Remote executing mechanism for benign prostatic hyperplasia surgery

Abstract

The invention relates to the technical field of remote execution of benign prostatic hyperplasia surgery, in particular to a remote execution mechanism for benign prostatic hyperplasia surgery, which comprises a console, a fixed column is fixedly mounted at the upper end of the console, a support frame is arranged at the upper end of the fixed column, and a connecting piece is connected to the lower side of the support frame. A connecting plate is arranged on the lower side of the connecting piece, and an executing mechanism and an observing mechanism are arranged at the lower end of the connecting plate; the executing mechanism comprises a positioning plate, a connecting column, a first motor, a first movable arm, a second movable arm and a third movable arm; the observation mechanism comprises an observation device, a water inlet, a water outlet and a fixing frame. Through the arrangement of the execution mechanism and the observation mechanism, the console controls different operation arms through a plurality of motors, hand actions are transmitted to the tip end of the mechanical arm, surgical operation is completed, a master-slave remote operation mode is adopted, then surgical actions of doctors can be accurately executed, and surgical quality is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of remote execution of prostate hyperplasia surgery, and in particular to a remote execution mechanism for benign prostate hyperplasia surgery. Background Art

[0002] Benign prostatic hyperplasia is a common disease in elderly men. Almost all patients with benign prostatic hyperplasia will have difficulty urinating due to urinary tract obstruction. With the advent of an aging society in my country and changes in lifestyle in recent years, its incidence has increased significantly; and conservative drug treatment is ineffective, and more and more patients with benign prostatic hyperplasia need surgical treatment.

[0003] Since the American company Amer invented the world's first transurethral prostatectomoscope in 1925, after 30 years of development, transurethral prostatectomy has replaced traditional open surgery. With the rapid development of medical equipment, bipolar plasma and laser energy platforms have emerged, and a new minimally invasive technology, endoscopic prostatectomy, has been produced. Its surgical concepts, methods and techniques have gradually been standardized worldwide, becoming the first choice for surgical procedures for the treatment of prostate hyperplasia, and are accepted and favored by more and more urologists.

[0004] Existing remote methods mostly require experts to perform medical operations; the operations are difficult and require high professional skills from doctors, and they need rich experience in operations or medical examinations. Otherwise, it is difficult to perform precise operations, which is bound to affect the timely treatment of local patients. For this reason, we have proposed a remote execution mechanism for benign prostatic hyperplasia surgery to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a remote execution mechanism for benign prostatic hyperplasia surgery to solve the problem mentioned in the above background technology that the surgery is difficult, has high professional and technical requirements for doctors, and requires rich surgical or medical examination experience. Otherwise, it is difficult to perform precise surgical operations, which is bound to affect the timely treatment of local patients.

[0006] To achieve the above object, the present invention provides the following technical solution: a remote actuator for benign prostatic hyperplasia surgery, comprising a console, a fixing column is fixedly installed on the upper end of the console, a support frame is arranged on the upper end of the fixing column, a connecting member is connected to the lower side of the support frame, a connecting plate is arranged on the lower side of the connecting member, and an actuator and an observation mechanism are arranged on the lower end of the connecting plate;

[0007] The actuator includes a positioning plate, a connecting column, a first motor, a first movable arm, a second movable arm and a third movable arm, the lower end of the connecting plate is fixedly connected to the positioning plate, the lower side of the positioning plate is fixedly connected to two groups of connecting columns, the first motors are fixedly installed in the two groups of connecting columns, the lower side output ends of the two groups of the first motors are respectively connected to two groups of first movable arms, the front end of the first movable arm is movably connected to the second movable arm, and the front end of the second movable arm is movably connected to the third movable arm;

[0008] The observation mechanism includes an observation device, a water inlet, a water outlet and a fixed frame. The front end of another group of the first movable arms is fixedly connected to the observation device. The water inlet is fixedly installed on the upper side of the observation device, and the water outlet is fixedly installed on the lower side of the observation device.

[0009] Preferably, a driving assembly is provided in the fixed column and the support frame, and the driving assembly includes an electric push rod, a second motor and a double-headed motor. The electric push rod is installed in the fixed column, and the second motor is fixedly installed in the support frame. The support frame is connected to the connecting piece through the output end of the second motor, and the double-headed motor is fixedly installed in the connecting piece. The left and right side ends of the double-headed motor are connected to the connecting plate.

[0010] Preferably, the first movable arm is connected to a first connecting frame on the outside, the second movable arm is connected to a second connecting frame on the outside, the third movable arm is connected to a third connecting frame on the outside, a first push rod is installed on the inside of the first connecting frame, the other end of the first push rod is connected to the second connecting frame, a second push rod is installed on the inside of the second connecting frame, the other end of the second push rod is connected to the third connecting frame;

[0011] A fixing frame is fixedly connected to the outer side of the end of the observation device, and a third push rod is installed on the outer side of another group of the first movable arms, and the other end of the third push rod is connected to the fixing frame.

[0012] Preferably, a control component is provided on the surface of the console, and the control component includes a display, a first operating rod, a second operating rod, a positioning ring and a movable ring. The display is installed on the surface of the console, and the first operating rod is installed on the surface of the console below the display, and the second operating rod is installed on the other side of the console. The first operating rod and the second operating rod are symmetrically installed with the display as the center, the rear side of the second operating rod is fixedly connected to the positioning ring, and the front side of the second operating rod is slidably connected to the movable ring.

[0013] Preferably, four groups of control pedals are installed at the bottom of the console, and the four groups of control pedals are symmetrically distributed at the four corners of the bottom of the console.

[0014] Preferably, the first operating rod is electrically connected to the actuator, and the second operating rod is electrically connected to the observation mechanism.

[0015] Preferably, the outer surfaces of the first operating rod and the second operating rod are provided with rubber pads, and the surfaces of the rubber pads are provided with wavy anti-slip patterns with a depth of two millimeters.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention uses the setting of the actuator and the observation mechanism, and the console controls different operating arms through multiple motors. During the operation, the surgeon can sit in front of the console away from the operating table, with his head resting on the field of view frame, and his eyes receive the two-dimensional image from the camera system; the doctor controls the joystick with both hands, and the hand movements are transmitted to the tip of the robotic arm to complete the operation. The master-servant remote operation mode is adopted, so that the doctor's surgical actions can be accurately executed to ensure the quality of the operation.

[0018] 2. The present invention controls the operation of the control console, which is composed of a computer system, a surgical operation monitor, a robot control monitor, an operating handle, and input and output devices. At the same time, the single control can ensure the reliability of the work, and can accurately control the water inlet and outlet. The optical fiber speed can also be controlled by the rotation amplitude of the knob to improve the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic front view of the structure of the present invention;

[0021] Figure 2 It is a schematic side view of the structure of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the execution mechanism of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the observation mechanism of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the driving component of the present invention;

[0025] Figure 6 For the present invention Figure 5 A is a partial enlarged schematic diagram;

[0026] Figure 7 This is a schematic diagram of the operation of the prior art of the present invention;

[0027] Figure 8 This is a schematic diagram of the other side of the operation of the prior art operator of the present invention;

[0028] Fig. 9 It is the existing interface connected with the mirror body of the present invention.

[0029] In the figure: 1. control console; 2. fixed column; 3. support frame; 4. connecting piece; 5. connecting plate; 6. actuator; 601. positioning plate; 602. connecting column; 603. first motor; 604. first movable arm; 605. second movable arm; 606. third movable arm; 608. first connecting frame; 609. second connecting frame; 610. third connecting frame; 611. first push rod; 612. second push rod; 7. observation mechanism; 701. observation device; 702. water inlet; 703. water outlet; 704. fixed frame; 705. third push rod; 8. driving assembly; 81. electric push rod; 82. second motor; 83. double-headed motor; 9. control assembly; 91. display; 92. first operating rod; 93. second operating rod; 94. positioning ring; 95. movable ring; 10. control pedal. DETAILED DESCRIPTION

[0030] 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.

[0031] See also Figure 1-6 , an embodiment provided by the present invention: a remote actuator for benign prostatic hyperplasia surgery, comprising a console 1, a fixing column 2 is fixedly mounted on the upper end of the console 1, a support frame 3 is arranged on the upper end of the fixing column 2, a connecting member 4 is connected to the lower side of the support frame 3, a connecting plate 5 is arranged on the lower side of the connecting member 4, and an actuator 6 and an observation mechanism 7 are arranged on the lower end of the connecting plate 5;

[0032] The actuator 6 includes a positioning plate 601, a connecting column 602, a first motor 603, a first movable arm 604, a second movable arm 605 and a third movable arm 606. The lower end of the connecting plate 5 is fixedly connected with the positioning plate 601, and the lower side of the positioning plate 601 is fixedly connected with two groups of connecting columns 602. The first motor 603 is fixedly installed in the two groups of connecting columns 602 respectively. The lower output ends of the two groups of first motors 603 are respectively connected with two groups of first movable arms 604. The front end of the first movable arm 604 is movably connected with the second movable arm 605, and the front end of the second movable arm 605 is movably connected with the third movable arm 606.

[0033] The observation mechanism 7 includes an observation device 701, a water inlet 702, a water outlet 703 and a fixed frame 704. The front end of another set of first movable arms 604 is fixedly connected to the observation device 701. The water inlet 702 is fixedly installed on the upper side of the observation device 701, and the water outlet 703 is fixedly installed on the lower side of the observation device 701.

[0034] Through the provision of the actuator 6 and the observation mechanism 7, the present device solves the problem that the operation is difficult, the professional skills of the doctor are high, and rich experience in operation or medical examination is required. Otherwise, it is difficult to perform accurate operation, which is bound to affect the timely treatment of local patients.

[0035] Furthermore, a driving assembly 8 is provided in the fixed column 2 and the support frame 3. The driving assembly 8 includes an electric push rod 81, a second motor 82 and a double-headed motor 83. The electric push rod 81 is installed in the fixed column 2, and the second motor 82 is fixedly installed in the support frame 3. The support frame 3 is connected to the connecting member 4 through the output end of the second motor 82. The double-headed motor 83 is fixedly installed in the connecting member 4. The left and right sides of the double-headed motor 83 are connected to the connecting plate 5. Figure 5 As shown, the structure is used to simultaneously push the first operating rod 92 and the second operating rod 93 upwards to make the electric push rod 81 rise, and conversely, push the first operating rod 92 and the second operating rod 93 downwards to make the electric push rod 81 drive the support frame 3 to descend. When the first operating rod 92 and the second operating rod 93 are rotated at the same time, the second motor 82 is controlled to rotate. When the first operating rod 92 and the second operating rod 93 move to the left or right at the same time, the double-headed motor 83 is controlled to drive the positioning plate 601 to rotate forward and backward.

[0036] Further, the outer side of the first movable arm 604 is connected to a first connecting frame 608, the outer side of the end of the second movable arm 605 is connected to a second connecting frame 609, the outer side of the end of the third movable arm 606 is connected to a third connecting frame 610, a first push rod 611 is installed inside the first connecting frame 608, the other end of the first push rod 611 is connected to the second connecting frame 609, a second push rod 612 is installed inside the second connecting frame 609, the other end of the second push rod 612 is connected to the third connecting frame 610;

[0037] The outer side of the end of the observation device 701 is fixedly connected to a fixing frame 704, and the outer side of the other set of first movable arms 604 is installed with a third push rod 705, and the other end of the third push rod 705 is connected to the fixing frame 704. Figure 3 and Figure 4 As shown, the structure is used to control the corresponding first movable arm 604 to rotate through the first motor 603, drive the second movable arm 605 to rotate through the first push rod 611, control the third movable arm 606 to rotate through the second push rod 612, adjust to the specified position according to needs, and control the observation device 701 to adjust the position under the connection action of the third push rod 705 on the fixed frame 704.

[0038] The fixed frame 704 of the observation device 701 is fixedly connected with Fig. 9 The interface overlapped in the middle is connected to the mirror body through the interface. The actuator 6 is provided with finger rods on both sides of the second push rod 612, and a snap-on sleeve is provided on the finger rod. One finger rod is a thin rod simulating the connection of the thumb with the surgical instrument, and the other finger rod is a wide rod simulating the connection of the middle finger and the ring finger with the surgical instrument. The connection is kept stable by the snap-on sleeve. Figure 7 , 8 As shown, the left hand is simulated by the observation device 701 and the right hand is simulated by the actuator 6 .

[0039] Furthermore, the surface of the console 1 is provided with a control assembly 9, which includes a display 91, a first operating rod 92, a second operating rod 93, a positioning ring 94 and a movable ring 95. The display 91 is installed on the surface of the console 1, and the display 91 is electrically connected to the interface. The first operating rod 92 is installed on the surface of the console 1 below the display 91, and the second operating rod 93 is installed on the other side of the console 1. The first operating rod 92 and the second operating rod 93 are symmetrically installed with the display 91 as the center. The rear side of the second operating rod 93 is fixedly connected to the positioning ring 94, and the front side of the second operating rod 93 is slidably connected to the movable ring 95. The surface of the console 1 is installed with buttons and knobs corresponding to the functions. Figure 6As shown, the structure is used to receive the images transmitted from the interface through the display 91, which is convenient for the user to observe. It can also be connected with the existing camera system and is equipped with a corresponding first operating lever 92 to control the focal length and field of view of the camera. The first operating lever 92 and the second operating lever 93 can be used to rotate 360 ​​degrees.

[0040] Furthermore, four sets of control pedals 10 are installed at the bottom of the console 1, and the four sets of control pedals 10 are symmetrically distributed at the four corners of the bottom of the console 1, and the observation device 701 is electrically connected to the control pedals 10. Figure 2 As shown, the structure is used to control the release of laser light waves through the control pedal 10.

[0041] Furthermore, the first operating rod 92 is electrically connected to the observation mechanism 7, and the second operating rod 93 is electrically connected to the actuator 6. Figure 6 As shown, the structure is used to control the orientation angle of the interface through the first operating rod 92, which is convenient for the user to flexibly adjust, and the second operating rod 93 is used to conveniently control the actuator 6.

[0042] Furthermore, the outer surfaces of the first operating rod 92 and the second operating rod 93 are provided with rubber pads, and the surfaces of the rubber pads are provided with wavy anti-slip patterns with a depth of two millimeters. Figure 6 As shown, the structure is used to provide cushioning and anti-slip properties through rubber, and its anti-slip grooves can enhance its anti-slip effect, and a depth of two millimeters can be used to ensure that the anti-slip grooves still have an anti-slip effect after a certain degree of wear.

[0043] Working principle: When used, Figure 5 and Figure 6 As shown, according to the height of the hospital bed and the patient, the positioning plate 601 is adjusted to a suitable position. First, hold the first operating rod 92 with the left hand and the second operating rod 93 with the right hand, place the thumb in the positioning ring 94, and the middle finger in the movable ring 95. Then, push the first operating rod 92 and the second operating rod 93 upward at the same time to make the electric push rod 81 drive the support frame 3 to rise. Conversely, push the first operating rod 92 and the second operating rod 93 downward at the same time to make the electric push rod 81 drive the support frame 3 to descend. When the first operating rod 92 and the second operating rod 93 are rotated at the same time, the second motor 82 is controlled to rotate. When the first operating rod 92 and the second operating rod 93 move left or right at the same time, the double-headed motor 83 is controlled to drive the positioning plate 601 to rotate back and forth. After the positioning plate 601 is adjusted to a suitable position, as shown in FIG. Figure 3 and Figure 6As shown, the second operating rod 93 is controlled to make the corresponding first motor 603 control the first movable arm 604 to move left and right with the swing of the second operating rod 93. When the second operating rod 93 moves up and down, the second movable arm 605 is driven to rotate by the first push rod 611, and the third movable arm 606 is controlled to rotate by the second push rod 612. Then, the first operating rod 92 is controlled to make the third push rod 705 control the observation device 701 to adjust the position under the connection effect of the fixed frame 704. The picture transmitted from the interface is received through the display 91, which is convenient for the user to observe. The interface is adjusted according to the needs to make the interface reach the specified position. After the adjustment, as shown in FIG. Figure 6 As shown, the actuator 6 is controlled to operate through the control panel of the console 1 and the control pedal 10 at the bottom. The above is the entire working principle of the present invention.

[0044] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A remote actuator for benign prostatic hyperplasia surgery, characterized in that: The control console (1) comprises a fixed column (2) fixedly mounted on the upper end of the control console (1), a support frame (3) being arranged on the upper end of the fixed column (2), a connecting member (4) being connected to the lower side of the support frame (3), a connecting plate (5) being arranged on the lower side of the connecting member (4), and an actuator (6) and an observation mechanism (7) being arranged on the lower end of the connecting plate (5); The actuator (6) comprises a positioning plate (601), a connecting column (602), a first motor (603), a first movable arm (604), a second movable arm (605) and a third movable arm (606); the lower end of the connecting plate (5) is fixedly connected to the positioning plate (601); the lower side of the positioning plate (601) is fixedly connected to two groups of connecting columns (602); the first motor (603) is fixedly installed in the two groups of connecting columns (602); the lower side output ends of the two groups of the first motors (603) are respectively connected to two groups of first movable arms (604); the front end of the first movable arm (604) is movably connected to the second movable arm (605); the front end of the second movable arm (605) is movably connected to the third movable arm (606); The observation mechanism (7) comprises an observation device (701), a water inlet (702), a water outlet (703) and a fixed frame (704); the front end of another group of the first movable arms (604) is fixedly connected to the observation device (701); the water inlet (702) is fixedly installed on the upper side of the observation device (701); and the water outlet (703) is fixedly installed on the lower side of the observation device (701).

2. A remote actuator for benign prostatic hyperplasia surgery according to claim 1, characterized in that: A driving assembly (8) is arranged in the fixed column (2) and the support frame (3), and the driving assembly (8) comprises an electric push rod (81), a second motor (82) and a double-headed motor (83). The electric push rod (81) is installed in the fixed column (2), and the second motor (82) is fixedly installed in the support frame (3). The support frame (3) is connected to the connecting member (4) through the output end of the second motor (82), and the double-headed motor (83) is fixedly installed in the connecting member (4). The left and right side ends of the double-headed motor (83) are connected to the connecting plate (5).

3. The remote actuator for benign prostatic hyperplasia surgery according to claim 1, characterized in that: The outer side of the first movable arm (604) is connected to a first connecting frame (608), the outer side of the end of the second movable arm (605) is connected to a second connecting frame (609), the outer side of the end of the third movable arm (606) is connected to a third connecting frame (610), a first push rod (611) is installed on the inner side of the first connecting frame (608), the other end of the first push rod (611) is connected to the second connecting frame (609), a second push rod (612) is installed on the inner side of the second connecting frame (609), the other end of the second push rod (612) is connected to the third connecting frame (610); A fixing frame (704) is fixedly connected to the outer side of the end of the observation device (701), and a third push rod (705) is installed on the outer side of another group of the first movable arms (604), and the other end of the third push rod (705) is connected to the fixing frame (704).

4. A remote actuator for benign prostatic hyperplasia surgery according to claim 1, characterized in that: A control assembly (9) is arranged on the surface of the console (1), and the control assembly (9) comprises a display (91), a first operating rod (92), a second operating rod (93), a positioning ring (94) and a movable ring (95). The display (91) is installed on the surface of the console (1), and the first operating rod (92) is installed on the surface of the console (1) below the display (91). The second operating rod (93) is installed on the other side of the console (1). The first operating rod (92) and the second operating rod (93) are symmetrically installed with the display (91) as the center. The rear side of the second operating rod (93) is fixedly connected to the positioning ring (94), and the front side of the second operating rod (93) is slidably connected to the movable ring (95).

5. The remote actuator for benign prostatic hyperplasia surgery according to claim 1, characterized in that: Four groups of control pedals (10) are installed at the bottom of the console (1), and the four groups of control pedals (10) are symmetrically distributed at the four corners of the bottom of the console (1).

6. A remote actuator for benign prostatic hyperplasia surgery according to claim 4, characterized in that: The first operating rod (92) is electrically connected to the actuator (6), and the second operating rod (93) is electrically connected to the observation mechanism (7).

7. A remote actuator for benign prostatic hyperplasia surgery according to claim 4, characterized in that: The outer surfaces of the first operating rod (92) and the second operating rod (93) are provided with rubber pads, and the surfaces of the rubber pads are provided with wavy anti-slip patterns with a depth of two millimeters.

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