A shield medical robot and its operation method

Abstract

The present invention discloses a shield medical robot and an operation method thereof, belonging to the technical field of medical surgical instruments, including a doctor operating system, a bedside surgical auxiliary system, a surgical shield machine system and an intelligent decision-making system, wherein the surgical shield machine system includes a negative pressure generating device, and a shield head unit is provided at the other end; the shield head unit includes a cylindrical shell structure and a residue suction pipe, and the part of the inner cavity space of the cylindrical shell structure located between the cutter disc structure and the partition is a slag collection bin. When the tissue residue located in the slag collection bin blocks the inlet end of the residue suction pipe, the air pressure in the piston channel continues to decrease and drives the U-shaped gear condition to move through the piston assembly. In the process of the active U-shaped gear condition driving the linear gear condition to move synchronously through the middle gear, the first elastic metal slide connected to the U-shaped gear condition and the second elastic metal slide connected to the linear gear condition are respectively moved, so that the resistance of the second sliding resistance module and the first sliding resistance module are both lowered.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical instruments, and more particularly to a shield medical robot and an operating method thereof. Background Art

[0002] Minimally invasive resection of prostate hyperplasia is to remove the hyperplastic prostate tissue through natural cavities such as the urethra using various minimally invasive instruments and techniques, thereby relieving the lower urinary tract obstruction caused by prostate hyperplasia. This surgical method takes advantage of the advantages of modern minimally invasive technology and operates through tiny incisions or natural cavities, avoiding the major trauma of traditional open surgery.

[0003] With the rapid development of minimally invasive surgical technology, surgical robots have become an important tool for minimally invasive resection of prostate hyperplasia. For example, the document with the prior art publication number CN105310745B provides a medical shield knife and a method of using the same, the device includes a shield body, a shield body inner sleeve, a shield body outer sleeve, a crushing knife, a high-pressure cleaner, a negative pressure device, a power structure, a start switch, a negative pressure trigger switch and a negative pressure chamber, the high-pressure cleaner includes a high-pressure water pump, a pressure control pump, a plurality of high-pressure water pipes, a plurality of ejectors and a plurality of laser jet needles, the negative pressure device includes a negative pressure pipe, a negative pressure container, a negative pressure ring slip ring, a negative pressure controller and a negative pressure pump, and the power mechanism includes a motor and a reversing device. The present invention is easy to use, has high separation efficiency, is easy to operate, does not cause significant damage to adjacent tissues, controls the power supply through negative pressure, prevents further damage in the cavity lesion or after penetrating the tissue, and cleans the diseased tissue in time.

[0004] Although the above-mentioned prior art solution can achieve the relevant beneficial effects through the structure of the prior art, it still has the following defects: when the prostate hyperplasia occurs, it is often accompanied by an inflammatory reaction, which makes the cut tissue residues more sticky. This makes it easy to produce a large amount of sticky tissue debris in a short time during the excision and crushing of the patient's lesion tissue by the above-mentioned existing medical robot. These large and sticky tissue debris are easy to accumulate at the narrowed outlet of the negative pressure tube and adhere to the inner wall of the outlet of the negative pressure tube, which will cause blockage during the operation and lead to the interruption of the operation process. The doctor needs to suspend the operation to deal with the blockage problem, affecting the continuity and efficiency of the operation.

[0005] In view of this, we propose a shield medical robot and an operation method thereof. Summary of the invention

[0006] Technical problem to be solved: The purpose of the present invention is to provide a shield medical robot and an operation method thereof, which solves the technical problems raised in the above-mentioned background technology.

[0007] Technical solution: The technical solution of the present invention provides a shield medical robot. The robot system consists of four core parts: a doctor operating system, a bedside surgical assistance system, a surgical shield machine system and an intelligent decision-making system.

[0008] The doctor operating system is composed of a host system, a display, an operating handle, a foot pedal, a human-computer interaction system, a data storage and sharing system, etc. Its functions are as follows:

[0009] Surgery control: The doctor controls the movement and operation of the surgical shield machine, such as lesion positioning, cutting, hemostasis, and drug administration, by operating the handle and foot pedal.

[0010] Real-time monitoring: The system receives and processes image data and sensor data from the surgical shield machine in real time, providing doctors with real-time images of the surgical site and surgical environment information.

[0011] Decision support: Combined with intelligent decision-making systems, it provides doctors with surgical planning and real-time decision-making suggestions to improve the success rate and safety of surgery.

[0012] Remote collaboration and training: Supports remote experts to watch the surgical process in real time through network connection, communicate and collaborate with the surgeon, and provide remote guidance and suggestions; at the same time, it can also be used for surgical training, allowing trainees to practice operations through a virtual surgical system at a remote location.

[0013] The bedside surgery auxiliary system is composed of a host, a shield machine power supply system, a bedside surgery auxiliary system, a drug storage system, a tissue recovery system, etc. Its functions are as follows:

[0014] Transporting the surgical shield machine: With the assistance of the doctor, the surgical shield machine system is accurately transported to the lesion location through the bedside surgical assistance system to ensure the smooth progress of the operation.

[0015] Provide power and medicine: Provide a stable power supply to the surgical shield system to ensure its normal operation; at the same time, automatically release medicine or saline according to surgical needs to assist surgical operations.

[0016] Recycling of intraoperative waste: timely collection and disposal of tissue fragments, waste fluids and smoke generated during the operation to keep the surgical environment clean and safe.

[0017] The surgical shield system consists of a main cavity, a blade head, a micro motor, a control module, a drug administration and water supply conduit, a slag suction conduit, an optical imaging and navigation system, a blade mechanical sensor, a blade temperature sensor, a tissue temperature sensor, an intracavity pressure sensor, an intracavity smoke sensor, a gas composition sensor, a tissue elasticity sensor, etc. Its functions are as follows:

[0018] Lesion treatment: Through the delivery and positioning of the main cavity, the blade is used to cut, stop bleeding, weld and other operations on the lesion tissue to achieve precise treatment of the lesion; at the same time, through the drug delivery and water supply catheter and the residue suction catheter, drug release and waste recovery are carried out to ensure the smooth progress of the operation.

[0019] Real-time monitoring: Multiple sensors monitor various parameters during the operation in real time, such as blade force, temperature, tissue temperature, intracavitary pressure, smoke concentration, tissue changes, etc., to provide doctors with comprehensive surgical environment information, timely detect potential risks and problems, and ensure the safety of the operation.

[0020] Real-time imaging and navigation: Provides clear and accurate surgical fields and real-time navigation information to help doctors accurately locate the lesion and surgical instruments, thus achieving precise surgical operations.

[0021] The intelligent decision-making system consists of a medical database, an artificial intelligence algorithm module, a real-time data processing unit, a decision output interface, etc. Its functions are as follows:

[0022] Using artificial intelligence technology, we conduct in-depth analysis and processing of patients’ medical records, imaging data before surgery, and real-time surgical data during surgery, providing doctors with accurate surgical planning and real-time decision support, thereby improving the success rate and safety of surgery.

[0023] Preferably, the surgical shield machine system comprises a negative pressure hose, one end of which is provided with a negative pressure generating device, and the other end opening is provided with a shield head unit, the negative pressure generating device is used to suck the inside of the negative pressure hose into a negative pressure state;

[0024] The shield head unit includes a cylindrical shell structure and a residue suction pipe. A cutter disc structure is provided at an opening at one end of the cylindrical shell structure. A partition is connected inside the cylindrical shell structure. The portion between the cutter disc structure and the partition in the inner cavity of the cylindrical shell structure is a slag collecting bin. Both ends of the residue suction pipe are respectively connected to the slag collecting bin and the inner cavity of the negative pressure hose.

[0025] The shell structure is also provided with a base mechanism, a driving mechanism for driving the blade structure to rotate, and a lubricating mechanism for pumping liquid medicine to the lesion tissue.

[0026] The base mechanism includes a cartridge seat component, and the cartridge seat component includes a cartridge seat body. The cartridge seat body is provided with a connecting channel and a piston channel connected to the inner cavity of the residue suction pipe, and the piston channel is connected to the inner cavity of the cartridge seat body through the connecting channel.

[0027] A piston assembly is provided in the piston channel, and a first sliding resistance module, a second sliding resistance module, a U-shaped gear condition and a telescopically movable linear gear condition are respectively provided in the inner cavity of the cartridge seat body. A central gear is provided between the U-shaped gear condition and the linear gear condition, which is meshed with both and rotatably connected to the inner cavity of the cartridge seat body. The end of the U-shaped gear condition away from the central gear passes through the connecting channel and is connected to the piston assembly;

[0028] The first sliding resistance module includes a first elastic metal sliding sheet connected to the U-shaped gear condition, and the second sliding resistance module includes a second elastic metal sliding sheet connected to the straight gear condition. The first sliding resistance module is electrically connected to the negative pressure generating device, and the second sliding resistance module is electrically connected to the lubrication mechanism.

[0029] As an optional solution of the technical solution of the document of the present invention, the shell structure includes a shield cylinder connected to the opening of the end of the negative pressure hose;

[0030] A reserved channel is provided inside the thick wall of the shield tube;

[0031] An end of the reserved channel close to the cutter head structure is connected with an endoscope camera;

[0032] The partition is connected to the inner cavity of the shield body, and the cutterhead structure is arranged at the opening at the end of the shield body;

[0033] The slag bin is the space between the cutter head structure and the partition in the inner cavity of the shield cylinder.

[0034] As an optional solution of the technical solution of the document of the present invention, the cylinder seat component also includes a port cover plate, the port cover plate is connected to the opening of the shield cylinder away from the cutter head structure, and the opening end of the cylinder seat body is connected to the port cover plate;

[0035] A connecting hole matching the opening shape of the end of the residue suction pipe is provided at a position corresponding to the end of the residue suction pipe on the side wall of the port cover;

[0036] The side wall of the port cover is also provided with holes matched with the reserved channels.

[0037] As an optional solution of the technical solution of the document of the present invention, the residue suction pipe is connected to the bottom wall of the inner cavity of the shield cylinder, and one end of the residue suction pipe is sealed through the partition and connected to the slag collecting bin, and the other end is connected to the inner cavity of the negative pressure hose through the connecting hole on the port cover.

[0038] As an optional solution of the technical solution of the document of the present invention, the driving mechanism is a driving motor connected to the residue suction pipe;

[0039] The cutter disc structure includes a cutter disc body, a crushing cutter body is connected in the inner cavity of the cutter disc body, and a cutting cutter body is connected on the surface of the cutter disc body;

[0040] The output shaft of the driving motor penetrates the partition plate, extends into the slag collecting bin, and is connected with the cutter disc main body in the cutter disc structure.

[0041] As an optional solution of the technical solution of the document of the present invention, the lubrication mechanism includes a pipeline assembly, a pumping module connected to the pipeline assembly and capable of pumping liquid medicine into the pipeline assembly;

[0042] The pipeline assembly includes a plurality of jet hard pipes located in the inner cavity of the shield body and above the driving motor;

[0043] The ends of the plurality of jet rigid pipes are commonly connected with a drainage hose;

[0044] A pipe opening adapted to the jet pipe is provided at a position corresponding to each jet pipe on the partition, and one end of each jet pipe away from the drainage hose passes through the corresponding pipe opening and extends into the slag collecting bin;

[0045] Each jet rigid pipe is fixedly connected to a corresponding pipe opening.

[0046] As an optional solution of the technical solution of the document of the present invention, the piston assembly includes a traction piston sealingly sliding in the piston channel, a waterproof breathable membrane connected to the opening of one end of the piston channel near the residue suction pipe, and a bar seat connected to the piston channel and between the traction piston and the waterproof breathable membrane;

[0047] A return spring is connected between the bar seat and the traction piston;

[0048] The U-shaped gear condition includes a U-shaped passive frame body connected to the traction piston at one end, the middle part of the U-shaped passive frame body passes through the connecting channel and penetrates into the inner cavity of the cartridge seat body, and a tooth groove meshing with the middle gear is provided on the side wall of the U-shaped passive frame body near the middle gear end;

[0049] The middle part of the U-shaped passive frame slides up and down in the connecting channel;

[0050] An insulating arm is also connected to the side wall of the U-shaped passive frame near the middle gear;

[0051] The linear tooth condition includes a conductor stand having a bottom end connected to the bottom wall of the inner cavity of the cartridge seat body;

[0052] The upper and lower sliding sleeves outside the top of the conductor pole are provided with insulating rack sleeves meshing with the middle gear;

[0053] The first sliding resistance module also includes a first insulating frame connected to the port cover plate on one side close to the barrel seat body, and a first resistance wire in a spiral shape is evenly wound on the first insulating frame;

[0054] The first elastic metal sliding sheet in the first sliding resistance module is connected to the insulating arm in the U-shaped tooth condition, and the free end of the first elastic metal sliding sheet is closely attached to the surface of the first resistance wire;

[0055] The first output terminal is connected to one end of the first insulating frame away from the first elastic metal sliding sheet, and the first resistance wire is connected to one end of the first output terminal close to the first output terminal;

[0056] The second sliding resistance module also includes a second insulating frame connected to the port cover plate on one side close to the barrel seat body, and a second resistance wire in a spiral shape is evenly wound on the second insulating frame;

[0057] The second elastic metal sliding sheet in the second sliding resistance module is connected to the insulating rack housing in the linear gear condition, and the free end of the second elastic metal sliding sheet is closely attached to the surface of the second resistance wire;

[0058] The second output terminal is connected to one end of the second insulating frame away from the second elastic metal sliding sheet, and the second output terminal is connected to one end of the second insulating frame close to the second output terminal.

[0059] As an optional solution of the technical solution of the present invention, the negative pressure generating device includes a collecting bottle and an air pump;

[0060] The vacuum pump is connected to the bottle cap of the collection bottle, and the air inlet end of the vacuum pump seals through the bottle cap of the collection bottle and extends into the interior of the collection bottle;

[0061] One end of the negative pressure hose away from the shield head unit is sealed and rotatably connected to the bottle cap of the collection bottle, and the end of the negative pressure hose extends into the interior of the collection bottle;

[0062] The pumping module includes a liquid cylinder and a delivery pump connected to the lower side wall of the liquid cylinder;

[0063] The input end of the delivery pump is sealed and penetrated into the liquid storage cylinder. The end of the drainage hose away from the jet hard pipe passes through the port cover plate, then passes through the side wall of the negative pressure hose and is connected to the output end of the delivery pump.

[0064] As an optional solution of the technical solution of the document of the present invention, it also includes a doctor operating system, a bedside surgery auxiliary system and an intelligent decision-making system, and the bedside surgery auxiliary system, the endoscopic camera in the cylindrical shell structure and the driving motor in the driving mechanism are all electrically connected to the doctor operating system;

[0065] During the operation, the shield cylinder is clamped by the clamps in the bedside surgery auxiliary system, and the doctor's operating system sends control instructions to the bedside surgery auxiliary system through wireless connection to control the action of the bedside surgery auxiliary system, thereby adjusting the position and angle of the cutter structure and controlling the cutting speed, etc.

[0066] Among them, the doctor operating system includes:

[0067] Host system: responsible for running the surgical control software and processing image data and sensor data;

[0068] Display: Displays real-time images of the surgical site in the form of 3D stereoscopic images, combined with VR or AR technology, to provide doctors with a more intuitive and realistic surgical field of view; at the same time, it displays information such as surgical planning paths, key operation step prompts, and potential risk warnings to assist doctors in performing precise surgical operations; during the operation, the images monitored by the endoscopic camera are transmitted in real time to the screen of the display in the doctor's operating system, making it convenient for doctors to observe the progress of the operation in real time and realize real-time monitoring and control of the surgical process;

[0069] Operating handle: connected to the bedside surgical assistance system through a wireless connection. The doctor can control the bedside surgical assistance system through the operating handle in the doctor's operating system, thereby flexibly controlling the movement and operation of the surgical shield machine, such as adjusting the position and angle of the cutter structure; the control buttons and joysticks on the handle have good tactile (mechanical) feedback, allowing the doctor to accurately perceive the operating force and status, and during the operation, the doctor can also control the opening and closing of the drive motor through the operating handle in the doctor's operating system;

[0070] Foot pedal: Through the foot pedal, doctors can easily switch between surgical mode and non-surgical common mode, etc., reducing the burden of manual operation and improving the efficiency and convenience of surgical operation;

[0071] Human-computer interaction system: It has voice recognition and gesture recognition functions, allowing doctors to operate through voice commands, such as "automatic cutting mode" and "enlarged image". The gesture recognition function can recognize the doctor's gestures and realize non-contact control of surgical instruments. The touch screen technology provides an intuitive operation method. Doctors can plan surgeries and adjust parameters on the touch screen.

[0072] Data storage and sharing system: The data storage system can store surgical data and patient data in real time, which can be used for postoperative analysis and teaching. The data sharing system can add remote collaboration and training functions, so that experts in different regions can watch the surgical process in real time through network connection, communicate and collaborate with the surgeon, and provide remote guidance and suggestions. At the same time, this function can also be used for surgical training, allowing trainees to practice operations through the virtual surgical system at a remote location, and experts can evaluate and give feedback in real time to improve the effect and quality of surgical training.

[0073] The technical solution of the present invention provides an operating method of a shield medical robot, comprising the following steps:

[0074] S1. Insert the shield head unit into the prostatic part of the urethra;

[0075] S2, start the negative pressure generating device, lubrication mechanism and driving mechanism;

[0076] S3, the driving mechanism drives the blade structure to rotate, and then the rotating blade structure cuts and crushes the lesion tissue. During the cutting and crushing process, the shield head unit starts from the prostate tip and moves retrogradely to the bladder neck;

[0077] S4. The crushed tissue residue is first sucked into the residue collection bin under the action of negative pressure suction, and then continuously discharged from the lesion through the residue suction pipe and the negative pressure hose;

[0078] S5. When there is a lot of tissue slag entering the slag collecting bin and the slag is very sticky, causing the tissue slag to block the inlet end of the residue suction pipe, the air pressure in the piston channel continues to drop and drives the U-shaped gear to move through the piston assembly;

[0079] S6, when the U-shaped gear condition moves, the linear gear condition moves synchronously through the middle gear meshing with it;

[0080] S7. During the movement of the U-shaped tooth condition and the straight tooth condition, the first elastic metal slider and the second elastic metal slider are driven to move respectively, so that the resistance of the second sliding resistance module electrically connected to the lubrication mechanism and the first sliding resistance module electrically connected to the negative pressure generating device are both lowered, thereby increasing the output power of the lubrication mechanism and the negative pressure generating device.

[0081] Beneficial effects: One or more technical solutions provided in the technical solution of the present invention have at least the following technical effects or advantages: 1. The shield head unit is delivered to the diseased tissue site in the patient's body through a negative pressure hose, and then the negative pressure generating device, the lubrication mechanism and the driving mechanism are turned on. The driving mechanism drives the cutter disc structure to rotate, and then the rotating cutter disc structure cuts and crushes the diseased tissue. Under the action of negative pressure suction, the crushed tissue residue is first sucked into the residue collecting bin, and then continuously discharged from the lesion through the residue suction pipe and the negative pressure hose. Therefore, during the minimally invasive surgery for prostate hyperplasia, the tissue residue generated at the surgical site can be cleaned in time to avoid interfering with the doctor's line of sight, so that the doctor can observe the surgical site more clearly and ensure the accuracy and safety of the operation.

[0082] 2. When the tissue residue in the residue collecting bin causes blockage to the inlet end of the residue suction pipe, the air pressure in the piston channel continues to decrease and drives the U-shaped gear condition to move through the piston assembly. When the movable U-shaped gear condition drives the first elastic metal slide to move, the line between the first elastic metal slide and the first output terminal in the first resistance wire becomes shorter and the resistance value decreases, thereby increasing the output power of the second sliding resistance module electrically connected to the lubrication mechanism and generating a stronger negative pressure suction force, sucking away the sticky tissue residue blocking the inlet end of the residue suction pipe and expelling it from the body, achieving the effect of autonomous clearing, effectively reducing the waiting time during the operation, and the doctor can complete the operation faster, improving the continuity and efficiency of the operation.

[0083] 3. When the inlet end of the residue suction pipe is blocked, the air pressure in the piston channel continues to decrease and drives the U-shaped gear condition to move through the piston assembly. The movable U-shaped gear condition drives the linear gear condition to move synchronously through the middle gear, which drives the second elastic metal slide to move, so that the line between the second elastic metal slide and the second output terminal in the second resistance wire becomes shorter, and the resistance value decreases. While the output power of the negative pressure generating device is increased, the output power of the lubrication mechanism is also increased synchronously, so that the liquid medicine flows to the lesion tissue faster, so that the lesion tissue can contact more during the cutting and crushing process. The liquid medicine further reduces the resistance of the blade structure when cutting and crushing tissue, and also helps to further reduce the viscosity of tissue residues entering the residue collecting bin, effectively reducing the probability of subsequent tissue residues adhering to the inner wall of the residue collecting bin, thereby effectively reducing the possibility of tissue residues further adhering to the inner wall of the residue collecting bin and further aggravating the blockage while the negative pressure suction force is increased and the blocked tissue residues are sucked out. In addition, tissue residues with reduced viscosity are more easily sucked out by negative pressure, which can effectively avoid subsequent blockages, improve the smoothness of residue discharge during surgery, and also help to further improve surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Figure 1 It is a schematic structural diagram of the surgical shield machine system in the present invention.

[0085] Figure 2 For the present invention Figure 1 A partial enlarged schematic diagram of part A.

[0086] Figure 3 It is a schematic diagram of the structure of the shield head unit in the present invention.

[0087] Figure 4 It is a side view of the three-dimensional structure of the shield head unit in the present invention.

[0088] Figure 5 It is a cross-sectional view of the shield head unit in the present invention.

[0089] Figure 6It is a schematic diagram of the internal structure of the cylindrical shell structure in the present invention.

[0090] Figure 7 For the present invention Figure 5 A partial enlarged schematic diagram of part B.

[0091] Figure 8 For the present invention Figure 7 A partial enlarged schematic diagram of part C in the middle.

[0092] Fig. 9 It is a partial cross-sectional enlarged view of the cartridge seat body in the present invention.

[0093] Fig.10 For the present invention Fig. 9 A partial enlarged schematic diagram of part D in the middle.

[0094] Fig.11 For the present invention Fig. 9 A partial enlarged schematic diagram of part E in the middle.

[0095] Fig.12 It is a schematic diagram of the overall structure of the present invention.

[0096] Description of the numbers in the figure:

[0097] 101. negative pressure hose; 102. collecting bottle; 103. vacuum pump;

[0098] 201, shield cylinder; 202, cutter head body; 203, endoscope camera; 204, port cover; 205, drainage hose; 206, drive motor; 207, cylinder seat body; 208, residue suction pipe; 209, partition; 210, jet pipe; 211, U-shaped passive frame; 212, middle gear; 213, insulating rack housing; 214, first insulating frame; 215, first resistance wire; 216, second insulating frame; 217, second resistance wire; 218, cutting blade; 219, crushing blade; 222, second elastic metal slide; 223, insulating arm; 224, first elastic metal slide; 227, traction piston; 228, reset spring; 229, waterproof and breathable membrane; 230, conductor pole;

[0099] 301, liquid cylinder; 302, delivery pump;

[0100] 40. Doctor operating system;

[0101] 50. Bedside surgical assistance system. DETAILED DESCRIPTION

[0102] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0103] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, 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, and do 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 should not be understood as a limitation on the present invention.

[0104] 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 a 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.

[0105] Reference Figures 1 to 5 and Figure 7 The embodiment of the present invention provides a shield medical robot, including a surgical shield machine system, wherein the surgical shield machine system includes a negative pressure hose 101, one end of the negative pressure hose 101 is provided with a negative pressure generating device, and the other end opening is provided with a shield head unit, and the negative pressure generating device is used to suck the inside of the negative pressure hose 101 into a negative pressure state;

[0106] The shield head unit includes a cylindrical shell structure and a residue suction pipe 208. A cutter disc structure is provided at an opening at one end of the cylindrical shell structure. A partition plate 209 is connected to the inside of the cylindrical shell structure. The portion between the cutter disc structure and the partition plate 209 in the inner cavity of the cylindrical shell structure is a slag collecting bin. Both ends of the residue suction pipe 208 are respectively connected to the slag collecting bin and the inner cavity of the negative pressure hose 101.

[0107] The shell structure is also provided with a base mechanism, a driving mechanism for driving the blade structure to rotate, and a lubricating mechanism for pumping liquid medicine to the lesion tissue, and the liquid medicine referred to in this article is physiological saline;

[0108] The base mechanism includes a cartridge seat component, and the cartridge seat component includes a cartridge seat body 207. The cartridge seat body 207 is provided with a connecting channel and a piston channel connected to the inner cavity of the residue suction pipe 208, and the piston channel is connected to the inner cavity of the cartridge seat body 207 through the connecting channel.

[0109] A piston assembly is provided in the piston channel, and a first sliding resistance module, a second sliding resistance module, a U-shaped gear condition and a retractable linear gear condition are respectively provided in the inner cavity of the cartridge seat body 207. A central gear 212 is provided between the U-shaped gear condition and the linear gear condition, which is meshed with both and rotatably connected to the inner cavity of the cartridge seat body 207. The end of the U-shaped gear condition away from the central gear 212 passes through the connecting channel and is connected to the piston assembly.

[0110] The first sliding resistance module includes a first elastic metal slide 224 connected to the U-shaped gear condition, and the second sliding resistance module includes a second elastic metal slide 222 connected to the straight gear condition. The first sliding resistance module is electrically connected to the negative pressure generating device, and the second sliding resistance module is electrically connected to the lubrication mechanism.

[0111] The shield head unit is delivered to the diseased tissue site in the patient's body through the negative pressure hose 101, and then the negative pressure generating device, the lubrication mechanism and the driving mechanism are turned on. The driving mechanism drives the cutter disc structure to rotate, and then the rotating cutter disc structure cuts and crushes the diseased tissue. The crushed tissue residue is first sucked into the residue collecting bin under the action of negative pressure suction, and then continuously discharged from the diseased site through the residue suction pipe 208 and the negative pressure hose 101. Therefore, during the minimally invasive surgery for prostate hyperplasia, the tissue residue generated at the surgical site can be cleaned in time to avoid interfering with the doctor's line of sight, so that the doctor can observe the surgical site more clearly, thereby ensuring the accuracy and safety of the surgery.

[0112] Reference Figures 2 to 6 , an embodiment of the present invention provides a shield medical robot, the shell structure includes a shield cylinder 201 connected to the end opening of a negative pressure hose 101;

[0113] A reserved channel is provided inside the wall thickness of the shield body 201;

[0114] An end of the reserved channel close to the cutter disc structure is connected to an endoscope camera 203, through which the front-end image of the robot is transmitted in real time;

[0115] The partition 209 is connected to the inner cavity of the shield body 201, the cutter head structure is arranged at the opening of the end of the shield body 201, the residue suction pipe 208 is connected to the bottom wall of the inner cavity of the shield body 201, and one end of the residue suction pipe 208 is sealed through the partition 209 and connected to the slag collecting bin, and the other end is connected to the inner cavity of the negative pressure hose 101 through the connecting hole on the port cover 204;

[0116] The slag collecting bin is the space between the cutter head structure and the partition plate 209 in the inner cavity of the shield cylinder 201.

[0117] Reference Figure 5 and Figure 6 An embodiment of the present invention provides a shield medical robot, wherein the driving mechanism is a driving motor 206 connected to a residue suction pipe 208 .

[0118] Reference Figure 2 , Figure 3 and Figure 5 The cutter disc structure includes a cutter disc body 202, a crushing cutter body 219 is connected to the inner cavity of the cutter disc body 202, and a cutting cutter body 218 is connected to the surface of the cutter disc body 202;

[0119] The output shaft of the driving motor 206 penetrates through the partition plate 209 and extends into the slag collecting bin and is connected to the cutter disc body 202 in the cutter disc structure.

[0120] When the driving mechanism is started, the driving motor 206 drives the cutter disc body 202 to rotate, and the cutting blade body 218 rotating along with the cutter disc body 202 cuts off the proliferating tissue, and then the crushing blade body 219 crushes the cut tissue blocks.

[0121] Reference Figures 3 to 6 The embodiment of the present invention provides a shield medical robot, wherein the barrel seat component further comprises a port cover plate 204, the port cover plate 204 covers and is connected to the opening of the shield barrel 201 away from the cutter head structure, and the opening end of the barrel seat body 207 is connected to the port cover plate 204;

[0122] A connecting hole matching the shape of the opening of the end of the residue suction pipe 208 is provided at a position corresponding to the end of the residue suction pipe 208 on the side wall of the port cover plate 204;

[0123] The side wall of the port cover plate 204 is also provided with a hole matching the reserved channel.

[0124] Reference Figure 1 , Figures 3 to 6 , an embodiment of the present invention provides a shield medical robot, wherein the lubrication mechanism includes a pipeline assembly, and a pumping module connected to the pipeline assembly and capable of pumping liquid medicine into the pipeline assembly;

[0125] The pipeline assembly includes a plurality of jet pipes 210 located in the inner cavity of the shield body 201 and above the drive motor 206;

[0126] The ends of the plurality of jet tubes 210 are commonly connected to a drainage hose 205;

[0127] A pipe opening adapted to the jet pipe 210 is provided on the partition plate 209 at a position corresponding to each jet pipe 210, and one end of each jet pipe 210 away from the drainage hose 205 passes through the corresponding pipe opening and extends into the slag collecting bin;

[0128] Each jet rigid pipe 210 is fixedly connected to its corresponding pipe opening.

[0129] Reference Figure 5 , Fig. 9 and Fig.10 , the embodiment of the present invention provides a shield medical robot, the piston assembly includes a traction piston 227 sealingly sliding in the piston channel, a waterproof breathable membrane 229 connected to the piston channel near the end opening of the residue suction pipe 208, and a bar seat connected to the piston channel and between the traction piston 227 and the waterproof breathable membrane 229;

[0130] A return spring 228 is connected between the bar seat and the traction piston 227;

[0131] The U-shaped gear system includes a U-shaped passive frame 211 connected to the traction piston 227 at one end, the middle part of the U-shaped passive frame 211 passes through the connecting channel and penetrates into the inner cavity of the cartridge body 207, and a tooth groove meshing with the middle gear 212 is provided on the side wall of the U-shaped passive frame 211 near one end of the middle gear 212;

[0132] The middle part of the U-shaped passive frame 211 slides up and down in the connecting channel;

[0133] An insulating arm 223 is also connected to the side wall of the U-shaped passive frame 211 near one end of the middle gear 212;

[0134] The linear tooth condition includes a wire stand 230 whose bottom end is connected to the bottom wall of the inner cavity of the cartridge body 207;

[0135] An insulating rack housing 213 is provided on the top of the conductor stand 230 and is slidably sleeved up and down to mesh with the middle gear 212;

[0136] The first sliding resistance module also includes a first insulating frame 214 connected to the port cover 204 on one side close to the cartridge body 207, and a first resistance wire 215 in a spiral shape is evenly wound on the first insulating frame 214;

[0137] The first elastic metal sliding piece 224 in the first sliding resistance module is connected to the insulating arm 223 in the U-shaped tooth condition, and the free end of the first elastic metal sliding piece 224 is closely attached to the surface of the first resistance wire 215;

[0138] The first output terminal is connected to one end of the first insulating frame 214 away from the first elastic metal sliding sheet 224, and the first resistance wire 215 is connected to one end of the first output terminal close to the first output terminal;

[0139] The second sliding resistance module also includes a second insulating frame 216 connected to the port cover 204 on the side close to the cartridge body 207, and a second resistance wire 217 in a spiral shape is evenly wound on the second insulating frame 216;

[0140] The second elastic metal sliding piece 222 in the second sliding resistance module is connected to the insulating rack housing 213 in the linear gear condition, and the free end of the second elastic metal sliding piece 222 is closely attached to the surface of the second resistance wire 217;

[0141] The second output terminal is connected to one end of the second insulating frame 216 away from the second elastic metal sliding sheet 222 , and the second output terminal is connected to one end of the second insulating frame 216 close to the second output terminal.

[0142] Reference Figure 1 , an embodiment of the present invention provides a shield medical robot, wherein the negative pressure generating device includes a collecting bottle 102 and an air pump 103;

[0143] The vacuum pump 103 is connected to the bottle cap of the collection bottle 102, and the air inlet end of the vacuum pump 103 seals through the bottle cap of the collection bottle 102 and extends into the interior of the collection bottle 102, and the bottle cap in the collection bottle is threadedly connected to the body of the collection bottle;

[0144] One end of the negative pressure hose 101 away from the shield head unit is sealed and rotatably connected to the bottle cap of the collection bottle 102, and the end of the negative pressure hose 101 extends into the interior of the collection bottle 102;

[0145] The pumping module includes a liquid cylinder 301 and a delivery pump 302 connected to the lower side wall of the liquid cylinder 301;

[0146] The input end of the delivery pump 302 is sealed and penetrated into the liquid storage barrel 301, and the end of the drainage hose 205 away from the jet hard pipe 210 passes through the port cover 204, and then passes through the side wall of the negative pressure hose 101 and is connected to the output end of the delivery pump 302. The liquid medicine contained in the liquid storage barrel 301 is pumped into the drainage hose 205 by the delivery pump 302.

[0147] The first elastic metal sliding sheet 224, the first resistance wire 215 and the first output terminal in the first sliding resistance module are all electrically connected to the air pump 103 in the negative pressure generating device;

[0148] The second elastic metal sliding sheet 222, the second resistance wire 217 and the second output terminal in the second sliding resistance module are all electrically connected to the delivery pump 302 in the pumping module;

[0149] When the tissue residue in the residue collecting bin blocks the inlet end of the residue suction pipe 208, the air pressure in the piston channel continues to decrease and drives the U-shaped gear condition to move through the piston assembly. When the movable U-shaped gear condition drives the first elastic metal slide 224 to move, the line between the first elastic metal slide 224 and the first output terminal in the first resistor 215 becomes shorter and the resistance value decreases, thereby increasing the output power of the second sliding resistance module electrically connected to the lubrication mechanism and generating a stronger negative pressure suction force, thereby sucking away the sticky tissue residue blocking the inlet end of the residue suction pipe 208 and expelling it from the body, achieving the effect of autonomous clearing, effectively reducing the waiting time during the operation, and the doctor can complete the operation faster, improving the continuity and efficiency of the operation.

[0150] When the inlet end of the residue suction pipe 208 is blocked, the air pressure in the piston channel continues to decrease and drives the U-shaped gear condition to move through the piston assembly. The movable U-shaped gear condition drives the linear gear condition to move synchronously through the middle gear 212, driving the second elastic metal slide 222 to move, so that the line between the second elastic metal slide 222 and the second output terminal in the second resistance wire 217 becomes shorter, and the resistance value decreases, thereby increasing the output power of the negative pressure generating device, and the output power of the lubrication mechanism is also increased synchronously, so that the liquid medicine flows to the lesion tissue faster, so that the lesion tissue is cut and crushed. In the process, the negative pressure suction force is increased and the blocked tissue residues are sucked out, which can effectively reduce the further adhesion of tissue residues to the inner wall of the residue collection bin and further aggravate the blockage. In addition, tissue residues with reduced viscosity are more easily sucked out by negative pressure, which can effectively avoid subsequent blockages. While improving the smoothness of residue discharge during surgery, it is also beneficial to further improve surgical efficiency.

[0151] Reference Figure 1 as well as Fig.12 , an embodiment of the present invention provides a shield medical robot, further comprising a doctor operating system, a bedside surgery auxiliary system and an intelligent decision-making system, and the bedside surgery auxiliary system 50, the endoscope camera 203 in the cylindrical shell structure and the driving motor 206 in the driving mechanism are all electrically connected to the doctor operating system 40;

[0152] During the operation, the shield cylinder 201 is clamped by the claws in the bedside surgery assistance system, and then the doctor's operating system 40 sends control instructions to the bedside surgery assistance system 50 through a wireless connection to control the action of the bedside surgery assistance system 50, thereby adjusting the position and angle of the cutter disc structure, controlling the cutting speed, etc.

[0153] The bedside surgical assistance system is a single robotic arm;

[0154] Intelligent decision-making system is an intelligent decision support system;

[0155] The doctor operating system 40 includes:

[0156] Host system: responsible for running the surgical control software and processing image data and sensor data;

[0157] Display: Displays real-time images of the surgical site in the form of 3D stereoscopic images, combined with VR or AR technology, to provide doctors with a more intuitive and realistic surgical field of view; at the same time, displays surgical planning paths, key operation step prompts, potential risk warnings and other information to assist doctors in performing precise surgical operations; during the operation, the images monitored by the endoscopic camera 203 are transmitted in real time to the screen of the display in the doctor's operating system 40, which is convenient for doctors to observe the progress of the operation in real time and realize real-time monitoring and control of the surgical process;

[0158] Operating handle: connected to the bedside surgical auxiliary system 50 by wireless connection, the doctor can control the bedside surgical auxiliary system 50 through the operating handle in the doctor operating system 40, thereby realizing flexible control of the movement and operation of the surgical shield machine, such as adjusting the position and angle of the cutter disc structure; the control buttons and joysticks on the handle have good tactile (mechanical) feedback, so that the doctor can accurately perceive the operating force and state, and during the operation, the doctor can also control the opening and closing of the drive motor 206 through the operating handle in the doctor operating system 40;

[0159] Foot pedal: Through the foot pedal, doctors can easily switch between surgical mode and non-surgical common mode, etc., reducing the burden of manual operation and improving the efficiency and convenience of surgical operation;

[0160] Human-computer interaction system: It has voice recognition and gesture recognition functions, allowing doctors to operate through voice commands, such as "automatic cutting mode" and "enlarged image". The gesture recognition function can recognize the doctor's gestures and realize non-contact control of surgical instruments. The touch screen technology provides an intuitive operation method. Doctors can plan surgeries and adjust parameters on the touch screen.

[0161] Data storage and sharing system: The data storage system can store surgical data and patient data in real time, which can be used for postoperative analysis and teaching. The data sharing system can add remote collaboration and training functions, allowing experts in different regions to watch the surgical process in real time through network connection, and communicate and collaborate with the surgeon to provide remote guidance and suggestions. At the same time, this function can also be used for surgical training, allowing trainees to practice operations through the virtual surgical system at a remote location, and experts can evaluate and give feedback in real time to improve the effect and quality of surgical training;

[0162] The embodiment of the present invention provides an operating method of a shield medical robot, comprising the following steps:

[0163] S1. Insert the shield head unit into the prostatic part of the urethra;

[0164] S2, start the negative pressure generating device, lubrication mechanism and driving mechanism;

[0165] S3, the driving mechanism drives the blade structure to rotate, and then the rotating blade structure cuts and crushes the lesion tissue. During the cutting and crushing process, the shield head unit starts from the prostate tip and moves retrogradely to the bladder neck;

[0166] S4. The crushed tissue residue is first sucked into the residue collection bin under the action of negative pressure suction, and then continuously discharged from the lesion site through the residue suction pipe 208 and the negative pressure hose 101.

[0167] S5. When there is a lot of tissue slag entering the slag collection bin and the tissue slag is very sticky, causing the tissue slag to block the inlet end of the residue suction pipe 208, the air pressure in the piston channel continues to decrease and drives the U-shaped gear to move through the piston assembly;

[0168] S6, when the U-shaped gear condition moves, the middle gear 212 meshing with it drives the linear gear condition to move synchronously;

[0169] S7, during the movement of the U-shaped tooth condition and the straight tooth condition, the first elastic metal slide 224 and the second elastic metal slide 222 are driven to move respectively, so that the resistance of the second sliding resistance module electrically connected to the lubrication mechanism and the first sliding resistance module electrically connected to the negative pressure generating device are both lowered, thereby increasing the output power of the lubrication mechanism and the negative pressure generating device.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shield medical robot, characterized in that: The surgical shield machine system includes a negative pressure hose, one end of which is provided with a negative pressure generating device, and the other end of which is provided with a shield head unit in the opening, and the negative pressure generating device is used to suck the inside of the negative pressure hose into a negative pressure state; The shield head unit comprises a cylindrical shell structure and a residue suction pipe, a knife disc structure is provided at an opening at one end of the cylindrical shell structure, a partition is connected inside the cylindrical shell structure, a portion of the inner cavity space of the cylindrical shell structure between the knife disc structure and the partition is a slag collecting bin, and both ends of the residue suction pipe are respectively connected to the slag collecting bin and the inner cavity of the negative pressure hose; The shell structure is also provided with a base mechanism, a driving mechanism for driving the blade structure to rotate, and a lubricating mechanism for pumping liquid medicine to the lesion tissue. The base mechanism includes a cartridge seat component, and the cartridge seat component includes a cartridge seat body, and the cartridge seat body is provided with a connecting channel and a piston channel connected to the inner cavity of the residue suction pipe, and the piston channel is connected to the inner cavity of the cartridge seat body through the connecting channel; A piston assembly is provided in the piston channel, and a first sliding resistance module, a second sliding resistance module, a U-shaped gear condition and a telescopically movable linear gear condition are respectively provided in the inner cavity of the cartridge seat body. A central gear is provided between the U-shaped gear condition and the linear gear condition, which is meshed with both and rotatably connected to the inner cavity of the cartridge seat body. The end of the U-shaped gear condition away from the central gear passes through the connecting channel and is connected to the piston assembly; The first sliding resistance module includes a first elastic metal sliding sheet connected to the U-shaped gear condition, and the second sliding resistance module includes a second elastic metal sliding sheet connected to the straight gear condition. The first sliding resistance module is electrically connected to the negative pressure generating device, and the second sliding resistance module is electrically connected to the lubrication mechanism.

2. The shield medical robot according to claim 1, characterized in that: The shell structure includes a shield body connected to an opening at the end of a negative pressure hose; A reserved channel is provided inside the wall thickness of the shield cylinder; An end of the reserved channel close to the cutter head structure is connected to an endoscope camera; The partition is connected to the inner cavity of the shield body, and the cutterhead structure is arranged at the opening at the end of the shield body; The slag collecting bin is the space between the cutter head structure and the partition in the inner cavity of the shield cylinder.

3. The shield medical robot according to claim 2, characterized in that: The cylinder seat component also includes a port cover plate, which is connected to the opening of the shield cylinder away from the cutter head structure, and one end of the opening of the cylinder seat body is connected to the port cover plate; A connecting hole matching the opening shape of the end of the residue suction pipe is provided at a position corresponding to the end of the residue suction pipe on the side wall of the port cover; The side wall of the port cover is also provided with holes matched with the reserved channels.

4. The shield medical robot according to claim 2, characterized in that: The residue suction pipe is connected to the bottom wall of the inner cavity of the shield cylinder, and one end of the residue suction pipe is sealed through the partition and connected to the slag collecting bin, and the other end is connected to the inner cavity of the negative pressure hose through the connecting hole on the port cover.

5. The shield medical robot according to claim 2, characterized in that: The driving mechanism is a driving motor connected to the residue suction pipe; The cutter disc structure comprises a cutter disc body, a crushing cutter body is connected to the inner cavity of the cutter disc body, and a cutting cutter body is connected to the surface of the cutter disc body; The output shaft of the driving motor penetrates the partition plate, extends into the slag collecting bin, and is connected to the cutter disc body in the cutter disc structure.

6. The shield medical robot according to claim 2, characterized in that: The lubrication mechanism includes a pipeline assembly and a pumping module connected to the pipeline assembly and capable of pumping liquid medicine into the pipeline assembly; The pipeline assembly includes a plurality of jet pipes located in the inner cavity of the shield body and above the driving motor; The ends of a plurality of the jetting rigid pipes are commonly connected with a drainage hose; The partition plate is provided with a pipe opening adapted to the jet pipe at a position corresponding to each jet pipe, and one end of each jet pipe away from the drainage hose passes through the corresponding pipe opening and extends into the slag collecting bin; Each of the jet rigid pipes is fixedly connected to the corresponding pipe opening; The negative pressure generating device comprises a collecting bottle and an air pump; The vacuum pump is connected to the bottle cap of the collection bottle, and the air inlet end of the vacuum pump seals through the bottle cap of the collection bottle and extends into the interior of the collection bottle; One end of the negative pressure hose away from the shield head unit is sealed and rotatably connected to the bottle cap of the collection bottle, and the end of the negative pressure hose extends into the interior of the collection bottle; The pumping module includes a liquid cylinder and a delivery pump connected to the lower side wall of the liquid cylinder; The input end of the delivery pump is sealed and penetrated into the liquid storage cylinder, and the end of the drainage hose away from the jet hard pipe passes through the port cover plate, then passes through the side wall of the negative pressure hose and is connected to the output end of the delivery pump.

7. The shield medical robot according to claim 3, characterized in that: The piston assembly comprises a traction piston sealingly sliding in the piston channel, a waterproof breathable membrane connected to the piston channel in an opening at one end of the residue suction pipe, and a bar seat connected to the piston channel and between the traction piston and the waterproof breathable membrane; A return spring is connected between the bar seat and the traction piston; The U-shaped gear frame includes a U-shaped passive frame body connected to the traction piston at one end, the middle part of the U-shaped passive frame body passes through the connecting channel and penetrates into the inner cavity of the cartridge seat body, and a tooth groove meshing with the middle gear is provided on the side wall of the U-shaped passive frame body near the middle gear end; The middle part of the U-shaped passive frame slides up and down in the connecting channel; An insulating arm is also connected to the side wall of the U-shaped passive frame near one end of the middle gear; The linear gear condition includes a conductor stand with the bottom end connected to the bottom wall of the inner cavity of the cartridge seat body; The top of the conductor pole is provided with an insulating rack housing that is meshed with a central gear. The first sliding resistance module also includes a first insulating frame connected to the port cover plate on one side close to the barrel seat body, and a first resistance wire in a spiral shape is evenly wound on the first insulating frame; The first elastic metal sliding sheet in the first sliding resistance module is connected to the insulating arm in the U-shaped tooth condition, and the free end of the first elastic metal sliding sheet is closely attached to the surface of the first resistance wire; The first output terminal is connected to one end of the first insulating frame away from the first elastic metal sliding sheet, and the first resistance wire is connected to one end of the first output terminal close to the first output terminal; The second sliding resistance module also includes a second insulating frame connected to the port cover plate on one side close to the barrel seat body, and a second resistance wire in a spiral shape is evenly wound on the second insulating frame; The second elastic metal sliding sheet in the second sliding resistance module is connected to the insulating rack housing in the linear gear condition, and the free end of the second elastic metal sliding sheet is closely attached to the surface of the second resistance wire; The second output terminal is connected to one end of the second insulating frame away from the second elastic metal sliding sheet, and the second output terminal is connected to one end of the second insulating frame close to the second output terminal.

8. The shield medical robot according to claim 6, characterized in that: It also includes a doctor's operating system, a bedside surgery assistance system and an intelligent decision-making system, and the bedside surgery assistance system, the endoscopic camera in the cylindrical shell structure and the driving motor in the driving mechanism are all electrically connected to the doctor's operating system.

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