A tumor ablation cutting surgical robot system

Abstract

The present invention belongs to the field of medical devices, and specifically relates to a tumor ablation cutting surgical robot system, including a main control console, a video imaging system and a mechanical arm system, the video imaging system and the mechanical arm system are electrically connected to the main control console, the mechanical arm system includes a control console frame, a mechanical arm, a serpentine joint tube and a cutting knife head, the mechanical arm is provided with several degrees of freedom, the mechanical arm is arranged on the control console frame, the cutting knife head is arranged at the end of the mechanical arm through the serpentine joint tube, the cutting knife head includes a sleeve, a microwave knife, a water inlet pipe and a negative pressure water suction pipe, the microwave knife is arranged at the front end of the sleeve through a solid filler, the front end of the microwave knife is provided with a water outlet and a water suction port, the water inlet pipe is arranged on one side of the arc-shaped blade of the microwave knife, and is connected to the water outlet, the negative pressure water suction pipe is arranged on the other side, and is connected to the water suction port. The present invention can use a microwave hemostatic knife to stop bleeding on an incision, and can use the water outlet to suck away blood and water, providing a clear field of vision for surgery.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular relates to a tumor ablation cutting surgical 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-operated robots that surgeons can control remotely and precisely operate through tiny incisions to enter the patient's body, thereby assisting 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 out the tremors of the human hand itself.

[0003] The most mature laparoscopic surgical robot at present 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, whether it is the da Vinci or other robots, their energy instruments are relatively scarce, the hemostatic effect is weak, and the ultrasonic knife cannot be made into a joint due to the linear conduction of ultrasound, which greatly limits its scope of application. Therefore, it is urgent to design a tumor ablation cutting surgical robot system that can achieve hemostasis and high flexibility. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention discloses a tumor ablation cutting surgical robot system, and specifically discloses the following technical solutions:

[0005] A tumor ablation cutting surgical robot system comprises a main control console, a video imaging system and a mechanical arm system, wherein the video imaging system and the mechanical arm system are electrically connected to the main control console, the mechanical arm system comprises a control console frame, a mechanical arm, a serpentine joint tube and a cutting blade head, the mechanical arm is provided with several degrees of freedom, and several of the mechanical arms are arranged on the control console frame, the cutting blade head is arranged at the end of the mechanical arm through the serpentine joint tube, the cutting blade head comprises a sleeve, a microwave knife, a water inlet pipe and a negative pressure water suction pipe, a solid filler is arranged in the sleeve, the front end of the microwave knife is provided with an arc-shaped cutting edge, the microwave knife is arranged at the front end of the sleeve through the solid filler for hemostasis, the front end of the microwave knife is provided with a water outlet and a water suction port, the water inlet pipe is arranged on one side of the arc-shaped cutting edge of the microwave knife and is connected to the water outlet, the negative pressure water suction pipe is arranged on the other side of the microwave knife and is connected to the water suction port.

[0006] Furthermore, the water inlet pipe includes a first water inlet pipe, a second water inlet pipe and a water volume regulating mechanism, the first end of the first water inlet pipe is connected to an external water source, the first end of the second water inlet pipe is connected to the water outlet, the first end of the water volume regulating mechanism is connected to the second end of the first water inlet pipe, the second end of the water volume regulating mechanism is connected to the second end of the second water inlet pipe, and the water volume regulating mechanism is electrically connected to the main control console.

[0007] Furthermore, the second water inlet pipe includes an accelerating water inlet pipe and a decelerating water inlet pipe arranged side by side, the first end of the accelerating water inlet pipe and the first end of the decelerating water inlet pipe are both connected to the water outlet, the second end of the accelerating water inlet pipe and the second end of the decelerating water inlet pipe are both connected to the water volume regulating mechanism, the accelerating water inlet pipe is used to increase the flow rate of the incoming water, and the decelerating water inlet pipe is used to reduce the flow rate of the incoming water.

[0008] Furthermore, the accelerating water inlet pipe has a tapered structure, and a spiral channel connected to the accelerating water inlet pipe is circumferentially arranged, the cutout of the spiral channel is located on a side away from the center of the accelerating water inlet pipe, and the spiral channel extends in an axial spiral along the accelerating water inlet pipe.

[0009] Furthermore, the deceleration water inlet pipe includes a first deceleration water inlet pipe, a second deceleration water inlet pipe and a third deceleration water inlet pipe which are connected in sequence, the first deceleration water inlet pipe is a Tesla valve structure, the second deceleration water inlet pipe is a curved channel, and the third deceleration water inlet pipe is a gradually expanding structure.

[0010] Furthermore, the water volume regulating mechanism includes a shell, a switching plate and a switching handle. The first end of the shell is connected to the second end of the first water inlet pipe, and the second end is connected to the second end of the second water inlet pipe. The switching plate is rotatably arranged in the shell for switching between the first deceleration water inlet pipe and the second deceleration water inlet pipe. The switching handle is arranged on the outside of the sleeve, the switching handle is fixedly connected to the switching plate, and the switching handle is electrically connected to the main control console.

[0011] Furthermore, the first end of the negative pressure water suction pipe is communicated with the water suction port, and the second end of the negative pressure water suction pipe is connected to the suction device.

[0012] Furthermore, a microwave transmission line is provided at the end of the microwave knife, and the microwave knife is electrically connected to the microwave transmission line.

[0013] 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 front end of the flexible inner support tube is fixedly connected to the sleeve, and the rear end is fixedly connected to the robotic arm, the front end of the connecting tube monomer and the front end of the robotic arm 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 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, the sleeve and the connecting tube monomer, between two adjacent connecting tube monomers, and between the connecting tube monomer and the robotic arm are all spliced ​​with each other through smooth lugs and smooth grooves.

[0014] 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 robotic arm 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 robotic arm in turn.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention can not only use the microwave knife to stop bleeding in time at the wound, but also has a water outlet and a water suction port. When the microwave hemostatic knife is used for surgery, the water outlet can flush the tissue, and the water outlet can suck out the blood, thereby providing a clear field of vision for the surgery;

[0017] 2. The invention provides a decelerating water inlet pipe and an accelerating water inlet pipe. When it is difficult to clean, the accelerating channel is selected for strong cleaning. When strong cleaning is not required, the slow water can prevent the bed sheets from getting wet and contaminating the surgical area.

[0018] 3. The microwave transmission line, water inlet pipe and negative pressure water suction pipe of the present invention can all be made of flexible materials. The setting of the serpentine joint tube of the present invention will not interfere with the movement of the serpentine joint, so the cutting head with a microwave knife head can swing flexibly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a robotic arm system of the present invention;

[0020] Figure 2 This is a schematic diagram of the main control console of the present invention;

[0021] Figure 3 This is a schematic diagram of the serpentine joint tube of the present invention;

[0022] Figure 4 This is a front view of the serpentine pipe connection of the present invention;

[0023] Figure 5 for Figure 4 Sectional view at AA;

[0024] Figure 6 This is a front view of the cutting head of the present invention;

[0025] Figure 7 for Figure 6 Cross-sectional view at BB in the middle.

[0026] Among them, 1-main control console, 2-control console stand, 3-mechanical arm, 4-serpentine joint tube; 401-flexible inner support tube; 402-connecting tube monomer; 403-traction rope; 404-threading hole; 405-first water inlet pipe; 5-cutting head; 501-casing; 502-microwave knife; 503-negative pressure water suction pipe; 504-water outlet; 505-water suction port; 506-accelerating water inlet pipe; 507-decelerating water inlet pipe; 508-switching plate; 509-switching handle; 510-microwave transmission line; 511-solid filler; 6-visual monitoring unit. DETAILED DESCRIPTION

[0027] 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.

[0028] Example 1

[0029] See attached Figure 1-7This embodiment discloses a tumor ablation cutting surgical robot system, including a main console 1, a video imaging system and a robotic arm system. The video imaging system and the robotic arm system are both electrically connected to the main console 1. The main console 1 is used for medical staff to operate the robot, the video imaging system is used for imaging the surgical site, and the robotic arm system is used to perform the operation.

[0030] Specifically, the robot system includes a control frame 2, a robot arm 3, a serpentine joint tube 4 and a cutting head 5. The robot arm 3 is provided with a plurality of degrees of freedom. The plurality of robot arms 3 are arranged on the control frame 2. The cutting head 5 and the visual monitoring unit 6 are arranged at the end of the robot arm 3 through the serpentine joint tube 4. The cutting head 5 includes a sleeve 501, a microwave knife 502, a water inlet pipe and a negative pressure water suction pipe 503. A solid filler 511 is arranged in the sleeve 501. In this embodiment, protective plates are respectively arranged on both sides of the front end of the sleeve 501. The protective plates are the front of the sleeve 501. The two protrusions left after digging out the two U-shaped grooves, the front end of the microwave knife 502 is provided with an arc-shaped cutting edge, the microwave knife 502 is arranged at the front end of the sleeve 501 through the solid filler 511, and is used to cauterize the tissue around the incision to stop bleeding, the front end of the microwave knife 502 is provided with a water outlet 504 and a water suction port 505, the water inlet pipe is arranged on one side of the arc-shaped cutting edge of the microwave knife 502, and is connected to the water outlet 504, and is used to flush the tissue; the negative pressure water suction pipe 503 is arranged on the other side of the microwave knife 502, and is connected to the water suction port 505, and is used to suck away blood.

[0031] The water inlet pipe includes a first water inlet pipe 405, a second water inlet pipe and a water volume regulating mechanism. The first end of the first water inlet pipe 405 is connected to an external water source, the first end of the second water inlet pipe is connected to a water outlet 504, the first end of the water volume regulating mechanism is connected to the second end of the first water inlet pipe 405, the second end of the water volume regulating mechanism is connected to the second end of the second water inlet pipe, and the water volume regulating mechanism is electrically connected to the main control console 1.

[0032] The second water inlet pipe includes an accelerating water inlet pipe 506 and a decelerating water inlet pipe 507 arranged side by side. The first end of the accelerating water inlet pipe 506 and the first end of the decelerating water inlet pipe 507 are both connected to the water outlet 504, and the second end of the accelerating water inlet pipe 506 and the second end of the decelerating water inlet pipe 507 are both connected to the water volume regulating mechanism. The accelerating water inlet pipe 506 is used to increase the flow rate of the incoming water, and the decelerating water inlet pipe 507 is used to reduce the flow rate of the incoming water.

[0033] In this embodiment, the accelerating water inlet pipe 506 has a tapered structure, and a spiral channel connected to the accelerating water inlet pipe 506 is circumferentially arranged. The cutout of the spiral channel is located on the side away from the center of the accelerating water inlet pipe 506. The spiral channel extends in an axial spiral along the accelerating water inlet pipe 506. The injection port of the tapered structure has a spiral accelerating channel that can increase the injection speed. Under the condition of the same output pressure, the water injection speed can be increased and the injection distance can be increased.

[0034] In this embodiment, the deceleration water inlet pipe 507 includes a first deceleration water inlet pipe, a second deceleration water inlet pipe and a third deceleration water inlet pipe which are connected in sequence. The first deceleration water inlet pipe is a Tesla valve structure, the second deceleration water inlet pipe is a curved channel, and the third deceleration water inlet pipe is a gradually expanding structure.

[0035] When the water flow enters the first deceleration water inlet pipe, it will be split, one way will follow the main channel, the other way will flow into the annular channel, and finally meet with the main channel again. During the fluid merging process, due to the different flow directions, they collide with each other, thereby generating resistance to the fluid in the main channel, gradually reducing the speed of the fluid, and then passing through the second deceleration water inlet pipe and the third deceleration water inlet pipe to reduce the water flow speed step by step.

[0036] The present invention provides a decelerating water inlet pipe and an accelerating water inlet pipe. When cleaning is difficult, the accelerating channel is selected for intensive cleaning. When intensive cleaning is not required, the decelerating channel can reduce the water output to prevent the bed sheets from getting wet and contaminating the operating area.

[0037] The water volume regulating mechanism includes a shell, a switching plate 508 and a switching handle 509. The first end of the shell is connected to the second end of the first water inlet pipe, and the second end is connected to the second end of the second water inlet pipe. The switching plate 508 is rotatably arranged in the shell for switching between the first deceleration water inlet pipe 507 and the second deceleration water inlet pipe 507. The switching handle is arranged on the outside of the sleeve 501. The switching handle 509 is fixedly connected to the switching plate 508. The switching handle 509 is electrically connected to the main control console 1, and the direction of the water flow can be selected through the main control console 1.

[0038] The first end of the negative pressure water suction pipe 503 is communicated with the water suction port 505, and the second end of the negative pressure water suction pipe 503 is connected to the suction device.

[0039] A microwave transmission line 510 is provided at the end of the microwave knife 502 , and the microwave knife 502 is electrically connected to the microwave transmission line 510 . In this embodiment, the microwave transmission line 510 is a copper wire with an insulating sheath, and can bend and deform together with the serpentine joint tube 4 .

[0040] The serpentine joint tube 4 includes a flexible inner support tube 401 and a plurality of connecting tube monomers 402 fixed at intervals on the flexible inner support tube 401. The front end of the flexible inner support tube 401 is fixedly connected to the sleeve 501, and the rear end is fixedly connected to the robotic arm 3. The front end of the connecting tube monomer 402 and the front end of the robotic arm 3 are symmetrically provided with two smooth lugs, and the rear end of the connecting tube monomer 402 and the rear end of the sleeve 501 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 402 is perpendicular to the connecting line of the two smooth grooves. The sleeve 501 and the connecting tube monomer 402, between two adjacent connecting tube monomers 402, and between the connecting tube monomer 402 and the robotic arm 3 are all spliced ​​with each other through smooth lugs and smooth grooves.

[0041] A number of traction ropes 403 are fixedly connected to the circumferential direction of the upper rear end surface of the sleeve 501, and threading holes 404 are provided on the periphery of the connecting tube monomer 402 and the periphery of the robotic arm 3 at the position corresponding to each traction rope 403. The end of the traction rope 403 away from the sleeve 501 passes through the threading holes 404 on the connecting tube monomer 402 and the robotic arm 3 in turn, and is respectively connected to the corresponding pulling wire devices. 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 403, the serpentine joint tube 4 is bent according to the length change of the traction rope 403 in this direction, thereby driving the surgical cutting head at its front end to adjust to a suitable angle.

[0042] 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 tumor ablation cutting surgical robot system, characterized in that: It includes a main control console, a video imaging system and a mechanical arm system, the video imaging system and the mechanical arm system are electrically connected to the main control console, the mechanical arm system includes a control console frame, a mechanical arm, a serpentine joint tube and a cutting blade head, the mechanical arm is provided with a plurality of degrees of freedom, a plurality of the mechanical arms are provided on the control console frame, the cutting blade head is provided at the end of the mechanical arm through the serpentine joint tube, the cutting blade head includes a sleeve, a microwave knife, a water inlet pipe and a negative pressure water suction pipe, a solid filler is provided in the sleeve, the front end of the microwave knife is provided with an arc-shaped cutting edge, the microwave knife is provided at the front end of the sleeve through the solid filler for hemostasis, the front end of the microwave knife is provided with a water outlet and a water suction port, the water inlet pipe is provided on one side of the arc-shaped cutting edge of the microwave knife and is communicated with the water outlet, the negative pressure water suction pipe is provided on the other side of the microwave knife and is communicated with the water suction port; The water inlet pipe comprises a first water inlet pipe, a second water inlet pipe and a water volume regulating mechanism, wherein a first end of the first water inlet pipe is connected to an external water source, a first end of the second water inlet pipe is connected to the water outlet, a first end of the water volume regulating mechanism is connected to a second end of the first water inlet pipe, a second end of the water volume regulating mechanism is connected to a second end of the second water inlet pipe, and the water volume regulating mechanism is electrically connected to a main control console; The second water inlet pipe comprises an accelerating water inlet pipe and a decelerating water inlet pipe arranged side by side, the first end of the accelerating water inlet pipe and the first end of the decelerating water inlet pipe are both in communication with the water outlet, the second end of the accelerating water inlet pipe and the second end of the decelerating water inlet pipe are both in communication with the water volume regulating mechanism, the accelerating water inlet pipe is used to increase the flow rate of the incoming water, and the decelerating water inlet pipe is used to reduce the flow rate of the incoming water; The accelerating water inlet pipe has a tapered structure, and a spiral channel connected to the accelerating water inlet pipe is arranged in the circumference of the accelerating water inlet pipe, the cutout of the spiral channel is located on a side away from the center of the accelerating water inlet pipe, and the spiral channel extends in a spiral along the axial direction of the accelerating water inlet pipe; The deceleration water inlet pipe includes a first deceleration water inlet pipe, a second deceleration water inlet pipe and a third deceleration water inlet pipe which are connected in sequence, the first deceleration water inlet pipe is a Tesla valve structure, the second deceleration water inlet pipe is a curved channel, and the third deceleration water inlet pipe is a gradually expanding structure.

2. A tumor ablation cutting surgical robot system according to claim 1, characterized in that: The water volume regulating mechanism includes a shell, a switching plate and a switching handle. The first end of the shell is connected to the second end of the first water inlet pipe, and the second end is connected to the second end of the second water inlet pipe. The switching plate is rotatably arranged in the shell for switching between the first deceleration water inlet pipe and the second deceleration water inlet pipe. The switching handle is arranged on the outside of the sleeve, the switching handle is fixedly connected to the switching plate, and the switching handle is electrically connected to the main control console.

3. The tumor ablation cutting surgical robot system according to claim 1, characterized in that: The first end of the negative pressure water suction pipe is communicated with the water suction port, and the second end of the negative pressure water suction pipe is connected with the suction device.

4. The tumor ablation cutting surgical robot system according to claim 1, characterized in that: A microwave transmission line is arranged at the end of the microwave knife, and the microwave knife is electrically connected to the microwave transmission line.

5. The tumor ablation cutting 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 front end of the flexible inner support tube is fixedly connected to the sleeve, and the rear end is fixedly connected to the mechanical arm, the front end of the connecting tube monomer and the front end of the mechanical arm 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, the sleeve and the connecting tube monomer, between two adjacent connecting tube monomers, and between the connecting tube monomer and the mechanical arm are all spliced ​​with each other through smooth lugs and smooth grooves.

6. The tumor ablation cutting surgical robot system according to claim 5, 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 mechanical arm 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 mechanical arm in turn.

Images