Auxiliary manipulator for endoscopic surgery

Abstract

The invention belongs to the technical field of brain surgery, and relates to an endoscopic surgery auxiliary manipulator which comprises an endoscope and an auxiliary manipulator assembly arranged on the endoscope, and the auxiliary manipulator assembly comprises a chuck, a detachable hinge assembly and an assembly hinge which are connected in sequence. The inner diameter of the detachable hinge assembly and the inner diameter of the assembly hinge are both larger than the outer diameter of the endoscope. The detachable hinge assembly comprises a plurality of detachable hinges connected with one another, and part of the detachable hinges and the assembly hinge together wrap the endoscope and move on the endoscope to drive the chuck to move; and a rotator is arranged on the hinge of the assembly body and can control the clamping and loosening actions of the chuck. When a doctor performs a brain surgery, the endoscopic surgery auxiliary manipulator extends into a round hole in the brain of a patient, the situation in the brain is observed through an endoscope, and meanwhile the rotator is rotated to control displacement and action of the chuck. Compared with the prior art, the accuracy of the brain operation is improved, and the operation risk is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of brain surgery and relates to an endoscopic surgery auxiliary manipulator. Background Art

[0002] With the continuous development of medical technology, the technology of brain surgery is also constantly improving. As a minimally invasive surgical method, endoscopic surgery has been widely used in the field of brain surgery because of its advantages such as small trauma, fast recovery and light pain. The development of endoscopic surgery-assisted manipulators has a large market. Traditional brain surgery usually relies on the doctor's experience and skills, but in some complex or delicate operations, the doctor's operation may be subject to certain restrictions. As an emerging medical device, endoscopic surgery-assisted manipulators can provide doctors with more precise and stable surgical operation support. In such an environment, we combine the process of brain surgery and the patient's brain morphological characteristics and other aspects, aiming to produce an endoscopic surgery-assisted manipulator for brain surgery, which is convenient for brain surgery clinicians to operate and use, making the operation more precise and stable.

[0003] Patent CN106923902B provides a serpentine joint, surgical instrument and endoscope for a surgical robot, which has at least one degree of freedom, including: at least one joint joint pair and a flexible structure; each joint joint pair includes a first joint joint located at the lower end and a second joint joint located at the upper end; the first joint joint includes a first substrate, and a first protrusion and a first groove are arranged on the first surface of the first substrate; the second joint joint includes a second substrate, and a second protrusion and a second groove are arranged on the second surface of the second substrate; the first surface and the second surface are arranged relative to each other, the first protrusion is located in the second groove and rotates relative to the second groove, and the second protrusion is located in the first groove and rotates relative to the first groove; the flexible structure controls the swing of the joint joint pair; plane torsion or space torsion is realized, the movement accuracy of the serpentine joint is improved, and the complexity of the structure is reduced. However, this patent may have some problems in terms of durability, assembly difficulty, material selection, load capacity, space limitation and maintenance cost that have not been solved. Patent CN219661886U provides a laparoscopic surgery manipulator, including a connecting tube and a connecting block, one end of the connecting tube is fixedly connected to an adjustment mechanism, the connecting tube is connected to a joint mechanism through a connecting block, the joint mechanism is connected to a clamping mechanism through a connecting block, the side of the adjustment mechanism is fixedly connected to an organism, a first spring is provided on the organism, one end of the first spring is connected to a trigger, the trigger is hinged to the organism through a rotating shaft, a guide wire is provided in the clamping mechanism, one end of the guide wire is fixedly connected to the trigger, a steel wire is provided in the connecting tube, a handle is provided on the organism, and a rocker sensor is provided in the organism. However, this patent still has some unresolved problems in terms of structural complexity, operational difficulty, space limitation, durability, material cost and maintenance cost. Summary of the invention

[0004] The purpose of the present invention is to provide an endoscopic surgery-assisted manipulator in order to overcome the defects of the above-mentioned prior art, improve the accuracy of brain surgery and reduce surgical risks.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] The present invention provides an endoscopic surgery auxiliary manipulator, comprising an endoscope and an auxiliary manipulator arm integrated on the endoscope, wherein the auxiliary manipulator arm integrated comprises a chuck, a detachable hinge assembly and an assembly hinge connected in sequence, wherein the front end of the detachable hinge assembly is connected to the chuck through a hinge pin, and the front end of the assembly hinge is connected to the detachable hinge assembly through a hinge pin.

[0007] The inner diameters of the detachable hinge assembly and the assembly hinge are both larger than the outer diameter of the endoscope;

[0008] The detachable hinge assembly comprises a plurality of connected detachable hinges, wherein some of the detachable hinges together with the assembly hinge wrap around the endoscope and move on the endoscope to drive the chuck to move.

[0009] Furthermore, there are 3 to 4 detachable hinges, preferably 4, wherein the number of detachable hinges wrapping the endoscope is 2 to 3, preferably 3, and each detachable hinge is provided with a bilaterally symmetrical circular hole;

[0010] The assembly hinge is provided with a detachable hinge rotator, which is connected to the detachable hinge assembly via a detachable hinge steel wire;

[0011] The detachable hinge steel wire passes through the round hole of each detachable hinge and is connected with the detachable hinge rotator. By rotating the detachable hinge rotator, the detachable hinge steel wire is pulled, and the detachable hinge assembly and the clamp are driven to move.

[0012] Furthermore, each detachable hinge is in the shape of a hollow semicircular cylinder, with an inner diameter of 4.5 mm to 7 mm, preferably 6 mm, and an outer diameter of 8.5 mm to 11 mm, preferably 10 mm.

[0013] Furthermore, the height of each detachable hinge is 0.7 cm to 1.2 cm, preferably 1 cm.

[0014] Furthermore, the assembly hinge is also provided with a chuck wire rotator, which is connected to the chuck through the chuck wire. The chuck wire rotator is rotated to pull the chuck wire to control the movement of the chuck. The end of the assembly hinge is provided with an assembly hinge rotator, whose inner diameter is equal to the outer diameter of the endoscope. The assembly hinge is moved along the endoscope by rotating the assembly hinge rotator.

[0015] Furthermore, the assembly hinge is in the shape of a hollow cylinder, with an inner diameter of 4.5 mm to 7 mm, preferably 6 mm, and an outer diameter of 8.5 mm to 11 mm, preferably 10 mm.

[0016] Furthermore, the integrated length of the auxiliary robotic arm is 11 cm to 14 cm, preferably 13 cm.

[0017] Furthermore, the endoscope is made of stainless steel or any alloy, such as titanium alloy or aluminum alloy, and the stainless steel is preferably 316L stainless steel.

[0018] Furthermore, the auxiliary robot arm integration is made of stainless steel or any alloy, such as titanium alloy, aluminum alloy, and the stainless steel is preferably 316L stainless steel.

[0019] Furthermore, the outer diameter of the endoscope is 4.5 mm to 7 mm, preferably 5.9 mm.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] (1) The present invention provides an endoscopic surgery auxiliary manipulator, comprising an endoscope and an auxiliary manipulator integrated on the endoscope, wherein the auxiliary manipulator integrated comprises a chuck, a detachable hinge assembly and an assembly hinge connected in sequence, wherein the inner diameters of the detachable hinge assembly and the assembly hinge are both larger than the outer diameter of the endoscope; the detachable hinge assembly comprises a plurality of connected detachable hinges, wherein some of the detachable hinges together with the assembly hinge wrap around the endoscope and move on the endoscope to drive the chuck to move; the assembly hinge is also provided with a chuck wire rotator, which is connected to the chuck through a chuck wire, and the chuck wire is pulled by rotating the chuck wire rotator to control the clamping and releasing actions of the chuck. The endoscopic surgery auxiliary manipulator provided by the present invention first improves the accuracy and stability of the operation. Through the precise control of the auxiliary manipulator arm, the doctor can more accurately position and operate the surgical instrument, thereby reducing damage to the surrounding tissues. In addition, the chuck can achieve stable clamping and loosening actions through the control of the chuck wire rotator, ensuring the stability of the surgical instrument during the operation and further reducing the surgical risk. Secondly, the surgical field of view and flexibility are enhanced. As the main observation tool during the operation, the high-definition imaging system of the endoscope provides the doctor with a clear surgical field of view, which helps the doctor to better judge the progress of the operation and the anatomical structure. At the same time, the detachable hinge assembly and assembly hinge design on the auxiliary manipulator arm enable the manipulator arm to move flexibly on the endoscope, thereby adapting to the needs of different surgical sites and improving the flexibility and adaptability of the operation. Through the integrated design of the auxiliary manipulator arm, the doctor can complete the surgical operation more easily and reduce the physical exertion and mental stress during the operation. Due to the improvement of surgical accuracy and stability and the improvement of surgical field of view, the design helps to reduce complications and surgical risks during the operation.

[0022] (2) The endoscopic surgery auxiliary manipulator provided by the present invention is provided with a connected hollow semi-cylindrical detachable hinge and a hollow cylindrical assembly hinge on the endoscope. The movement of the two hinges drives the displacement of the endoscope. In actual surgical scenarios, the clamping function can be added to the original endoscope to reduce the adverse effects caused by multiple people operating, and increase the convenience and stability of the operation. At the same time, the structural design of the auxiliary manipulator can make the operation more precise during surgery, thereby reducing friction or damage to surrounding tissues. When the doctor performs brain surgery, the endoscopic surgery auxiliary manipulator is inserted into the circular hole on the patient's brain, and the situation inside the brain is observed through the endoscope. The movement and clamping action of the chuck are controlled by rotating the rotator to drive the steel wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an overall schematic diagram of the endoscopic surgery auxiliary manipulator of the present invention;

[0024] Figure 2 It is a schematic diagram of the front end structure of the endoscopic surgery auxiliary manipulator of the present invention.

[0025] Description of the markings in the figure:

[0026] 1-detachable hinge, 2-chuck wire, 3-chuck, 4-detachable hinge wire, 5-chuck wire rotator, 6-detachable hinge rotator, 7-assembly hinge, 8-assembly hinge rotator, 9-endoscope, 10-hinge pin. DETAILED DESCRIPTION

[0027] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0028] In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, the terms "first", "second", "third", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the use of such data can be interchangeable where appropriate, so that the embodiments of the present invention can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", "third", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects; the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the following implementation manners or examples, unless otherwise specified, functional components or structures are conventional components or conventional structures used in the art to achieve corresponding functions.

[0031] Example 1

[0032] The present invention provides an endoscopic surgery auxiliary manipulator, such as Figure 1 , Figure 2 As shown, it includes an endoscope 9 and an auxiliary mechanical arm integration arranged on the endoscope 9, the auxiliary mechanical arm integration includes a chuck 3, a detachable hinge assembly and an assembly hinge 7 connected in sequence, the front end of the detachable hinge assembly is connected to the chuck 3 through a hinge pin, the front end of the assembly hinge 7 is connected to the detachable hinge assembly through a hinge pin 10, the inner diameters of the detachable hinge assembly and the assembly hinge 7 are both larger than the outer diameter of the endoscope 9; the detachable hinge assembly includes a plurality of connected detachable hinges, wherein some of the detachable hinges together with the assembly hinge 7 wrap around the endoscope 9 and move on the endoscope 9, driving the chuck 3 to move.

[0033] In some specific embodiments, there are 3 to 4 detachable hinges, wherein the number of detachable hinges wrapping the endoscope 9 is 2 to 3, and each detachable hinge is provided with a bilaterally symmetrical circular hole.

[0034] In this embodiment, there are four detachable hinges, of which three are used to wrap the endoscope 9, and each detachable hinge is provided with a left-right symmetrical circular hole;

[0035] In this embodiment, a detachable hinge rotator 6 is provided on the assembly hinge 7, which is connected to the detachable hinge assembly through a detachable hinge steel wire 4; the detachable hinge steel wire 4 passes through the circular hole of each detachable hinge and is connected to the detachable hinge rotator 6, and by rotating the detachable hinge rotator 6, the detachable hinge steel wire 4 is pulled to drive the detachable hinge assembly and the chuck 3 to move.

[0036] In some specific embodiments, each detachable hinge is in the shape of a hollow semi-cylindrical shape, with an inner diameter of 4.5 mm to 7 mm and an outer diameter of 8.5 mm to 11 mm. In this embodiment, each hollow semi-cylindrical detachable hinge has an inner diameter of 6 mm and an outer diameter of 10 mm.

[0037] In some specific embodiments, the height of each detachable hinge is 0.7-1.2 cm. In this embodiment, the height of each detachable hinge is 1 cm.

[0038] In this embodiment, the assembly hinge 7 is further provided with a chuck wire rotator 5, which is connected to the chuck 3 through the chuck wire 2. The chuck wire rotator 5 is rotated to pull the chuck wire 2 to control the movement of the chuck 3; the end of the assembly hinge 7 is provided with an assembly hinge rotator 8, whose inner diameter is equal to the outer diameter of the endoscope 9;

[0039] By rotating the assembly hinge rotator 8 , the assembly hinge 7 is moved along the endoscope 9 .

[0040] In some specific implementations, the assembly hinge 7 is in the shape of a hollow cylinder with an inner diameter of 4.5 mm to 7 mm and an outer diameter of 8.5 mm to 11 mm. In this embodiment, the inner diameter of the hollow cylinder assembly hinge 7 is 6 mm and the outer diameter is 10 mm.

[0041] In some specific implementations, the auxiliary mechanical arm integration is made of stainless steel or any alloy, such as titanium alloy or aluminum alloy, and the stainless steel is preferably 316L stainless steel. In this embodiment, the auxiliary mechanical arm integration is made of 316L stainless steel.

[0042] In some specific implementations, the length of the auxiliary mechanical arm integration is 11 cm to 14 cm. In this embodiment, the length of the auxiliary mechanical arm integration is 13 cm.

[0043] In some specific implementations, the endoscope 9 is made of stainless steel or any alloy, such as titanium alloy or aluminum alloy, and the stainless steel is preferably 316L stainless steel. In this embodiment, the endoscope 9 is made of 316L stainless steel.

[0044] In some specific implementations, the outer diameter of the endoscope 9 is 4.5 mm to 7 mm. In this embodiment, the outer diameter of the endoscope 9 is 5.9 mm.

[0045] The working process of this embodiment is as follows:

[0046] like Figure 1 , Figure 2As shown, an endoscopic surgery auxiliary manipulator includes an endoscope 9 and an auxiliary manipulator arm integration arranged on the endoscope 9, the auxiliary manipulator arm integration includes a chuck 3, a detachable hinge assembly and an assembly hinge 7 connected in sequence, the front end of the detachable hinge assembly is connected to the chuck 3 through a hinge pin, the front end of the assembly hinge 7 is connected to the detachable hinge assembly through a hinge pin 10, the inner diameters of the detachable hinge assembly and the assembly hinge 7 are both larger than the outer diameter of the endoscope 9; the detachable hinge assembly includes a plurality of connected detachable hinges, wherein some of the detachable hinges together with the assembly hinge 7 wrap around the endoscope 9 and move on the endoscope 9, driving the chuck 3 to move.

[0047] In this embodiment, there are 4 detachable hinge assemblies, of which 3 detachable hinges and the assembly hinge 7 together wrap the endoscope 9, and the detachable hinge 1 is a hollow semicircular cylinder, close to the clamp 3. By rotating the detachable hinge rotator 6 to pull the detachable hinge wire 4, the detachable hinge assembly is driven to move up and down, thereby driving the clamp 3 to move; by rotating the clamp wire rotator 5 to pull the clamp wire 2, thereby driving the clamp 3 to clamp or release; by rotating the assembly hinge rotator 8, the assembly hinge 7 is moved forward and backward along the endoscope 9.

[0048] When the endoscopic surgery-assisted manipulator of this embodiment is working, the chuck 3 and the endoscope 9 are first inserted into the circular hole of the patient's brain, and the patient's brain is observed through the endoscope 9. At the same time, the assembly hinge rotator 8, the chuck wire rotator 5 and the detachable hinge rotator 6 are rotated to perform brain surgery.

[0049] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. An endoscopic surgery assisting manipulator, comprising an endoscope (9), characterized in that: It also includes an auxiliary mechanical arm assembly arranged on the endoscope (9), the auxiliary mechanical arm assembly including a clamp (3), a detachable hinge assembly and an assembly hinge (7) connected in sequence, The inner diameters of the detachable hinge assembly and the assembly hinge (7) are both larger than the outer diameter of the endoscope (9); The detachable hinge assembly comprises a plurality of connected detachable hinges, wherein some of the detachable hinges together with the assembly hinge (7) wrap around the endoscope (9) and move on the endoscope (9) to drive the chuck (3) to move.

2. The endoscopic surgery assisting manipulator according to claim 1, characterized in that: There are 3 to 4 detachable hinges in total, wherein the number of detachable hinges that wrap around the endoscope (9) is 2 to 3, and each detachable hinge is provided with a left-right symmetrical circular hole; The assembly hinge (7) is provided with a detachable hinge rotator (6), which is connected to the detachable hinge assembly via a detachable hinge steel wire (4); The detachable hinge steel wire (4) passes through the circular hole of each detachable hinge and is connected to the detachable hinge rotator (6). By rotating the detachable hinge rotator (6), the detachable hinge steel wire (4) is pulled, thereby driving the detachable hinge assembly and the clamp (3) to move.

3. The endoscopic surgery assisting manipulator according to claim 2, characterized in that: Each detachable hinge is in the shape of a hollow semicircular cylinder, with an inner diameter of 4.5 mm to 7 mm and an outer diameter of 8.5 mm to 11 mm.

4. The endoscopic surgery assisting manipulator according to claim 2, characterized in that: The height of each detachable hinge is 0.7 cm to 1.2 cm.

5. The endoscopic surgery assisting manipulator according to claim 1, characterized in that: The assembly hinge (7) is also provided with a clamp wire rotator (5), which is connected to the clamp (3) through the clamp wire (2). The clamp wire rotator (5) is rotated to pull the clamp wire (2) to control the movement of the clamp (3).

6. The endoscopic surgery assisting manipulator according to claim 1, characterized in that: The assembly hinge (7) is in the shape of a hollow cylinder with an inner diameter of 4.5 mm to 7 mm and an outer diameter of 8.5 mm to 11 mm.

7. The endoscopic surgery assisting manipulator according to claim 1, characterized in that: The integrated length of the auxiliary mechanical arm is 11 cm to 14 cm.

8. The endoscopic surgery assisting manipulator according to claim 1, characterized in that: The endoscope (9) is made of stainless steel or alloy.

9. The endoscopic surgery assisting manipulator according to claim 1, characterized in that: The auxiliary mechanical arm integration is made of any one of stainless steel or alloy.

10. The endoscopic surgery assisting manipulator according to claim 1, characterized in that: The outer diameter of the endoscope (9) is 4.5 mm to 7 mm.

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