave water jet surgical robot system, and specifically discloses the following technical solutions:

[0004] A microwave water jet surgical robot system comprises a cutting blade head, a serpentine joint tube, a mechanical arm body, a workbench and a medical booster pump, wherein the cutting blade head is connected to the mechanical arm body through the serpentine joint tube, the mechanical arm body is electrically connected to the workbench, and the mechanical arm body is connected to the medical booster pump pipeline, the cutting blade head comprises a sleeve, a microwave blade head, a cooling bracket, a high-pressure injection pipe and a return pipe, the front ends of the sleeve are respectively provided with protective plates, the front ends of the microwave blade head are provided with an arc-shaped cutting edge, the arc-shaped cutting edge is located at the front end of the sleeve and between the two protective plates, the rear end of the microwave blade head is arranged in the cooling bracket, the sleeve is filled with a filler for fixing the cooling bracket, the tail end of the microwave blade head is connected with a microwave conduction line, one side of the arc-shaped cutting edge is provided with an injection hole, the high-pressure injection pipe passes through the cooling bracket and is connected to the injection hole, and the return pipe passes through the cooling bracket and is arranged on one side of the microwave blade head.

[0005] Furthermore, the cooling bracket includes an annular bracket and a heat-conducting insulating plate arranged at intervals, the heat-conducting insulating plate is arranged in the annular bracket, and the heat-conducting insulating plate is provided with an isolation mounting groove, a first mounting hole and a second mounting hole along the direction of the annular bracket, the rear end of the microwave blade head is installed in the isolation mounting groove, and heat-conducting silicone is arranged between the heat-conducting insulating plates in the isolation mounting groove, the high-pressure injection pipe is arranged in the first mounting hole, the return pipe is arranged in the second mounting hole, and the filler is located between each layer of the heat-conducting insulating plates arranged at intervals.

[0006] Furthermore, a sealing ring is provided at the end of the isolation mounting groove for sealing the thermally conductive silicone.

[0007] Furthermore, the surface of the microwave transmission line is provided with a cable shielding layer and an isolation layer in sequence from the inside to the outside.

[0008] Furthermore, the injection hole coincides with the axis of the high-pressure injection pipe.

[0009] Furthermore, the serpentine joint tube includes a flexible inner support tube and a plurality of connecting tube monomers fixed at intervals on the flexible inner support tube, the high-pressure injection tube, the reflux tube and the microwave transmission line all extend into the flexible inner support tube, the front end of the flexible inner support tube is fixedly connected to the sleeve, and the rear end is fixedly connected to the robot arm body, the front end of the connecting tube monomer and the front end of the robot arm body are symmetrically provided with two smooth lugs, the rear end of the connecting tube monomer and the rear end of the sleeve are symmetrically provided with two smooth grooves matching with the smooth lugs, the connecting line of the two smooth lugs on the same connecting tube monomer is perpendicular to the connecting line of the two smooth grooves, and the plug joint and the connecting tube monomer, between two adjacent connecting tube monomers, and between the connecting tube monomer and the robot arm body are all spliced ​​with each other through smooth lugs and smooth grooves.

[0010] Furthermore, a plurality of traction ropes are fixedly connected along the circumferential direction on the rear end surface of the sleeve, and threading holes are provided on the periphery of the connecting tube unit and the periphery of the robot arm body corresponding to the position of each traction rope, and the end of the traction rope away from the sleeve passes through the threading holes on the connecting tube unit and the robot arm body in turn.

[0011] Furthermore, the flexible inner support tube is a rubber tube.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The present invention combines the water jet with the microwave blade head, which can not only use the medical booster pump to accelerate the water flow, and use the water flow sprayed from the water spray hole to quickly and accurately remove the soft tissue, greatly shortening the surgical resection time, but also use the heat-conducting insulation plates stacked in the cooling bracket to make the water flow and the microwave blade head fully exchange heat, so as to achieve rapid cooling of the microwave blade head, and avoid the high temperature of the microwave blade head causing thermal damage to the peripheral nerves and soft tissues in the surgical area. The setting of the cooling bracket also plays an auxiliary supporting role in the fixation of the blade head, thereby improving the structural strength of the cutting blade head;

[0014] 2. The microwave blade of the present invention can achieve a good hemostatic effect. The sprayed water flow can prevent scabs from forming on the cut surface, thus achieving a better cutting and hemostatic effect.

[0015] 3. Since both the microwave transmission line and the high-pressure injection tube can be made of flexible materials, the arrangement of the serpentine joint tube of the present invention will not interfere with the movement of the serpentine joint, thus enabling the cutting blade with the microwave blade to swing flexibly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view of the present invention;

[0017] Figure 2 for Figure 1 Sectional view in the AA direction;

[0018] Figure 3 It is a front cross-sectional view of the cutting head of the present invention;

[0019] Figure 4 It is a three-dimensional diagram of the cooling support of the present invention.

[0020] Among them, 101-sleeve, 102-microwave blade, 103-high-pressure injection pipe; 104-reflux pipe; 105-filler; 106-microwave conduction line; 107-injection hole; 108-ring bracket; 109-heat-conducting insulation plate; 110-isolation mounting groove; 111-first mounting hole; 112-second mounting hole; 113-sealing ring; 201-flexible inner support tube; 202-connecting tube monomer; 203-traction rope; 204-threading hole; 3-robotic arm body. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example

[0023] Reference Figure 1-4 The present embodiment discloses a microwave water jet surgical robot system, including a cutting head, a serpentine joint tube, a robotic arm body 3, a workbench and a medical booster pump. The cutting head is connected to the robotic arm body 3 through the serpentine joint tube, the robotic arm body 3 is electrically connected to the workbench, and the robotic arm body 3 is connected to the medical booster pump pipeline; the workbench and the robotic arm body 3 in the present embodiment are both existing equipment and will not be described in detail. The workbench controls the robotic arm body 3 and the serpentine joint tube to achieve precise movement of the cutting head and ensure the smooth progress of the operation.

[0024] Specifically, the cutting blade head includes a sleeve 101, a microwave blade head 102, a cooling bracket, a high-pressure injection pipe 103 and a return pipe 104. Protective plates are respectively arranged on both sides of the front end of the sleeve 101. The protective plates are two protrusions left after two U-shaped grooves are dug out from the front of the sleeve 101. The front end of the microwave blade head 102 is provided with an arc-shaped cutting edge, and the arc-shaped cutting edge is located at the front end of the sleeve 101 between the two protective plates. The rear end of the microwave blade head 102 is arranged in the middle of the cooling bracket. The sleeve 101 is filled with a filler 105 for fixing the cooling bracket. The filler 105 in this embodiment is made of epoxy resin. The glue can fix the microwave blade head 102 in the cooling bracket after curing and has an insulating effect. The tail end of the microwave blade head 102 is connected with a microwave conduction line 106. A spray hole 107 is arranged on one side of the arc-shaped cutting edge. The spray hole 107 coincides with the axis of the high-pressure spray pipe 103. The high-pressure spray pipe 103 passes through the cooling bracket and is connected with the spray hole 107. The return pipe 104 passes through the cooling bracket and is arranged on one side of the microwave blade head 102. In this embodiment, the front end parts of the high-pressure spray pipe 103 and the return pipe 104 located in the cooling bracket are hard pipe bodies, which can withstand high water pressure without deformation and facilitate heat exchange.

[0025] The cooling bracket in this embodiment includes an annular bracket 108 and heat-conducting insulating plates 109 arranged at intervals. The heat-conducting insulating plates 109 are arranged in the annular bracket 108. The heat-conducting insulating plates 109 are provided with an isolation mounting groove 110, a first mounting hole 111 and a second mounting hole 112 along the direction of the annular bracket 108. The rear end of the microwave blade head 102 is installed in the isolation mounting groove 110. Heat-conducting silicone is arranged between the heat-conducting insulating plates 109 in the isolation mounting groove 110. A sealing ring 113 is provided at the end of the isolation mounting groove 110 to ensure that the microwave conduction line 106 is connected to the microwave blade head 102 while achieving the sealing of the heat-conducting silicone. The high-pressure injection pipe 103 is arranged in the first mounting hole 111, the return pipe 104 is arranged in the second mounting hole 112, and the filler 105 is located between each layer of heat-conducting insulating plates 109 arranged at intervals.

[0026] The serpentine joint tube includes a flexible inner support tube 201 and a plurality of connecting tube monomers 202 fixed at intervals on the flexible inner support tube 201. The high-pressure injection tube 103, the reflux tube 104 and the microwave transmission line 106 all extend into the flexible inner support tube 201. In this embodiment, the high-pressure injection tube 103 is connected to the medical booster pump through the robot arm body for pressurized liquid supply of the water knife. The reflux tube 104 is connected to the negative pressure liquid extraction equipment for timely extracting the solution. The microwave transmission line 106 is electrically connected to the microwave generator. The front end of the flexible inner support tube 201 is fixedly connected to the sleeve 101, and the rear end is fixedly connected to the robot arm body 3. The setting of the flexible inner support tube 201 can connect a plurality of connecting tube monomers 202 without affecting the bending of the serpentine joint tube.

[0027] The front end of the connecting tube monomer 202 and the front end of the robot arm body 3 are symmetrically provided with two smooth lugs, the rear end of the connecting tube monomer 202 and the rear end of the sleeve 101 are symmetrically provided with two smooth grooves matching the smooth lugs, the connecting line of the two smooth lugs on the same connecting tube monomer 202 and the connecting line of the two smooth grooves are perpendicular to each other, the two adjacent connecting tube monomers 202 and the connecting tube monomer 202 and the robot arm body 3 are spliced ​​with each other through the smooth lugs and the smooth grooves, a plurality of traction ropes 203 are fixedly connected to the rear end surface of the sleeve 101 along the circumferential direction, the periphery of the connecting tube monomer 202 and the periphery of the robot arm body 3 A threading hole 204 is provided at the position corresponding to each traction rope 203. The end of the traction rope 203 away from the sleeve 101 passes through the connecting tube monomer 202 and the threading hole 204 on the robot arm body 33 in turn, and is connected to the corresponding pulling wire device respectively. The specific structure of the serpentine joint tube and the pulling wire device can refer to the serpentine tube joint structure and wire drive carrier module in the Chinese invention patent with publication number CN114587600A. By controlling the pulling wire device to pull the corresponding traction rope 203, the serpentine joint tube is bent according to the length change of the traction rope 203 in this direction, thereby driving the surgical cutting head at its front end to adjust to a suitable angle.

[0028] In this embodiment, the surface of the microwave transmission line 106 is surrounded by a cable shielding layer and an isolation layer in sequence from the inside to the outside, and can bend and deform together with the serpentine joint tube.

[0029] The solution (e.g., saline) in this embodiment can be pressurized by a medical booster pump and then sprayed out through the spray hole 107 to cut the soft tissue of the human body. The cut solution is discharged through the reflux pipe 104. The cut soft tissue can be quickly hemostatic by the microwave blade head 102. The cooling bracket can utilize the heat-conducting insulating plate 109 in the isolation mounting groove 110 to support and position the microwave blade head 102. At the same time, the heat-conducting property of the heat-conducting insulating plate 109 is utilized to transfer the heat to the high-pressure spray pipe 103 and the reflux pipe 104 through the heat-conducting silica gel. The water flow (e.g., saline) in the high-pressure spray pipe 103 and the reflux pipe 104 is utilized to cool it down, so as to avoid excessive heat damage to the peripheral nerves and soft tissues of the surgical area caused by excessive temperature of the microwave blade head.

[0030] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A microwave water jet surgical robot system, characterized in that: It includes a cutting blade head, a serpentine joint tube, a mechanical arm body, a workbench and a medical booster pump. The cutting blade head is connected to the mechanical arm body through the serpentine joint tube. The mechanical arm body is electrically connected to the workbench. The mechanical arm body is connected to the medical booster pump pipeline. The cutting blade head includes a sleeve, a microwave blade head, a cooling bracket, a high-pressure injection pipe and a return pipe. Protective plates are respectively arranged on both sides of the front end of the sleeve. The front end of the microwave blade head is provided with an arc-shaped cutting edge. The arc-shaped cutting edge is located at the front end of the sleeve and between the two protective plates. The rear end of the microwave blade head is arranged in the cooling bracket. The sleeve is filled with a filler for fixing the cooling bracket. The tail end of the microwave blade head is connected to a microwave conduction line. A spray hole is arranged on one side of the arc-shaped cutting edge. The high-pressure injection pipe passes through the cooling bracket and is connected to the spray hole. The return pipe passes through the cooling bracket and is arranged on one side of the microwave blade head.

2. A microwave water jet surgical robot system according to claim 1, characterized in that: The cooling bracket includes an annular bracket and heat-conducting insulating plates arranged at intervals, the heat-conducting insulating plates are arranged in the annular bracket, and the heat-conducting insulating plates are provided with an isolation mounting groove, a first mounting hole, and a second mounting hole along the direction of the annular bracket. The rear end of the microwave blade head is installed in the isolation mounting groove, and heat-conducting silica gel is arranged between the heat-conducting insulating plates in the isolation mounting groove. The high-pressure injection pipe is arranged in the first mounting hole, the return pipe is arranged in the second mounting hole, and the filler is located between each layer of heat-conducting insulating plates arranged at intervals.

3. The microwave water jet surgical robot system according to claim 2, characterized in that: A sealing ring is provided at the end of the isolation mounting groove for sealing the thermally conductive silica gel.

4. The microwave water jet surgical robot system according to claim 1, characterized in that: The surface of the microwave conductive line is provided with a cable shielding layer and an isolation layer in sequence from the inside to the outside.

5. The microwave water jet surgical robot system according to claim 1, characterized in that: The injection hole coincides with the axis of the high-pressure injection pipe.

6. The microwave water jet surgical robot system according to claim 1, characterized in that: The serpentine joint tube includes a flexible inner support tube and a plurality of connecting tube monomers fixed at intervals on the flexible inner support tube, the high-pressure injection tube, the reflux tube and the microwave transmission line all extend into the flexible inner support tube, the front end of the flexible inner support tube is fixedly connected to the sleeve, and the rear end is fixedly connected to the robot arm body, the front end of the connecting tube monomer and the front end of the robot arm body are symmetrically provided with two smooth lugs, the rear end of the connecting tube monomer and the rear end of the sleeve are symmetrically provided with two smooth grooves matching with the smooth lugs, the connecting line of the two smooth lugs on the same connecting tube monomer is perpendicular to the connecting line of the two smooth grooves, and the plug joint and the connecting tube monomer, between two adjacent connecting tube monomers, and between the connecting tube monomer and the robot arm body are all spliced ​​with each other through smooth lugs and smooth grooves.

7. The microwave water jet surgical robot system according to claim 6, characterized in that: A plurality of traction ropes are fixedly connected to the rear end surface of the sleeve along the circumferential direction, and threading holes are provided on the periphery of the connecting tube unit and the periphery of the robot arm body corresponding to the position of each traction rope, and the end of the traction rope away from the sleeve passes through the threading holes on the connecting tube unit and the robot arm body in turn.

8. The microwave water jet surgical robot system according to claim 6, characterized in that: The flexible inner supporting tube is a rubber tube.

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