Robotic shielded prostatectomy surgery

Abstract

The application discloses a shield prostate resection operation robot, which comprises a first cylinder, a water inlet is arranged on the outer side of the first cylinder, and a shield electric cutting rotating device which is composed of a third cylinder, a driving motor and a rotary cutting device is arranged in the first cylinder; a second cylinder is sleeved outside the third cylinder and can move in the first cylinder, the side surface and the end of the second cylinder form a half-enclosed protective layer of a protection area, which not only accommodates the rotary cutting device, but also forms a tissue slag collecting cavity which is communicated through a slag discharging pipeline and a negative pressure device; the side protection area is provided with an electrocoagulation hemostasis device which can timely stop bleeding; an optical fiber imaging device on the outer side of the second cylinder is used for acquiring target area and rotary cutting information in real time; and a monitoring control device in the first cylinder can collect robot pose information in real time, so that the overall operation precision, safety and efficiency are improved. The scheme can simultaneously perform tissue cutting, crushing and slag discharging, and has the functions of electrocoagulation hemostasis, can effectively shorten the operation time, reduce the pain of patients and improve the operation precision.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a shield method prostate resection surgery robot. BACKGROUND

[0002] Prostatic hyperplasia is a common disease in elderly men, and the clinical community has been committed to exploring a better treatment method.

[0003] Traditional transurethral resection of the prostate (TURP) is the standard surgical method for treating the disease, but has significant drawbacks. The hemostatic effect is poor during the resection process, which can easily cause postoperative bleeding; the resection range is difficult to accurately control, which may damage the prostate capsule or external sphincter; and the operation is time-consuming, which increases the risk of patients during the operation.

[0004] With the progress of minimally invasive surgery technology, new treatment methods such as water vapor heat therapy and UroLift have been applied in clinical practice, which have certain performance in terms of efficacy and safety. However, these new methods also have obvious shortcomings, and there is a problem of incomplete adenoid resection, which leads to postoperative recurrence and is not suitable for patients with severe prostatic hyperplasia. SUMMARY

[0005] Therefore, the shield method prostate resection surgery robot provided by the embodiments of the present disclosure can solve the problems of complex operation, long time consumption, high operation risk, poor precision, poor hemostatic effect and the like in the prior art.

[0006] In a first aspect, the embodiments of the present disclosure provide a shield method prostate resection surgery robot, which specifically comprises:

[0007] A first cylinder body having a water inlet opening formed on the outer side thereof for connecting a water inlet device;

[0008] A second cylinder body provided inside the first cylinder body, a side portion of the second cylinder body being provided with a residue discharge port, and a negative pressure device being mounted on the residue discharge port; one end of the second cylinder body is provided with a push-pull device, and the second cylinder body has a degree of freedom of movement in the first cylinder body under the action of the push-pull device; the other end of the second cylinder body is provided with a through hole on the side portion thereof;

[0009] A shield resection rotating device provided inside the second cylinder body, which comprises a third cylinder body, a driving motor provided inside the third cylinder body, and a rotary cutting device provided on the power output end of the driving motor; the through hole is the working area of the rotary cutting device, and the end portion area of the second cylinder body containing the through hole forms a semi-enclosed protection area of the rotary cutting device, and the semi-enclosed protection area forms a tissue residue collection cavity;

[0010] The second cylinder inner wall and the third cylinder outer side form a residue discharge pipeline in communication with the residue collection cavity, and the residue discharge pipeline is in communication with the residue discharge port;

[0011] The electrocoagulation hemostasis device is arranged outside the semi-enclosed protection area;

[0012] The optical fiber imaging device is arranged outside the second cylinder and is matched with the first shell segment in the second cylinder, and is used for acquiring real-time target area image information and rotary cutting information when the rotary cutting device operates;

[0013] The monitoring control device is arranged outside the second cylinder and is used for collecting real-time robot pose information.

[0014] Optionally, the rotary cutting device is a double-thread multi-tooth arc-shaped cutter head, and the double-thread multi-tooth arc-shaped cutter head has a double-thread cross-shaped cutter tooth cutting part;

[0015] The second cylinder includes a first shell segment and a second shell segment, the through hole is arranged in the first shell segment, and the end of the first shell segment is a circular arc smooth surface;

[0016] The first shell segment includes a side protection area and an end protection area, and the side protection area and the end protection area form a semi-enclosed protection layer;

[0017] The maximum outer diameter of the rotary cutting device is smaller than the inner diameter of the semi-enclosed protection layer.

[0018] Optionally, the electrocoagulation hemostasis device includes an electric heating wire arranged in the side protection area and a wire connected with the electric heating wire;

[0019] The wire is attached to the outside of the second cylinder, and the wire has an insulating and heat-insulating protection layer.

[0020] Optionally, a countersunk hole is arranged in the inner side of the end protection area;

[0021] The rotary cutting device is provided with a central through hole, and a directional shaft is arranged in the central through hole;

[0022] One end of the directional shaft is fixedly connected with the countersunk hole, and the other end penetrates through the central through hole and is fixedly connected with the power output end of the driving motor.

[0023] Optionally, the push-pull device includes a fixed assembly, a push-pull rod connected with the fixed assembly, a push sleeve connected with the push-pull rod, and a push-pull ring;

[0024] The fixing assembly comprises a first clamping member and a second clamping member, the first clamping member is sleeved outside the second barrel and fixedly connected with the end of the first barrel, the second clamping member is sleeved outside the second barrel and arranged on the side of the first clamping member away from the first barrel, and the first clamping member and the second clamping member both have the freedom of moving along the longitudinal center axis of the second barrel;

[0025] The push-pull rod comprises a first rod connected with the second clamping member and a second rod connected with the push sleeve, and the second rod has the freedom of rotating around the connection with the first rod; the first rod has the freedom of rotating around the connection with the second clamping member;

[0026] The push sleeve is sleeved outside the third barrel, the end of the third barrel is fixedly connected with the push-pull ring, and the connection between the third barrel and the push-pull ring is located inside the push sleeve;

[0027] The push-pull ring is used for being held by an operator.

[0028] Optionally, the slag discharge port is located between the second clamping member and the push sleeve.

[0029] In the conveying state, the first clamping member is not connected with the second clamping member, and the rotary cutting device is located inside the first barrel;

[0030] In the working state, the first clamping member is fixedly connected with the second clamping member, and the second barrel pushes the rotary cutting device to overhang out of the first barrel under the action of the push-pull device.

[0031] Optionally, the displacement of the second barrel overhanging outward is not more than 2 cm.

[0032] Optionally, the outer diameter of the second barrel is not more than 8 mm.

[0033] The second barrel is made of high-strength biocompatible material.

[0034] Optionally, the monitoring and control device comprises a plurality of sensors arranged outside the second barrel and a control module arranged at the end of the driving motor, and the plurality of sensors are signal-connected with the control module.

[0035] The plurality of sensors are used for collecting real-time information of the robot in real time and sending the real-time information to the control module, and the real-time information comprises environmental information, position change and attitude change of the robot.

[0036] The plurality of sensors comprise one or more of a pressure sensor, a position sensor, an attitude sensor and a temperature sensor.

[0037] The pressure sensor and the temperature sensor are both arranged outside the semi-enclosed protection area and do not interfere with the electrocoagulation hemostasis device.

[0038] Optionally, the optical fiber imaging device is arranged without interfering with the electrocoagulation hemostasis device.

[0039] The optical fiber imaging device has an insulating and heat insulating protective layer. The shield method prostate resection surgery robot disclosed in the application has a slag discharge pipeline formed by the inner wall of the second cylinder and the outer side of the third cylinder, and a negative pressure device arranged on the outer side of the second cylinder and connected with the slag discharge pipeline. During the surgery, the tissue slag generated by the rotary cutting device when cutting the prostate tissue can be discharged outside in time under the action of negative pressure through the slag discharge pipeline, which helps to keep the surgical field clear and avoid the accumulation of tissue slag in the surgical area, which affects the judgment of the surgeon on the surgical situation, and also reduces the risk of postoperative infection and other complications caused by tissue slag residues; the presence of the negative pressure device can keep the pressure environment of the surgical area relatively stable, prevent blood and tissue fluid from splashing during the surgery, and provide a relatively clean and stable environment for the surgical operation, which is conducive to improving the safety and accuracy of the surgery; the driving motor in the shield electric cutting rotary device provides power for the rotary cutting device and can realize high-speed rotary cutting. This rotary cutting method is more accurate and efficient than traditional manual cutting, can quickly and accurately cut the prostate tissue, reduces the surgery time, and reduces the pain and risk of the patient, and the driving motor is arranged inside the third cylinder. This design makes the entire rotary device compact in structure and small in space occupation, which is conducive to surgical operation in limited internal space and improves the operability of the robot in the human body; the first shell section of the second cylinder forms a semi-enclosed protective layer, and the rotary cutting device is located in the protective layer and forms a tissue slag collection cavity. This not only effectively collects tissue slag when cutting tissue and prevents tissue slag from splashing everywhere, but also protects the rotary cutting device from interference and damage from external factors; the second cylinder has the freedom to move along the inside of the first cylinder, which enables the rotary cutting device to operate at different positions as needed, making it more flexible to adapt to the resection needs of different parts of the prostate, and improving the accuracy and comprehensiveness of the surgery; the electrocoagulation hemostasis device arranged in the end protection area can electrocoagulate and hemostasis the wound at the same time as the rotary cutting device cuts the tissue, which can effectively reduce the amount of bleeding during the surgery, keep the surgical field clear, reduce the risk of excessive bleeding during the surgery, and also be conducive to the healing of the postoperative wound; the optical fiber imaging device arranged on the outer side of the second cylinder can obtain real-time image information of the target area and rotary cutting information when the rotary cutting device is working. The doctor can accurately understand the situation of the surgical area, including the shape, position of the prostate tissue and the cutting effect of the rotary cutting device, through these image information, so as to timely adjust the surgical strategy and operation, and improve the accuracy and safety of the surgery; the optical fiber imaging device is matched with the first shell section, which can ensure that the angle and range of the obtained image are more reasonable, avoid image blind area, and provide a more comprehensive and clear surgical field for the doctor.The monitoring control device arranged in the first barrel can collect the robot pose information in real time, and through the information, the doctor can accurately know the position and posture of the robot in the body, so as to more accurately control the movement of the robot, ensure that the rotating cutting device can accurately reach the target position for operation, and improve the precision and success rate of the operation.

[0040] The above description is only a summary of the technical solutions of the present disclosure, in order to more clearly understand the technical means of the present disclosure, and can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present disclosure more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0042] Figure 1 A perspective view of a shield method prostate resection surgery robot provided by the embodiments of the present disclosure.

[0043] Figure 2 A perspective view of a shield method prostate resection surgery robot provided by the embodiments of the present disclosure. Figure 1 A partial enlarged view of A in the figure.

[0044] Figure 3 A sectional view of a shield method prostate resection surgery robot provided by the embodiments of the present disclosure.

[0045] Figure 4 A sectional view of a shield method prostate resection surgery robot provided by the embodiments of the present disclosure. Figure 3 A partial enlarged view of B in the figure.

[0046] Figure 5 A sectional view of a shield method prostate resection surgery robot provided by the embodiments of the present disclosure. Figure 3 A schematic view of a push-pull device.

[0047] Figure 6 A schematic view of a rotating cutting device. Figure 1 A schematic view of a rotating cutting device.

[0048] Explanation of reference signs:

[0049] 100, first barrel;

[0050] 200, shield electrotomy rotating device; 210, third barrel; 220, driving motor; 230, rotating cutting device; 240, directional shaft;

[0051] 300 second barrel; 310 first housing section; 311 side protection zone; 312 end protection zone; 320 second housing section;

[0052] 410 first joint; 420 second joint;

[0053] 500 optical fiber imaging device;

[0054] 600 electrocoagulation hemostasis device;

[0055] 700 pressure sensor;

[0056] 800 push-pull device; 810 fixing assembly; 811 first clamping member; 812 second clamping member; 820 push-pull rod; 821 first rod; 822 second rod; 830 push sleeve; 840 push-pull ring. DETAILED DESCRIPTION

[0057] The embodiments of the present disclosure will be described in detail below with reference to the drawings.

[0058] It should be apparent that the following describes embodiments of the present disclosure by way of specific examples, and that a person skilled in the art can easily understand other advantages and effects of the present disclosure from the disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all. The present disclosure can also be implemented or applied by other different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by a person skilled in the art without creative labor are within the scope of protection of the present disclosure.

[0059] It should be noted that the various aspects of the embodiments described below are within the scope of the appended claims. It should be apparent that the aspects described herein can be embodied in a wide variety of forms and that any specific structure and / or function described herein is merely illustrative. Based on the disclosure provided, one skilled in the art should appreciate that an aspect described herein can be implemented independently of any other aspects and that two or more of these aspects can be combined in various ways. For example, an apparatus can be implemented or a method can be practiced using any number of the aspects described herein. In addition, such an apparatus can be implemented or such a method can be practiced using other structure and / or functionality in addition to or other than one or more of the aspects described herein.

[0060] It is also necessary to note that the drawings in the following embodiments only illustrate the basic concept of the present disclosure in a schematic manner, and only the components related to the present disclosure are shown in the drawings, not the number, shape and size of the components when actually implemented. The actual implementation of each component may be a random change, and the component layout may be more complex.

[0061] In addition, in the following description, specific details are provided in order to facilitate a thorough understanding of the examples. However, one skilled in the art will understand that the aspects described can be practiced without these specific details.

[0062] Referring to Figure 1 and Figure 2 The present application discloses a shield method prostate resection surgery robot, specifically comprising a first cylinder 100, a second cylinder 200 arranged inside the first cylinder 100, a shield electrocision rotating device 200 arranged inside the second cylinder 300, an electrocoagulation hemostasis device 600 mounted outside the semi-enclosed protection area, a fiber imaging device 500 mounted outside the second cylinder 300, and a monitoring control device arranged outside the second cylinder 300. One end of the second cylinder 300 is provided with a push-pull device 800, and the second cylinder 300 has the freedom to move inside the first cylinder 100 under the action of the push-pull device. The other end side of the second cylinder 300 is provided with a through hole.

[0063] The first cylinder 100 is provided with a water inlet on the outside, which is used to connect the water inlet device. The first cylinder 100 is used to provide protection and support for the internal devices, to prevent external tissues from interfering with the internal devices.

[0064] The side of the second cylinder 300 is provided with a residue discharge port, and the residue discharge port is provided with a negative pressure device. The inner wall of the second cylinder 300 and the outside of the third cylinder 210 form a residue discharge pipeline, which is in communication with the negative pressure device. The negative pressure device is used to provide a negative pressure suction force, which can timely suck away the tissue residue and liquid generated during the operation and discharge them outside the body, keep the operation field clear, clean the operation area, and reduce the risk of infection. That is, it can play the roles of real-time residue discharge, free from secondary cleaning, and improving operation efficiency.

[0065] The shield electrocision rotating device 200 comprises a third cylinder 210, a driving motor 220 arranged inside the third cylinder 210, and a rotary cutting device 230 arranged at the power output end of the driving motor 220. The rotary cutting force of the rotary cutting device 230 can be accurately controlled by controlling the driving motor 220. In this embodiment, the through hole is the working area of the rotary cutting device, and the end region of the second cylinder containing the through hole forms a semi-enclosed protection area of the rotary cutting device, and the semi-enclosed protection area forms a tissue residue collection cavity.

[0066] The inner side of the end protection area 312 is provided with a countersunk hole; the rotary cutting device 230 is provided with a central through hole, and a directional shaft 240 is arranged in the central through hole; one end of the directional shaft 240 is fixedly connected with the countersunk hole, and the other end penetrates through the central through hole and is fixedly connected with the power output end of the driving motor 220.

[0067] The inner wall of the second cylinder body 300 and the outer side of the third cylinder body 210 form a residue discharge pipeline which is in communication with the tissue residue collecting cavity, and the residue discharge pipeline is in communication with the residue discharge port.

[0068] In this embodiment, the driving motor 220 is preferably a direct current motor, the size of which meets the size constraint of the second cylinder body 300 and can provide rotary power meeting the cutting requirement of the tool bit, so as to ensure that the rotary cutting device 230 can cut efficiently and accurately.

[0069] The second cylinder body 300 comprises a first shell segment 310 and a second shell segment 320, and a through hole is arranged in the first shell segment 310; the end of the first shell segment 310 is a circular arc smooth surface, which is arranged smoothly to prevent secondary injury. The first shell segment 310 comprises a side protection area 311 and an end protection area 312, and the side protection area 311 and the end protection area 312 form a semi-enclosed protection layer; the rotary cutting device 230 is located in the semi-enclosed protection layer, and the semi-enclosed protection layer forms a tissue residue collecting cavity. The semi-enclosed protection layer provides protection for the rotary cutting device 230, and forms the tissue residue collecting cavity at the same time, which is convenient for collecting the cut tissue residue and liquid.

[0070] Further, the size of the residue discharge pipeline can be designed according to the suction force of the negative pressure device and the size of the tissue residue. During the operation, the water is continuously discharged through the water inlet between the outer walls of the first cylinder body 100 and the second cylinder body 300 to ensure that there is no debris remaining in the tissue residue collecting cavity and the residue discharge channel; the flushed debris and waste liquid are discharged from the residue discharge port under the action of negative pressure through the residue discharge channel.

[0071] The electrocoagulation hemostasis device 600 comprises an electric heating wire arranged in the side protection area 311 and a wire connected with the electric heating wire; the wire is attached to the outer side of the second cylinder body 300, and the wire has an insulating and heat insulating protective layer; the doctor can realize the coagulation hemostasis function by operating the on-off of electricity during the operation.

[0072] The electrocoagulation hemostasis device can adopt high-frequency electrocoagulation technology, and can coagulate and hemostasis the tissue by contacting the electrode with the tissue to generate high temperature. The electrocoagulation hemostasis device can coagulate and hemostasis the bleeding part in time while the rotary cutting device 230 cuts the prostate tissue, so as to reduce the bleeding amount during the operation and improve the safety of the operation.

[0073] The optical fiber imaging device 500 is arranged outside the second barrel 300 and is arranged without interfering with the electrocoagulation hemostasis device 600, and the optical fiber imaging device 500 has an insulating and heat insulation protective layer. The optical fiber imaging device 500 is arranged in matching with the first shell section 310, and specifically can be installed in the second shell section through a mechanical clamping slot, and a tail portion is arranged to pass through a hole punched in the second barrel 300 and the third barrel 210 (i.e., a motor shell) to the inside for wire arrangement, and the hole is sealed by using waterproof glue. The optical fiber imaging device is used to acquire real-time target region image information (i.e., surgical environment information) and rotary cutting information of the rotary cutting device 230 during operation, that is, a cutting surface picture can be transmitted in real time.

[0074] The matching arrangement of the optical fiber imaging device 500 with the first shell section 310 can be understood as that an end portion of the optical fiber imaging device 500 extends to a front end of a blade surface of the rotary cutting device 230, and is used to confirm a prostatic hyperplasia position and range before surgery, monitor a surgical execution effect during surgery, and check a wound flatness and a bleeding condition after surgery.

[0075] Specifically, a high-resolution optical fiber camera can be used to acquire real-time target region image information and rotary cutting information of the rotary cutting device 230 during operation. Through the arrangement of the optical fiber imaging device 500, a doctor can observe a situation of a surgical region in real time through the optical fiber imaging device 500, accurately master a position and a cutting effect of the rotary cutting device 230, and improve a precision of surgery.

[0076] In this embodiment, the negative pressure device and the opening of the first shell section 310 are preferably located on both sides of a longitudinal center axis of the second barrel 300, and can better use negative pressure to suck out tissue residues.

[0077] With reference to Figures 3 to 5 The push-pull device 800 includes a fixed assembly 810, a push-pull rod 820 connected with the fixed assembly 810, a push sleeve 830 connected with the push-pull rod 820, and a push-pull ring 840. The fixed assembly 810 includes a first clamping member 811 and a second clamping member 812. The first clamping member 811 is arranged outside the second barrel 300 and is fixedly connected with an end portion of the first barrel 100. The second clamping member 812 is arranged outside the second barrel 300 and is arranged on a side of the first clamping member 811 away from the first barrel 100. The first clamping member 811 and the second clamping member 812 each have a degree of freedom of movement along a longitudinal center axis of the second barrel 300.

[0078] The push-pull rod 820 includes a first rod 821 connected with the second clamping member 812 and a second rod 822 connected with the push sleeve 830, and the second rod 822 has a degree of freedom of rotation about a connection position with the first rod 821. The first rod 821 has a degree of freedom of rotation about a connection position with the second clamping member 812. The residue discharge port is located between the second clamping member 812 and the push sleeve 830.

[0079] The push sleeve 830 is sleeved outside the third barrel 210, and the end of the third barrel 210 is fixedly connected with the push-pull ring 840, and the connection position of the third barrel 210 and the push-pull ring 840 is located inside the push sleeve 830.

[0080] The push-pull ring 840 is used for an operator to hold to control the position of the rotary cutting device 230.

[0081] In the conveying state, the first clamping piece 811 is not connected with the second clamping piece 812, and the rotary cutting device 230 is located inside the first barrel 100, so as to avoid causing damage to the surrounding tissues during the conveying process.

[0082] In the operation state, the first clamping piece 811 is clamped and fixed with the second clamping piece 812, and the second barrel 300 pushes the rotary cutting device 230 to overhang out of the first barrel 100 under the action of the push-pull device 800, so as to facilitate the cutting operation; the distinction between the conveying state and the operation state can better protect the patient and the equipment, and ensure the smooth progress of the operation.

[0083] The displacement of the second barrel 300 overhanging outward is not more than 2 cm.

[0084] The outer diameter of the second barrel 300 is not more than 8 mm, and the size is small, which effectively reduces the trauma to the patient; the second barrel 300 is made of high-strength biocompatible material, which ensures its safety and durability in the body, guarantees the structural strength, and reduces the stimulation and rejection reaction of the human body tissues. Specifically, before conveying, the first barrel 100 can be first loaded into the obturator and sent into the urethra, and the obturator is taken out; then the second barrel 300 is sent into the first barrel 100 to a preset position, and the first clamping piece 811 is clamped and fixed with the second clamping piece 812; the operation starts, and the rotary cutting device is pushed to the hyperplastic prostate tissue under the action of the external push-pull ring, so that the rotary cutting device 230 located in the rotary cutting area, and at this time, the semi-encapsulating protective layer is located on the opposite side of the rotary cutting area. The operation is performed, and the cutting operation is performed by adjusting the cutter head amount (i.e., the cutter head distance) during the operation. After the operation is completed, the first clamping piece 811 is clamped and separated from the second clamping piece 812, and the second barrel 300 is taken out.

[0085] The monitoring control device comprises a plurality of sensors arranged outside the second barrel 300 and a control module arranged at the end of the driving motor 220, and the plurality of sensors are signal-connected with the control module.

[0086] The plurality of sensors are used for collecting real-time information of the robot in real time and sending the real-time information to the control module, so as to monitor and accurately control the execution process of the prostate hyperplasia resection operation, provide intuitive visual feedback for the doctor, help to timely adjust the operation, and reduce the operation risk. The real-time information includes environmental information, body position and attitude change.

[0087] The sensors include the pressure sensor 700 and one or more of a position sensor, an attitude sensor, and a temperature sensor;

[0088] The pressure sensor 700 and the temperature sensor (not shown in the figure) are arranged outside the semi-enclosed protection area and do not interfere with the electrocoagulation hemostasis device 600. The pressure sensor 700 is used to obtain the pressure of the supported tissue and the protection area throughout the operation, and to monitor the negative pressure; the temperature sensor is used to measure the temperature of the electrocoagulation hemostasis heating area, and to detect the temperature of the heating wire.

[0089] In this embodiment, the water inlet device is connected to the water inlet through the first joint 410, and the negative pressure device is connected to the residue outlet through the second joint 420.

[0090] In this embodiment, the rotary cutting device 230 can directly crush the tissue during the process of rotary cutting of the prostate hyperplasia tissue. The shield principle is used in the rotary cutting process (wherein the second cylinder 300 plays a protective supporting role), the feeding amount of the second cylinder 300 is large, and the cutting efficiency is high. At the same time, the tool bit brings the tissue residue into the machine body through the hole of the second cylinder 300 and discharges it under negative pressure, and the operation efficiency is high.

[0091] Referring to Figure 2 and Figure 6 The rotary cutting device 230 is a double-thread multi-tooth arc-shaped tool bit. The double-thread multi-tooth arc-shaped tool bit has a double-thread cross-shaped tool tooth cutting part, which is used for rotary cutting of the prostate hyperplasia tissue and directly crushing the tissue. The arrangement of the double-thread cross-shaped tool tooth cutting part increases the cutting area and the cutting force, and can more quickly and accurately remove the target area of the prostate tissue.

[0092] In this embodiment, the length of the double-thread multi-tooth arc-shaped tool bit is about 1.5-2 cm, and the diameter is preferably 4 mm. The length of the through hole is preferably 1.5 cm, and the arc length is about 0.6 cm.

[0093] The maximum outer diameter of the rotary cutting device 230 is smaller than the inner diameter of the semi-enclosed protection layer, which ensures the accurate rotary cutting of the target area by the rotary cutting device 230.

[0094] The shield method prostate resection operation robot disclosed in the application, the slag discharge pipeline formed by the inner wall of the second cylinder and the outer side of the third cylinder, and the negative pressure device arranged on the outer side of the second cylinder and communicated with the slag discharge pipeline. In the operation process, the tissue slag generated by the cutting device cutting the prostate tissue can be discharged outside in time under the action of negative pressure through the slag discharge pipeline, which helps to keep the operation field clear and avoid the accumulation of tissue slag in the operation area, which affects the judgment of the operation situation by the doctor, and also reduces the risk of postoperative infection and other complications caused by tissue slag residue. The presence of the negative pressure device can keep the pressure environment of the operation area relatively stable, prevent blood and tissue fluid from splashing during the operation process, and provide a relatively clean and stable environment for the operation, which is beneficial to improve the safety and accuracy of the operation. The driving motor in the shield electric cutting rotary device provides power for the cutting device and can realize high-speed rotary cutting. This rotary cutting method is more accurate and efficient than traditional manual cutting, which can quickly and accurately cut the prostate tissue, reduce the operation time, and reduce the pain and operation risk of the patient. The driving motor is installed inside the third cylinder, which makes the whole rotary device compact in structure and small in space occupation, which is beneficial to the operation in the limited internal space and improves the operability of the robot in the human body. The first shell section of the second cylinder forms a semi-enclosed protective layer, and the cutting device is located in the protective layer and forms a tissue slag collection cavity. This not only effectively collects the tissue slag during cutting to prevent it from splashing everywhere, but also protects the cutting device from external interference and damage. The second cylinder has the freedom to move along the inside of the first cylinder, which allows the cutting device to operate at different positions as needed, making it more flexible to adapt to the cutting needs of different parts of the prostate, improving the accuracy and comprehensiveness of the operation. The electrocoagulation hemostasis device installed in the end protection area can electrocoagulate and hemostasis the wound at the same time as the cutting device cuts the tissue, which can effectively reduce the amount of bleeding during the operation, keep the operation field clear, reduce the risk of excessive bleeding during the operation, and also be beneficial to the healing of the postoperative wound. The optical fiber imaging device arranged on the outer side of the second cylinder can obtain real-time image information of the target area and rotary cutting information when the cutting device is working. The doctor can accurately understand the situation of the operation area, including the shape, position of the prostate tissue and the cutting effect of the cutting device, so as to timely adjust the operation strategy and operation, improve the accuracy and safety of the operation. The optical fiber imaging device is matched with the first shell section, which can ensure that the angle and range of the obtained image are more reasonable, avoid image blind area, and provide a more comprehensive and clear operation field for the doctor.The monitoring control device arranged in the first barrel can collect the robot pose information in real time. Through the information, the doctor can accurately know the position and attitude of the robot in the body, so as to more accurately control the movement of the robot, ensure that the reaming device can accurately reach the target position for operation, and improve the accuracy and success rate of the operation.

[0095] The shield method prostate resection operation robot disclosed in the application can ensure that the reaming device accurately resects the prostate tissue and reduces the damage to the surrounding normal tissue, the electric coagulation hemostasis device can timely stop bleeding and reduce the amount of bleeding during operation, the negative pressure device timely discharges tissue slag and keeps the operation field clear, the monitoring control device ensures that the robot operates according to the set path and improves the safety of the operation, the outer diameter of the second barrel is not more than 8 mm, the size is small, the trauma to the patient is small, and the patient recovers quickly after operation, and the design of the double-thread multi-tooth arc-shaped cutter head improves the cutting efficiency and can quickly resect the prostate tissue and shorten the operation time.

[0096] The shield method prostate resection operation robot disclosed in the application can ensure that the reaming device accurately resects the prostate tissue and reduces the damage to the surrounding normal tissue, the electric coagulation hemostasis device can timely stop bleeding and reduce the amount of bleeding during operation, the negative pressure device timely discharges tissue slag and keeps the operation field clear, the monitoring control device ensures that the robot operates according to the set path and improves the safety of the operation, the outer diameter of the second barrel is not more than 8 mm, the size is small, the trauma to the patient is small, and the patient recovers quickly after operation, and the design of the double-thread multi-tooth arc-shaped cutter head improves the cutting efficiency and can quickly resect the prostate tissue and shorten the operation time.

[0097] Specifically, in a first aspect, the first barrel has a supporting effect on the tissue during operation, and can prevent the uncut tissue from being accidentally sucked into the negative pressure channel, thereby protecting the tissue; on the other hand, the concept of the shield method prostate resection operation robot is innovatively applied to prostate surgery, efficiently resects the hyperplastic tissue, protects and supports the uncut tissue, and synchronously discharges the slag, thereby realizing the integrated operation design of shield, construction and discharge in prostate surgery; the concept of shield operation has not been proposed and applied in the field of prostate surgery.

[0098] The rotary side cutting operation method considers the particularity of prostate hyperplasia surgery, the tissue to be cut is located on both sides of the urethra, the rotary side cutting of the surgical knife can effectively complete the cutting task on both sides and protect the tissue in the non-task area; on the other hand, the rotary cutting mode driven by the driving motor (preferably a direct current motor) has obvious efficiency improvement compared with manual cutting and simultaneously realizes cutting and crushing. The conventional operation method greatly damages the prostate capsule and urethra, increases the postoperative recovery difficulty and patient pain, and the innovative rotary side cutting operation method of the application effectively protects the prostate capsule tissue at the bladder part and recovers quickly after operation. The rotary side cutting operation method has not been proposed and applied in the field of prostate surgery.

[0099] The steps of performing the prostate hyperplasia surgery by using the shield method prostate resection surgery robot are as follows:

[0100] Step 1: The shield method prostate resection surgery robot is sent into the urethra prostate urethra by the resectoscope sheath, and the robot body is tilted to one side of the prostate hyperplasia tissue by the DC motor driving system in the shield resection rotation system, and the double-thread multi-tooth arc-shaped cutter head is rotated and cut, the cutting distance is set in the main control circuit (i.e. control module) according to the preoperative diagnosis of the doctor.

[0101] Step 2: In the cutting process, the double-thread multi-tooth arc-shaped cutter head completes the cutting of the tissue surface in the envelope range of the second cylinder opening, the robot body is shielded forward until the cutting path of the hyperplasia tissue on one side is traversed. The doctor operates the powered device to start the electrocoagulation hemostasis.

[0102] During the cutting process of the resection rotation cutter head, the negative pressure device starts to discharge slag throughout the process, the optical fiber imaging system transmits the operation picture in real time, the position and attitude sensor in the sensing and control system measures the position and attitude change of the robot body in real time, and sends the information to the main control circuit. By comparing with the set path, the motor adjusts the position of the robot body, so as to ensure that the operation is strictly according to the predetermined track, ensure the accuracy and prevent the damage of prostate capsule.

[0103] Step 3: The robot returns to the urethral orifice and tilts to the other side of the hyperplasia tissue, and repeats the above operation steps according to the path of the main control circuit, and completes the cutting of the hyperplasia tissue on the other side.

[0104] The basic principles of the present disclosure are described above in combination with specific embodiments, but it should be pointed out that the advantages, advantages, effects and the like mentioned in the present disclosure are only examples and cannot be considered as the must-have of each embodiment of the present disclosure. In addition, the above specific details are only for the purpose of example and understanding, and the above details do not limit the present disclosure to the above specific details.

[0105] In this disclosure, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The block diagram of the devices, apparatus, equipment, systems referred to in this disclosure is merely illustrative and not intended to imply the necessity or arrangement of the connections, arrangement, configuration as shown in the block diagram. As will be appreciated by those skilled in the art, the devices, apparatus, equipment, systems can be connected, arranged, configured in any manner. The words comprising, including, having and the like are to be open ended. As used in this document, the conjunction "or" is to be interpreted in the inclusive sense, i.e. as meaning one or the other, or both. As used in this document, the words "and" and "or" are to be interpreted as having the meaning indicated in the phrase "and / or". As used in this document, the word "such as" is to be interpreted as meaning "such as, but not limited to". As used in this document, the word "for example" is to be interpreted as meaning "by way of example, not by way of limitation".

[0106] Also, as used in this document, the word "or" in the cases used to introduce list items is to be interpreted in the exclusive sense, i.e. as meaning one or the other, but not both. In addition, the phrase "example of" does not mean an example of the preferred or only example, and the phrases "for example" and "such as" do not mean that a list of following items is an exhaustive list.

[0107] It is also important to note that the systems and methods of the present disclosure can be embodied in a variety of forms including, but not limited to, a data processor, a computer program product, a computer, one or more components of a computer, software, and combinations of the same. As used in this document, the term "data processor" encompasses one or more programmable processors, microprocessors, microcontrollers, microcoφrocessors, central processing units, digital signal processors, application specific integrated circuits, logic circuits, and combinations of the same.

[0108] Various changes, modifications and improvements in the technologies described herein can be made without departing from the teachings of the teachings defined by the appended claims. Moreover, the scope of the claims of this disclosure is not limited to the specific aspects described above. Processes, machines, manufacture, and improvements, compositions of matter, means, methods, and steps for achieving the same can utilize current or later-developed equivalents, and recitations of the preferred sets of alternatives are intended to be supported by the language in this document. Accordingly, the appended claims include within their scope the support of such processes, machines, manufacture, and improvements, compositions of matter, means, methods, and steps.

[0109] The above description of the disclosed aspects is intended to be illustrative and not restrictive. Many variations of the aspects described herein will be apparent to those of skill in the art upon reviewing the above description. The scope of the aspects should, therefore, be determined not with reference to the above description, but instead should be determined with reference to the appended claims, along with their full scope of equivalents. The disclosure is not intended to be limited to the aspects described herein, but is intended to be accorded the wide scope consistent with the language of the following claims.

[0110] The foregoing description has been presented for the purposes of illustration and description. Furthermore, the description is not intended to limit the embodiments of the disclosure to the forms disclosed herein. Although the various example aspects and embodiments have been described herein with regard to particular aspects and embodiments, those skilled in the art will recognize that certain modifications, changes, substitutions, additions and sub-combinations can be made without departing from the spirit of the disclosure.

Claims

1. A robot for prostatectomy using the shield tunneling method, characterized in that, include: The first cylinder has an inlet on its outer side for connecting to an inlet device; the water is introduced through the urethra. The second cylinder, located inside the first cylinder, has a slag discharge port on its side, which is equipped with a negative pressure device. A push-pull device is installed at one end of the second cylinder, which allows the second cylinder to move freely within the first cylinder under the action of the push-pull device. A through hole is provided on the side of the other end of the second cylinder. The shield electro-cutting rotary device, located inside the second cylinder, includes a third cylinder, a drive motor installed inside the third cylinder, and a rotary cutting device installed at the power output end of the drive motor. A through-hole serves as the working area of ​​the rotary cutting device, and the end region of the second cylinder containing the through-hole forms a semi-enclosed protection zone for the rotary cutting device, which in turn forms a tissue residue collection chamber. In the conveying state, the rotary cutting device is located inside the first cylinder. In the operating state, the second cylinder, under the action of a push-pull device, pushes the rotary cutting device out of the first cylinder to the prostate hyperplasia tissue. The extended rotary cutting device is located in the area to be cut, and the semi-enclosed protection zone is located on the opposite side of the area to be cut. During operation, the rotary cutting device directly pulverizes the prostate hyperplasia tissue during rotational cutting, and the rotary cutting device carries the tissue residue into the machine body through the through-hole for negative pressure discharge. The outward displacement of the second cylinder does not exceed 2cm; The second cylinder includes a first shell section and a second shell section. The through hole is opened in the first shell section, and the end of the first shell section is a smooth arc surface. The first shell section includes a side protection zone and an end protection zone, which together form a semi-enclosed protection zone. The maximum outer diameter of the rotary cutting device is smaller than the inner diameter of the semi-enclosed protection zone. The rotary cutting device is a double-threaded multi-tooth arc-shaped cutter head, the length of which is 1.5cm-2cm; A ring-shaped slag discharge pipe is formed between the inner wall of the second cylinder and the outer side of the third cylinder, which communicates with the tissue slag collection chamber, and the slag discharge pipe is connected to the slag discharge port. An electrocoagulation hemostasis device installed outside the semi-enclosed protected area; The fiber optic imaging device installed on the outside of the second cylinder is matched with the first shell section in the second cylinder and is used to acquire real-time image information of the target area and the cutting information of the rotary cutting device during operation. The monitoring and control device, located on the outside of the second cylinder, is used to collect robot pose information in real time.

2. The shield tunneling prostatectomy robot according to claim 1, characterized in that, The double-threaded multi-tooth arc-shaped cutter head has a double-threaded cross-shaped cutting tooth section.

3. The shield tunneling prostatectomy robot according to claim 2, characterized in that, The electrocoagulation hemostasis device includes an electrothermal wire disposed in the side protection zone and a wire connected to the electrothermal wire. The wire is attached to the outside of the second cylinder and has an insulating and heat-insulating protective layer.

4. The shield tunneling prostatectomy robot according to claim 2, characterized in that, A countersunk hole is provided on the inner side of the end protection zone; The rotary cutting device has a central through hole, and a directional shaft is provided in the central through hole; One end of the directional shaft is fixedly connected to the countersunk hole, and the other end passes through the central through hole and is fixedly connected to the power output end of the drive motor.

5. The shield tunneling prostatectomy robot according to claim 1, characterized in that, The push-pull device includes a fixing component, a push-pull rod connected to the fixing component, a push sleeve connected to the push-pull rod, and a push-pull ring; The fixing component includes a first engaging member and a second engaging member. The first engaging member is sleeved on the outside of the second cylinder and fixedly connected to the end of the first cylinder. The second engaging member is sleeved on the outside of the second cylinder and is located on the side of the first engaging member away from the first cylinder. Both the first engaging member and the second engaging member have the degree of freedom to move along the longitudinal central axis of the second cylinder. The push-pull rod includes a first rod connected to the second engaging member and a second rod connected to the push sleeve, and the second rod has a degree of freedom to rotate about the connection point with the first rod; the first rod has a degree of freedom to rotate about the connection point with the second engaging member; The push sleeve is fitted onto the outside of the third cylinder, and the end of the third cylinder is fixedly connected to the push-pull ring, with the connection between the third cylinder and the push-pull ring located inside the push sleeve; The push-pull ring is for the operator to hold.

6. The shield tunneling prostatectomy robot according to claim 5, characterized in that, The slag discharge port is located between the second engaging component and the push sleeve; In the conveying state, the first locking member and the second locking member are not connected, and the rotary cutting device is located inside the first cylinder; In operation, the first engaging member and the second engaging member are engaged and fixed, and the second cylinder is pushed by the push-pull device to extend the rotary cutting device out of the first cylinder.

7. The shield tunneling prostatectomy robot according to claim 6, characterized in that, The displacement of the second cylinder extending outward does not exceed 2cm.

8. The shield tunneling prostatectomy robot according to claim 1, characterized in that, The outer diameter of the second cylinder does not exceed 8 millimeters; The second cylinder is made of a high-strength biocompatible material.

9. The shield tunneling prostatectomy robot according to claim 1, characterized in that, The monitoring and control device includes several sensors disposed on the outside of the second cylinder and a control module installed at the end of the drive motor. All of the sensors are signal-connected to the control module. Several of the aforementioned sensors are used to collect real-time information about the robot and send it to the control module; the real-time information includes environmental information, robot position, and attitude change. The plurality of said sensors include pressure sensors and one or more of position sensors, attitude sensors, and temperature sensors; Both the pressure sensor and the temperature sensor are installed outside the semi-enclosed protection zone and do not interfere with the electrocoagulation hemostasis device.

10. The shield tunneling prostatectomy robot according to claim 1, characterized in that, The fiber optic imaging device and the electrocoagulation hemostasis device are configured to operate independently without interference. The fiber optic imaging device has an insulating and heat-resistant protective layer.

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