Intelligent puncture device and surgical robot

Abstract

The invention relates to the technical field of medical instruments, and particularly discloses an intelligent puncture device and a surgical robotic.The intelligent puncture device comprises a mounting base, a puncture assembly and a driving assembly; the puncturing assembly is movably arranged on the mounting base in the extending direction; the puncturing assembly has an induction head; the driving assembly is arranged on the mounting base; the driving end of the driving assembly is connected with the puncturing assembly, and the driving assembly is in communication connection with the sensing head. Automation of movement of the puncture assembly can be achieved, the puncture precision is high, the puncture process is controllable, handheld puncture of a doctor is replaced, the problem of large tissue damage caused by handheld puncture is avoided, the induction head can induct the type of a to-be-punctured part and is in communication connection with the driving assembly, and the driving assembly is in communication connection with the induction head. Therefore, according to the sensing information of the sensing head in the puncturing process, the driving stroke, driving force and driving mode of the driving assembly to the puncturing assembly can be adjusted, and puncturing of to-be-punctured parts of different depths and types can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an intelligent puncture device and a surgical robot. Background Art

[0002] The laparoscopic surgical robot is a combination of minimally invasive surgical technology and robotic technology. It not only makes up for the shortcomings of traditional minimally invasive surgery, but also accelerates the evolution of minimally invasive surgery. The laparoscopic surgical robot can extend the reach of doctors' hands and eyes, and realize minimally invasive, precise and dexterous surgical operations.

[0003] At present, laparoscopic surgery requires the use of a trocar for puncture to establish a channel for surgical instruments to enter and exit the surgical site. In the prior art, surgeons need to hold a trocar for manual puncture during actual operation, and the depth of puncture needs to be judged based on experience, which leads to the problem of uncontrollable puncture process, poor puncture guidance and great damage to tissues. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent puncture device and a surgical robot to solve the problem in the prior art that a handheld puncture device is required for manual puncture, and the puncture depth needs to be judged based on experience, which leads to uncontrollable puncture process, poor puncture guidance and great damage to tissues.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] In one aspect, the present invention provides an intelligent puncture device, comprising:

[0007] Install the base;

[0008] A puncture assembly, wherein the puncture assembly is movably disposed on the mounting base along an extension direction; the puncture assembly has a sensing head, and the sensing head is used to puncture a part to be punctured and sense the type of the part to be punctured;

[0009] A driving assembly is arranged on the mounting base; a driving end of the driving assembly is connected to the puncture assembly for driving the puncture assembly to move along the extension direction, and the driving assembly is communicatively connected to the sensing head.

[0010] As an optional solution of the above-mentioned intelligent puncture device, the puncture assembly includes a puncture sleeve rod and a puncture inner core, one end of the puncture sleeve rod is connected to the driving end of the driving assembly, and the other end of the puncture sleeve rod is sleeved outside the puncture inner core to form the sensing head; part of the puncture inner core can pass through the puncture sleeve rod to puncture the part to be punctured, and the puncture inner core, the part to be punctured and the puncture sleeve rod can form an induction loop.

[0011] As an optional solution of the above-mentioned intelligent puncture device, the puncture assembly further includes an insulating sleeve, and the insulating sleeve is arranged between the puncture inner core and the puncture sleeve rod.

[0012] As an optional solution of the above-mentioned intelligent puncture device, the puncture inner core has a conical electrode surface, the insulating sleeve has an annular insulating surface, and the puncture sleeve rod has an annular electrode surface. The conical electrode surface, the annular insulating surface and the annular electrode surface are arranged adjacent to each other in sequence and with a smooth transition.

[0013] As an optional solution of the above-mentioned intelligent puncture device, the puncture assembly also includes a first wire and a second wire, one end of the first wire is connected to the puncture inner core, and the other end of the first wire passes through the inside of the puncture sleeve to the outside world away from one side of the puncture inner core; the second wire is connected to the other end of the puncture sleeve away from the puncture inner core.

[0014] As an optional solution of the above-mentioned intelligent puncture device, the driving assembly includes a driving motor, a rotating sleeve and a movable sleeve, the rotating sleeve is rotatably arranged on the mounting base, and the movable sleeve is fixedly connected to the puncture assembly; the movable sleeve is arranged in the rotating sleeve and is transmission-connected to the rotating sleeve; the driving end of the driving motor is transmission-connected to the rotating sleeve, and is used to drive the rotating sleeve to rotate so as to drive the movable sleeve to move along the extension direction; the driving motor is communicatively connected to the sensing head.

[0015] As an optional solution of the above-mentioned intelligent puncture device, the rotating sleeve is provided with a spiral groove along the extending direction, and the movable sleeve is provided with a protrusion protruding in the radial direction, and the protrusion is slidably arranged in the spiral groove.

[0016] As an optional solution of the above-mentioned intelligent puncture device, the rotating sleeve is provided with a gear portion protruding in the radial direction, and the rotating sleeve is transmission-connected to the driving motor via the gear portion.

[0017] As an optional solution of the above-mentioned intelligent puncture device, the driving component can drive the puncture component to vibrate back and forth along the extension direction.

[0018] On the other hand, the present invention provides a surgical robot, including the intelligent puncture device as described above, wherein the surgical robot includes a robot body and an instrument arm arranged on the robot body, and the mounting base is arranged on the instrument arm; the driving assembly is communicatively connected to the sensing head and the robot body.

[0019] The beneficial effects of the present invention are:

[0020] The intelligent puncture device includes a mounting base, a puncture assembly and a driving assembly. The puncture assembly is movably arranged on the mounting base along the extension direction, and the puncture assembly has a sensing head, which is used to puncture the part to be punctured and sense the type of the part to be punctured. At the same time, the driving assembly is arranged on the mounting base, and the driving end of the driving assembly is connected to the puncture assembly, which is used to drive the puncture assembly to move along the extension direction, and the driving assembly is communicatively connected to the sensing head, so that the puncture assembly is driven by the driving assembly, and the movement of the puncture assembly can be automated, and the puncture accuracy is high, and the puncture process is controllable, thereby replacing the doctor's hand-held puncture to avoid the problem of greater tissue damage caused by hand-held puncture, wherein the sensing head can sense the type of the part to be punctured, and is communicatively connected to the driving assembly, so that according to the sensing information of the sensing head during the puncture process, the driving stroke, driving force and driving mode of the driving assembly to the puncture assembly can be adjusted by the driving assembly, so as to meet the puncture of different depths and types of parts to be punctured. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of the intelligent puncture device provided in an embodiment of the present invention;

[0022] Figure 2 Schematic diagram of the local structure of the intelligent puncture device provided in the embodiment of the present invention Figure 1 ;

[0023] Figure 3 A partial cross-sectional view of the intelligent puncture device provided in an embodiment of the present invention Figure 1 ;

[0024] Figure 4 Schematic diagram of the local structure of the intelligent puncture device provided in the embodiment of the present invention Figure 2 ;

[0025] Figure 5 A partial cross-sectional view of the intelligent puncture device provided in an embodiment of the present invention Figure 2 .

[0026] In the figure:

[0027] 1. Mounting base; 2. Puncture assembly; 21. Sensing head; 22. Puncture sleeve rod; 221. Annular electrode surface; 23. Puncture inner core; 231. Conical electrode surface; 24. Insulating sleeve; 241. Annular insulating surface; 25. First wire; 26. Second wire; 3. Driving assembly; 31. Rotating sleeve; 311. Spiral groove; 312. Gear part; 32. Moving sleeve; 321. Protrusion. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0029] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0030] 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.

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] like Figure 1 to Figure 5 As shown, this embodiment provides an intelligent puncture device for puncturing a part to be punctured.

[0033] The intelligent puncture device comprises a mounting base 1, a puncture assembly 2 and a driving assembly 3. The puncture assembly 2 is movably arranged on the mounting base 1 along the extension direction. The puncture assembly 2 has a sensing head 21, which is used to puncture the part to be punctured and sense the type of the part to be punctured. At the same time, the driving assembly 3 is arranged on the mounting base 1, and the driving end of the driving assembly 3 is connected to the puncture assembly 2, which is used to drive the puncture assembly 2 to move along the extension direction, and the driving assembly 3 is communicatively connected to the sensing head 21, so that the puncture assembly 2 is driven by the driving assembly 3, and the movement of the puncture assembly 2 can be automated, and the puncture accuracy is high, and the puncture process is controllable, so as to replace the doctor's hand-held puncture, and avoid the problem of greater tissue damage caused by hand-held puncture, wherein the sensing head 21 can sense the type of the part to be punctured, and is communicatively connected to the driving assembly 3, so that according to the sensing information of the sensing head 21 during the puncture process, the driving stroke, driving force and driving mode of the driving assembly 3 to the puncture assembly 2 can be adjusted, so as to meet the puncture of different depths and types of parts to be punctured.

[0034] At the same time, the driving component 3 can drive the puncture component 2 to vibrate back and forth along the extension direction, replacing direct push with reciprocating vibration movement, thereby reducing the difficulty of puncturing the puncture site by the puncture component 2 and reducing the damage to the puncture site. After the type of the puncture site is sensed by the sensing head 21, the driving component 3 can adjust the amplitude and frequency of the reciprocating vibration accordingly to achieve intelligent puncture.

[0035] like Figure 1 to Figure 3 As shown, the puncture assembly 2 includes a puncture sleeve rod 22 and a puncture inner core 23, one end of the puncture sleeve rod 22 is connected to the driving end of the driving assembly 3, and the other end of the puncture sleeve rod 22 is sleeved outside the puncture inner core 23 to form a sensing head 21, and part of the puncture inner core 23 can pass through the puncture sleeve rod 22 to puncture the part to be punctured, and the puncture inner core 23, the part to be punctured and the puncture sleeve rod 22 can form an induction loop, so that according to the resistance of the part to be punctured detected in the induction loop, the type of the part to be punctured can be determined, so that the driving stroke, driving force and driving mode of the puncture assembly 2 by the driving assembly 3 are adjusted according to the type of the part to be punctured, so as to realize intelligent feedback and intelligent puncture, and at the same time, when the induction loop is disconnected, it can be determined that the puncture inner core 23 of the puncture assembly 2 has penetrated the part to be punctured.

[0036] like Figure 3 , Figure 4 and Figure 5As shown, the puncture assembly 2 also includes a first wire 25 and a second wire 26, one end of the first wire 25 is connected to the puncture inner core 23, the other end of the first wire 25 passes through the inside of the puncture sleeve rod 22 to the outside world away from the side of the puncture inner core 23, and the second wire 26 is connected to the other end of the puncture sleeve rod 22 away from the puncture inner core 23, so that the first wire 25 and the second wire 26 can be connected to the external circuit equipment to realize the closure of the induction loop, and the first wire 25 and the second wire 26 will not interfere with the puncture of the puncture assembly 2 on the puncture site.

[0037] like Figure 2 and Figure 3 As shown, the puncture assembly 2 also includes an insulating sleeve 24, which is sleeved between the puncture inner core 23 and the puncture sleeve rod 22 to insulate and isolate the puncture inner core 23 and the puncture sleeve rod 22, thereby preventing the puncture inner core 23 and the puncture sleeve rod 22 from directly contacting each other and causing a short circuit. Specifically, the puncture inner core 23 has a conical electrode surface 231, the insulating sleeve 24 has an annular insulating surface 241, and the puncture sleeve rod 22 has an annular electrode surface 221. The conical electrode surface 231, the annular insulating surface 241, and the annular electrode surface 221 are arranged adjacent to each other in sequence and smoothly transition, so that when the puncture assembly 2 punctures the part to be punctured, the conical electrode surface 231, the annular insulating surface 241, and the annular electrode surface 221 can smoothly pass through the part to be punctured in sequence, thereby reducing damage to the part to be punctured.

[0038] like Figure 4 and Figure 5 As shown, the driving assembly 3 includes a driving motor, a rotating sleeve 31 and a movable sleeve 32. The rotating sleeve 31 is rotatably arranged on the mounting base 1, and the movable sleeve 32 is fixedly connected to the puncture assembly 2. The movable sleeve 32 is sleeved in the rotating sleeve 31 and is transmission-connected to the rotating sleeve 31. The driving end of the driving motor is transmission-connected to the rotating sleeve 31, and is used to drive the rotating sleeve 31 to rotate to drive the movable sleeve 32 to move along the extension direction, so that the movable sleeve 32 drives the puncture assembly 2 to move along the extension direction to achieve puncture of the puncture site, wherein the driving motor is communicatively connected to the sensing head 21, so that the driving motor can adjust the rotation direction, number of rotations and rotation rate according to the feedback of the sensing head 21, so as to adjust the amplitude and frequency of the reciprocating vibration of the puncture assembly 2.

[0039] Specifically, the rotating sleeve 31 is provided with a spiral groove 311 along the extension direction, and the movable sleeve 32 is provided with a protrusion 321 protruding in the radial direction, and the protrusion 321 is slidably arranged in the spiral groove 311, so that during the rotation of the rotating sleeve 31, the groove wall of the spiral groove 311 can abut and drive the protrusion 321 to move in the extension direction, thereby realizing the movement of the movable sleeve 32 and the puncture assembly 2 in the extension direction. Among them, the rotating sleeve 31 is provided with a gear portion 312 protruding in the radial direction, and the rotating sleeve 31 is connected to the driving motor through the gear portion 312, so that the rotating sleeve 31 and the driving motor can be gear-driven through the gear portion 312, so as to accurately control the rotation angle of the rotating sleeve 31, thereby improving the puncture accuracy of the puncture assembly 2.

[0040] The present embodiment also provides a surgical robot, including an intelligent puncture device as described above, wherein the surgical robot includes a robot body and an instrument arm arranged on the robot body, the mounting base 1 is arranged on the instrument arm, and the drive component 3 is communicatively connected to the sensing head 21 and the robot body, so that the intelligent puncture device can be installed on the surgical robot, so that the intelligent puncture device is controlled by the surgical robot to realize the automation of the puncture process of the puncture site to be punctured, and the puncture accuracy is high, the puncture process is controllable, manpower is saved, and the problem of greater tissue damage caused by hand-held puncture is avoided, wherein the sensing head 21 can sense the type of the site to be punctured, and is communicatively connected to the drive component 3 and the robot body, so that according to the sensing information of the sensing head 21 during the puncture process, the drive component 3 can adjust the driving stroke, driving force and driving mode of the puncture component 2 to meet the puncture of different depths and types of sites to be punctured.

[0041] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An intelligent puncture device, characterized in that: include: Mounting base (1); A puncture assembly (2), the puncture assembly (2) being movably arranged on the mounting base (1) along an extension direction; the puncture assembly (2) having a sensing head (21), the sensing head (21) being used to puncture a part to be punctured and sense the type of the part to be punctured; A driving component (3), the driving component (3) being arranged on the mounting base (1); a driving end of the driving component (3) being connected to the puncture component (2) for driving the puncture component (2) to move along the extension direction, and the driving component (3) being communicatively connected to the sensing head (21).

2. The intelligent puncture device according to claim 1, characterized in that: The puncture assembly (2) comprises a puncture sleeve rod (22) and a puncture inner core (23); one end of the puncture sleeve rod (22) is connected to the driving end of the driving assembly (3), and the other end of the puncture sleeve rod (22) is sleeved outside the puncture inner core (23) to form the sensing head (21); part of the puncture inner core (23) can pass through the puncture sleeve rod (22) to puncture the part to be punctured, and the puncture inner core (23), the part to be punctured and the puncture sleeve rod (22) can form an induction loop.

3. The intelligent puncture device according to claim 2, characterized in that: The puncture assembly (2) further comprises an insulating sleeve (24), wherein the insulating sleeve (24) is sleeved between the puncture inner core (23) and the puncture sleeve rod (22).

4. The intelligent puncture device according to claim 3, characterized in that: The puncture inner core (23) has a conical electrode surface (231), the insulating sleeve (24) has an annular insulating surface (241), and the puncture sleeve rod (22) has an annular electrode surface (221). The conical electrode surface (231), the annular insulating surface (241), and the annular electrode surface (221) are arranged adjacent to each other in sequence and with a smooth transition.

5. The intelligent puncture device according to claim 2, characterized in that: The puncture assembly (2) further comprises a first conductive wire (25) and a second conductive wire (26), wherein one end of the first conductive wire (25) is connected to the puncture inner core (23), and the other end of the first conductive wire (25) passes through the interior of the puncture sleeve (22) to the outside world away from the puncture inner core (23); the second conductive wire (26) is connected to the other end of the puncture sleeve (22) away from the puncture inner core (23).

6. The intelligent puncture device according to claim 1, characterized in that: The driving assembly (3) comprises a driving motor, a rotating sleeve (31) and a moving sleeve (32); the rotating sleeve (31) is rotatably mounted on the mounting base (1), and the moving sleeve (32) is fixedly connected to the puncture assembly (2); the moving sleeve (32) is sleeved in the rotating sleeve (31) and is transmission-connected to the rotating sleeve (31); the driving end of the driving motor is transmission-connected to the rotating sleeve (31) and is used to drive the rotating sleeve (31) to rotate so as to drive the moving sleeve (32) to move along the extension direction; the driving motor is communicatively connected to the sensing head (21).

7. The intelligent puncture device according to claim 6, characterized in that: The rotating sleeve (31) is provided with a spiral groove (311) along the extending direction, and the movable sleeve (32) is provided with a protruding portion (321) protruding in the radial direction, and the protruding portion (321) is slidably arranged in the spiral groove (311).

8. The intelligent puncture device according to claim 6, characterized in that: The rotating sleeve (31) is provided with a gear portion (312) protruding in the radial direction, and the rotating sleeve (31) is transmission-connected to the driving motor via the gear portion (312).

9. The intelligent puncture device according to any one of claims 1 to 8, characterized in that: The driving component (3) is capable of driving the puncture component (2) to vibrate back and forth along the extension direction.

10. A surgical robot, characterized in that: It comprises the intelligent puncture device as described in any one of claims 1 to 9, the surgical robot comprises a robot body and an instrument arm arranged on the robot body, the mounting base (1) is arranged on the instrument arm; the drive component (3) is communicatively connected to the sensing head (21) and the robot body.

Images