Integrated robot operation platform

Abstract

The invention discloses an integrated robot operation platform which comprises a base, a supporting frame, a semicircular arm, a balance rail set, a connecting disc, an operation arm and an operation bed. Wherein the support frame is arranged at one end of the base and is perpendicular to the base; the semicircular arm is connected to the support frame; the connecting disc is arranged at the end of the upper part of the semicircular arm; a plurality of operating arms are arranged on the connecting disc; a connecting column is arranged in the center of the bottom of the operating bed, is connected to the end of the bottom of the semicircular arm and is connected to the base through a balance rail group; the operating bed can swing left and right or head and tail with the connecting column as the center through the balance rail set and the semicircular arm and is kept parallel to the connecting disc. According to the integrated robot operation platform, the operation bed and the robot are integrated, a patient can change the body position at will in an operation, all instruments do not need to be removed, the adjusting time is saved, the operation progress can be accelerated, and it is guaranteed that the operation is conducted smoothly.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to an integrated robotic surgery platform. Background Art

[0002] In the past decade, robot-assisted minimally invasive surgery has been widely used in actual clinical surgery. Existing minimally invasive surgical robot systems are usually designed for certain specific surgeries, are expensive, have single functions, and have poor versatility. Taking the da Vinci surgical system as an example, it is a multi-arm system, each robotic arm cannot be used alone, and the human-machine interaction method is single, so it can only be used in a master-slave mode for laparoscopic surgery such as thoracoscopic surgery and laparoscopic surgery.

[0003] Currently, the robot is separated from the operating table, and the operating table and the robotic arm cannot be linked. The patient needs to be positioned first, and then the robot is pushed in, and it moves according to the patient's position. And when the patient needs to adjust the position during the operation, all instruments must be removed first, and the robot must be adjusted after the position is adjusted. This is not only cumbersome, but also easy to prolong the operation time. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated robotic surgery platform to address the deficiencies of the prior art.

[0005] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: an integrated robotic surgery platform, comprising: a base, a support frame, a semicircular arm, a balance track set, a connecting plate, a manipulator arm and a surgical bed;

[0006] The support frame is arranged at one end of the base and is perpendicular to the base;

[0007] The semicircular arm is connected to the support frame;

[0008] The connection plate is arranged at the upper end of the semicircular arm, and a plurality of operating arms are arranged on the connection plate;

[0009] The operating table is provided with a first lifting column at the bottom center thereof, and can be moved up and down by the first lifting column, the first lifting column is connected to the bottom end of the semicircular arm, and is connected to the base through a balance track set;

[0010] The operating table can swing left and right or head and tail with the first upgrade column as the center through the balance track group and the semicircular arm, and keep parallel with the connecting plate.

[0011] Furthermore, the connection plate is connected to the upper end of the semicircular arm through a second lifting column, and the connection plate can rotate and move up and down around the second lifting column.

[0012] Furthermore, a projection light source is arranged at the bottom center of the connection plate.

[0013] Further, the balance track assembly includes a base track, a head and tail swing track, a left and right swing track, a semicircular arm track and a balance control rod;

[0014] The balance control rod is arc-shaped, with the center fixed to the bottom of the connecting column and the two ends fixed to the head and tail ends of the operating table;

[0015] The bottom of the base track is fixed on the base, and the head and tail swing track is arranged on the base track and can slide along the base track to drive the head and tail of the operating bed to swing;

[0016] The two ends of the head and tail swing track are respectively connected to the outer sides of the two ends of the balance control rod;

[0017] One end of the left-right swing track is fixed to the support frame through a rotating shaft, and the other end is fixed to the central side of the head-to-tail swing track. Through the rotation of the rotating shaft, the left-right swing track can swing while the head-to-tail swing track slides; the semicircular arm track is located on the outer periphery of the semicircular arm and is installed on the left-right swing track at the same time. The lower end of the semicircular arm is fixed to the center position of the balance control rod, and can slide along the left-right swing track to drive the operating bed to swing left-right, and at the same time assist the head-to-tail swing of the operating bed through the rotation of the rotating shaft.

[0018] Furthermore, the activity planes of the left and right swing tracks and the activity planes of the head and tail swing tracks are perpendicular to each other.

[0019] Furthermore, the operating bed includes an upper bed layer and a lower supporting layer; the bottom center of the lower supporting layer is fixed to the top of the first lifting column, and the upper surface of the lower supporting layer is provided with a track and an electric device, and the upper bed layer can move head to tail and left to right on the lower supporting layer; vertical limit columns are provided on the inner sides of both ends of the balance control rod, and connecting devices are provided at the centers of both ends of the lower supporting layer, and the connecting device is connected to the vertical limit columns, and can make the operating bed and the first lifting column move up and down synchronously through the vertical limit columns.

[0020] Furthermore, the upper bed layer of the operating bed can adjust the surgical operation area above the upper bed layer to the center of the sphere where the semicircular arm is located through the lifting and lowering of the lifting column and the relative movement of the lower support layer.

[0021] Furthermore, a horizontal projection light source is provided at the connection portion between the semicircular arm track and the support frame, and the vertical projection light source of the connecting plate and the horizontal projection light source of the support frame intersect at the center of the semicircular arm, which can guide the adjustment of the operating table.

[0022] Furthermore, electric devices and locking devices are respectively arranged between the base track and the head and tail swing tracks, and between the semicircular arm track and the left and right swing tracks to control the sliding and fixing of the tracks.

[0023] Furthermore, a plurality of universal wheels are provided at the bottom of the base, and the universal wheels are provided with brakes.

[0024] The integrated robotic surgery platform of the present application integrates the operating table and the robot into one, and the patient can change his position at will during the operation without removing all instruments, which saves adjustment time, helps to speed up the operation process, and ensures the smooth progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the integrated robotic surgery platform of the embodiment.

[0026] Figure 2 It is a partial enlarged schematic diagram of the connection between the operating table and the vertical limiting column. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatuses.

[0029] like Figure 1 An integrated robotic surgery platform is shown, comprising: a base 1, a support frame 2, a semicircular arm 3, a balancing track set, a connecting plate 4, a manipulator arm 5 and an operating bed 6.

[0030] The support frame is arranged at one end of the base, perpendicular to the base. The bottom of the base is provided with a plurality of universal wheels 7, and the universal wheels are provided with brakes.

[0031] The balancing track assembly comprises a base track 8 , a head and tail swing track 9 , a left and right swing track 10 , a semicircular arm track and a balancing control rod 11 .

[0032] The balance control rod is arc-shaped, with the center fixed to the bottom of the first lifting column 12 and both ends fixed to the head and tail ends of the operating table.

[0033] The bottom center of the operating table is fixed to the top of the first lifting column, and the bottom end of the semicircular arm is fixed to the center of the balance control rod. The operating table can be moved up and down through the first lifting column.

[0034] The bottom of the base track is fixed on the base, and the head and tail swing tracks are arranged on the base track and can slide along the base track to drive the head and tail swing of the operating bed.

[0035] The two ends of the head and tail swing track are respectively connected to the outer sides of the two ends of the balance control rod.

[0036] One end of the left and right swing track is fixed to the support frame through the rotating shaft 13, and the other end is fixed to the central side of the head and tail swing track. By rotating the rotating shaft, the left and right swing tracks can swing while the head and tail swing tracks slide. The semicircular arm track is located on the outer periphery of the semicircular arm and is installed on the left and right swing tracks at the same time. The lower end of the semicircular arm is fixed to the center of the balance control rod, and can slide along the left and right swing tracks to drive the operating table to swing left and right, and at the same time assist the head and tail swing of the operating table through the rotation of the rotating shaft.

[0037] A horizontal projection light source 14 is provided at the connection point between the support frame and the semicircular arm track.

[0038] The connecting plate is connected to the upper end of the semicircular arm through the second lifting column 15. The connecting plate can rotate around the second lifting column to adjust the direction of the operating arm. The second lifting column can be extended or shortened to reduce or expand the distance between the connecting plate and the operating bed. Several operating arms are arranged on the connecting plate, and a vertical projection light source 16 is arranged at the bottom center of the connecting plate, facing the common spherical center of the four tracks.

[0039] The vertical projection light source of the connecting plate and the horizontal projection light source of the supporting frame intersect at the center of the semicircular arm, and the light rays are perpendicular to each other to guide the adjustment of the operating table.

[0040] The activity planes of the left and right swing tracks and the head and tail swing tracks are perpendicular to each other. The center of the operating table is located at the center of the semicircular arm. The plane of the operating table remains parallel to the connecting plate during the left and right or head and tail swinging process.

[0041] Electric devices and locking devices are respectively arranged between the base track and the head and tail swing tracks, and between the semicircular arm track and the left and right swing tracks to control the sliding and fixing of the tracks.

[0042] The operating bed comprises two layers, the lower layer is a supporting layer, the bottom of the lower supporting layer is connected to the top of the first lifting column, and vertical limit columns 17 are arranged on the inner sides of both ends of the balance control rod. The two sides of the lower supporting layer of the operating bed are inserted into the vertical limit columns through a connecting device, i.e., a sliding rod 18 (such as Figure 2As shown in the figure, the sliding rod can slide up and down with the first lifting column in the vertical limit column and can be fixed in suspension. The raising and lowering of the bed body can realize the height adjustment of the patient to achieve the center positioning of the vertical plane of the surgical site.

[0043] The upper layer of the operating table is the patient contact layer, which supports and fixes the patient; the upper layer is divided into different segments, which can be folded and collapsed to achieve different body position fixation.

[0044] An electric device and a sliding device for controlling movement in two vertical directions are installed between the two layers of the operating table. The left and right sides and the head and tail ends of the upper layer of the bed can be adjusted to adjust the horizontal position of the patient and achieve the center positioning of the horizontal plane of the surgical site.

[0045] The surgical table is raised and lowered and translated to position the operating area at the center of the sphere. This ensures that when the patient's position is adjusted during surgery, the operating area is always in the center, avoiding "swing"-like left and right or head-to-tail swinging.

[0046] The platform control end is equipped with a balance track group adjustment part, a bed upper plane position adjustment part and a lifting column adjustment part. The balance track group adjustment part controls the left and right side and head and tail side swing of the bed; the bed upper plane position adjustment part controls the movement of the bed upper layer on the horizontal plane; the lifting column adjustment part controls the raising and lowering of the connecting plate and the operating bed to achieve the center positioning of the operating area and the positioning of the operating arm.

[0047] The platform control terminal can be set up separately or integrated into the surgical control terminal.

[0048] Before the operation, the patient can position himself according to the need, and adjust the movement of the upper layer of the bed and the extension and retraction of the bed lifting column to make the operation area in the center. At the beginning of the operation, adjust the extension or shortening of the connecting plate lifting column to make the robot operating arm reach the appropriate position for easy operation.

[0049] During the operation, the balance track group can be adjusted as needed to raise and lower the left and right sides and / or the head and tail sides of the operating table to meet different body position requirements during the operation. During this process, the relative position between the robot operating arm and the patient is always fixed, and there is no need to interrupt the operation.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An integrated robotic surgery platform, characterized in that include: Base, support frame, semicircular arm, balance track set, connecting plate, operating arm and operating table; The support frame is arranged at one end of the base and is perpendicular to the base; The semicircular arm is connected to the support frame; The connection plate is arranged at the upper end of the semicircular arm, and a plurality of operating arms are arranged on the connection plate; The operating table is provided with a first lifting column at the bottom center thereof, and can be moved up and down by the first lifting column, the first lifting column is connected to the bottom end of the semicircular arm, and is connected to the base through a balance track set; The operating table can swing left and right or head and tail with the first upgrade column as the center through the balance track group and the semicircular arm, and keep parallel with the connecting plate.

2. The integrated robotic surgery platform according to claim 1, characterized in that: The connection plate is connected to the upper end of the semicircular arm through a second lifting column, and the connection plate can rotate and move up and down with the second lifting column as the center.

3. The integrated robotic surgery platform according to claim 2, characterized in that: A vertical projection light source is arranged at the center of the bottom of the connection plate.

4. The integrated robotic surgery platform according to claim 1, characterized in that: The balance track group includes a base track, a head and tail swing track, a left and right swing track, a semicircular arm track and a balance control rod; The balance control rod is arc-shaped, with the center fixed to the bottom of the connecting column and the two ends fixed to the head and tail ends of the operating table; The bottom of the base track is fixed on the base, and the head and tail swing track is arranged on the base track and can slide along the base track to drive the head and tail of the operating bed to swing; The two ends of the head and tail swing track are respectively connected to the outer sides of the two ends of the balance control rod; One end of the left-right swing track is fixed to the support frame through a rotating shaft, and the other end is fixed to the central side of the head-to-tail swing track. Through the rotation of the rotating shaft, the left-right swing track can swing while the head-to-tail swing track slides; the semicircular arm track is located on the outer periphery of the semicircular arm and is installed on the left-right swing track at the same time. The lower end of the semicircular arm is fixed to the center position of the balance control rod, and can slide along the left-right swing track to drive the operating bed to swing left-right, and at the same time assist the head-to-tail swing of the operating bed through the rotation of the rotating shaft.

5. The integrated robotic surgery platform according to claim 4, characterized in that: The activity planes of the left and right swing tracks and the activity planes of the head and tail swing tracks are perpendicular to each other.

6. The integrated robotic surgery platform according to claim 4, characterized in that: The operating bed comprises an upper bed layer and a lower supporting layer; the bottom center of the lower supporting layer is fixed to the top of the first lifting column, the upper surface of the lower supporting layer is provided with a track and an electric device, and the upper bed layer can move head to tail and left to right on the lower supporting layer; vertical limit columns are provided on the inner sides of both ends of the balance control rod, and connecting devices are provided at the centers of both ends of the lower supporting layer, and the connecting devices are connected to the vertical limit columns, and the operating bed and the first lifting column can be moved up and down synchronously through the vertical limit columns.

7. The integrated robotic surgery platform according to claim 6, characterized in that: The upper bed layer of the operating bed can adjust the surgical operation area above the upper bed layer to the center of the sphere where the semicircular arm is located through the lifting and lowering of the lifting column and the relative movement of the lower supporting layer.

8. The integrated robotic surgery platform according to claim 6, characterized in that: A horizontal projection light source is provided at the connection position between the semicircular arm track and the support frame. The vertical projection light source of the connecting plate and the horizontal projection light source of the support frame intersect at the center of the semicircular arm, which can guide the adjustment of the operating table.

9. The integrated robotic surgery platform according to claim 4, characterized in that: An electric device and a locking device are respectively arranged between the base track and the head and tail swing tracks, and between the semicircular arm track and the left and right swing tracks to control the sliding and fixing of the tracks.

10. The integrated robotic surgery platform according to claim 1, characterized in that: A plurality of universal wheels are arranged at the bottom of the base, and the universal wheels are provided with brakes.

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