Design of a hand-held surgical robot

Abstract

This invention discloses a handheld surgical robot design, comprising a linear actuator, shape memory alloy forceps, an extract recovery bag, a micro-mobile station, electric forceps, micro-motors, and a handheld surgical robot housing. The linear actuator and two micro-motors are respectively mounted inside the housing and on the micro-mobile station. The extract recovery bag is fixed to the shape memory alloy forceps and mounted on the moving end of the linear actuator. The electric forceps are fixed to the micro-mobile station, and the micro-motors control the opening and closing of the forceps and the forward and backward movement of the micro-mobile station. In actual use, the micro-mobile station controls the electric forceps to extend forward, the electric forceps to grasp the extract and then retract, and finally the linear actuator extends to collect the extract into the extract recovery bag. The handheld surgical robot design provided by this invention can be well used in minimally invasive abdominal surgery. By combining the extract recovery bag and electric forceps, compared with other extract recovery methods in abdominal surgery, this handheld surgical robot can safely remove extracts from the body without leakage.

Description

Technical Field

[0001] This invention belongs to the field of surgical instrument technology, specifically relating to the design of a handheld surgical robot. Background Technology

[0002] In traditional laparoscopic surgery, after removing the lesion, surgeons use disposable retrieval bags to extract the extract. This process involves using forceps to grasp the extract into the bag, which is then removed from the patient's body. While disposable retrieval bags play a crucial role in extract removal during traditional laparoscopic surgery, their use presents several challenges. First, their use demands a high level of surgical skill from the surgeon; as the surgery progresses, increased fatigue can reduce accuracy. Second, some retrieval bags remain open, potentially causing the extract to slip or fall out. Other bags have sealing rings that close after the extract is inserted, but these seals are permanent; once sealed, no further extract can be inserted.

[0003] For decades, reducing the invasiveness of surgery has been a primary goal in the field. In minimally invasive surgery, surgeons insert instruments from outside the patient's body through small ports leading to the target surgical site. While minimally invasive surgery has addressed many challenges associated with open surgery, a persistent issue in laparoscopic surgery is the removal of extracts from the abdominal cavity after separation from the target tissue or organ. Extract retrieval is primarily achieved through three methods: direct removal, fragmentation within an inflatable retrieval bag, and removal using a retrieval bag. Direct removal is used when the removed tissue will not cause any contamination of the abdominal cavity. Fragmentation within an inflatable retrieval bag is typically used when the extracted extract is large and removal requires an enlarged incision. In this case, a fragmenter is used to break the tissue into smaller fragments and remove them from the surgical area. If the extract is infectious (e.g., pseudomyxoma peritonei, chemical peritonitis, etc.), retrieval using a retrieval bag is necessary to prevent spillage and potential complications and the spread of malignancies.

[0004] Many researchers have investigated minimally invasive handheld surgical instruments. For example, Isakov et al. designed a laparoscopic powered fragmenter device with an electrically driven mesh, designed to significantly reduce the dispersion of shredded fragments into the abdominal cavity. This device is faster than traditional fragmenters and facilitates closed fragmentation of large resection extracts during laparoscopic surgery. Gafford et al. developed a soft, non-invasive, deployable surgical gripper with an onboard pressure sensor for handling soft tissue in laparoscopic pancreatic surgery. This gripper can be inserted into the abdomen via a 15 mm laparoscopic cannula, providing a compatible interface between delicate pancreatic tissue and metal laparoscopic forceps, potentially reducing the risk of bleeding. However, no specialized surgical machinery currently exists to achieve leak-free removal of extracts from narrow / restricted spaces such as the abdominal cavity. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems and provide a handheld surgical robot device that combines electric forceps and an extract recovery bag, which can safely remove extracts from the body without leakage.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is: a handheld surgical robot, characterized in that it includes a linear actuator, shape memory alloy forceps, an extract recovery bag, a micro-mobile station, electric forceps, micro-motors, and a handheld surgical robot shell. The linear actuator and two micro-motors are respectively installed inside the shell and on the micro-mobile station. The extract recovery bag is fixed to the shape memory alloy forceps and installed on the moving end of the linear actuator. The electric forceps are fixed to the micro-mobile station, and the opening and closing of the forceps and the forward and backward movement of the micro-mobile station are controlled by the micro-motors.

[0007] Preferably, the handheld surgical robot includes a handheld surgical robot shell and an upper cover plate; a linear actuator installed inside the shell; shape memory alloy forceps installed on the moving end of the linear actuator; an extract collection bag fixed to the shape memory alloy forceps; a micro-mobile station I, which can move back and forth and is placed on the shell via a micro-mobile station moving guide rail and a micro-mobile station fixing guide rail; electric forceps, which are installed on the micro-mobile station I via an electric forceps sleeve; and two micro motors, wherein a first micro motor is used to control the opening and closing action of the electric forceps, and a second micro motor is used to drive the back and forth movement of the micro-mobile station I.

[0008] Preferably, the micro motor includes a first micro motor and a second micro motor; the first micro motor is mounted on the first micro mobile station and is used to drive the second micro mobile station to move back and forth and control the opening and closing of the electric forceps; the second micro motor is mounted on the shell of the handheld surgical robot, and its motor shaft is coaxial with the moving guide rail of the micro mobile station and connected by a brass coupler, and is used to control the first micro mobile station to move back and forth along the moving guide rail of the micro mobile station.

[0009] Preferably, when the second micro mobile station moves backward relative to the first micro mobile station, the electric tweezers close; when the first micro mobile station moves forward, the electric tweezers sleeve, which is fixed with it, moves forward, causing the electric tweezers to extend forward.

[0010] Preferably, the shape memory alloy clamp has a retracted state and an extended state under the drive of the linear actuator; in the retracted state, the shape memory alloy clamp and the extract recovery bag are housed inside the shape memory alloy clamp sleeve; in the extended state, the shape memory alloy clamp and the extract recovery bag are pushed out of the shape memory alloy clamp sleeve.

[0011] Preferably, the movement trajectory of the first micro mobile station is parallel to the movement direction of the linear actuator; the first micro motor on the first micro mobile station controls the second micro mobile station to move back and forth by rotating the threaded rod; the second micro motor controls the first micro mobile station to move back and forth by rotating the micro mobile station moving guide rail, and the micro mobile station fixed guide rail supports the movement of the first micro mobile station.

[0012] Preferably, the upper cover is located on the upper side of the handheld surgical robot shell, which protects the entire handheld surgical robot.

[0013] Preferably, the method for recovering surgical extracts using the handheld surgical robot is characterized by the following steps: 1. A micro motor controls a micro-mobile station to move forward, extending the electric forceps; 2. A micro motor controls the electric forceps to close, grasping the target extract; 3. A micro motor controls the micro-mobile station to retract backward, retracting the electric forceps containing the extract; 4. A linear actuator is activated, driving a shape memory alloy clamp with an extract recovery bag to extend forward, moving the extract recovery bag in front of the electric forceps; 5. A micro motor controls the electric forceps to release, releasing the extract into the extract recovery bag.

[0014] Preferably, the handheld surgical robot is characterized in that the first micro motor, the second micro motor, and the linear actuator are powered by batteries, and the rotation direction of the two micro motors and the extension and retraction of the linear actuator are controlled by a micro control handle.

[0015] The beneficial effects of this invention are as follows: The handheld surgical robot provided by this invention, combining electric forceps and an extract retrieval bag, can safely remove extracts from the body without leakage, compared to other extract retrieval methods. Furthermore, the robot is controlled by a micro-handle, facilitating operation by the surgeon. Attached Figure Description

[0016] Figures 1 to 3 This is a schematic diagram illustrating the principle of a handheld surgical robot according to the present invention;

[0017] Figure 4 This is a schematic diagram of the working process of the present invention;

[0018] Explanation of reference numerals in the attached diagram: 1. Extraction bag 2. Shape memory alloy forceps 3. Shape memory alloy forceps sleeve 4. Upper cover plate 5. Electric forceps sleeve 6. Miniature mobile station guide rail 7. Miniature mobile station one 8. Miniature motor one 9. Miniature mobile station two 10. Miniature motor two 11. Brass coupler 12. Battery 13. Handle 14. Miniature control handle 15. Miniature mobile station fixing rail 16. Handheld surgical robot shell 17. Linear actuator 18. Electric forceps. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0020] like Figure 1 As shown, the present invention provides a handheld surgical robot, comprising a handheld surgical robot shell 16 and an upper cover plate 4; a linear actuator 17, which is installed inside the shell; a shape memory alloy forceps 2, which is installed on the moving end of the linear actuator; an extract collection bag 1, which is fixed to the shape memory alloy forceps 2; a micro-mobile station 7, which can move back and forth, and is placed on the shell via a micro-mobile station moving guide rail 6 and a micro-mobile station fixing guide rail 15; an electric forceps 18, which is installed on the micro-mobile station 7 via an electric forceps sleeve 5; and two micro motors, a first micro motor 8 for controlling the opening and closing of the electric forceps, and a second micro motor 10 for driving the back and forth movement of the micro-mobile station 7.

[0021] Figure 2The diagram shows the miniature mobile station section, which includes miniature mobile station 7, miniature mobile station 9, electric tweezers 18, electric tweezers sleeve 5, miniature motor 8, miniature motor 10, brass coupler 11, and miniature mobile station guide rail 6. The output shaft of miniature motor 10 is connected to miniature mobile station guide rail 6 via brass coupler 11, controlling the rotation of miniature mobile station guide rail 6. Miniature mobile station 7 is threadedly connected to miniature mobile station guide rail 6, allowing miniature mobile station 7 to move back and forth when miniature mobile station guide rail 6 rotates. Miniature mobile station 7 is fixed to electric tweezers sleeve 5, so electric tweezers 18 extends or retracts with miniature mobile station 7. Miniature motor 8 controls the back and forth movement of miniature mobile station 9, using the same principle as miniature motor 10 controlling miniature mobile station 7. Miniature mobile station 9 is connected to electric tweezers 18 and controls the opening and closing of electric tweezers 18.

[0022] Figure 3 The diagram shows the linear actuator section, which includes a linear actuator 17, an extract recovery bag 1, and a shape memory alloy clamp 2. The linear actuator 17 controls the extension and retraction of the shape memory alloy clamp 2 and the extract recovery bag 1. The shape memory alloy clamp 2 consists of four shape memory alloy plates and has a retracted state and an extended state. In the retracted state, the shape memory alloy plates are linear and constrained inside the shape memory alloy clamp sleeve 3. As the linear actuator 17 extends, the shape memory alloy clamp 2 is pushed out of the shape memory alloy clamp sleeve 3, thus entering the extended state. At this time, the extract recovery bag 1 unfolds as the shape memory alloy clamp 2 extends, capable of containing the extract.

[0023] like Figure 4 The diagram illustrates the steps of this invention in its specific application, using minimally invasive laparoscopic surgery as an example:

[0024] 1. The doctor inserts the shape memory alloy forceps sleeve 3 of the surgical robot into the patient's body through the minimally invasive surgical port;

[0025] Second, the doctor uses the micro control handle 14 to control the rotation of the second micro motor 10, thereby controlling the micro mobile station 7 to move forward, so that the electric forceps 18 extends to the target position.

[0026] Third, the doctor uses the micro control handle 14 to control the rotation of the first micro motor 8, which moves the second micro mobile station 9, and the electric forceps 18 closes to pick up the target extract.

[0027] IV. The doctor uses the micro control handle 14 to control the linear actuator 17 to extend, which drives the shape memory alloy forceps 2, which is equipped with the extract recovery bag 1, to extend forward. At this time, the shape memory alloy forceps 2 is in the extended state.

[0028] Fifth, the doctor uses the micro control handle 14 to control the rotation of the second micro motor 10, thereby controlling the micro mobile station 7 to move backward, so that the electric forceps 18 retracts into the extract collection bag 1, completing the collection of the target extract.

[0029] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A handheld surgical robot, characterized in that: The surgical robot comprises a handheld surgical robot housing (16) and an upper cover plate (4); a linear actuator (17) installed inside the housing; shape memory alloy forceps (2) installed on the moving end of the linear actuator; an extract recovery bag (1) fixed to the shape memory alloy forceps (2); a micro-mobile station (7) capable of back-and-forth movement, positioned on the housing via a micro-mobile station moving guide rail (6) and a micro-mobile station fixing guide rail (15); electric forceps (18) installed on the micro-mobile station (7) via an electric forceps sleeve (5); and a first micro motor (8) and a second micro motor (10), the first micro motor (8) controlling the opening and closing of the electric forceps, and the second micro motor (10) driving the back-and-forth movement of the micro-mobile station (7); the first micro motor is installed on the micro-mobile station (7). The upper part is used to drive the second micro-mobile station (9) to move back and forth and control the opening and closing of the electric forceps; the second micro-motor is installed on the shell of the handheld surgical robot, and its motor shaft is coaxial with the micro-mobile station moving guide rail (6) and connected by a brass coupler (11) to control the first micro-mobile station to move back and forth along the micro-mobile station moving guide rail (6); the shape memory alloy forceps (2) has a retracted state and an extended state under the drive of the linear actuator (17); in the retracted state, the shape memory alloy forceps (2) and the extract recovery bag (1) are stored in the shape memory alloy forceps sleeve (3); in the extended state, the shape memory alloy forceps (2) and the extract recovery bag (1) are pushed out to the outside of the shape memory alloy forceps sleeve (3); the handheld surgical robot includes the following usage steps: The first and second micro motors (10) control the micro mobile station (7) to move forward, so that the electric tweezers (18) extend from the shape memory alloy tweezer sleeve (3) and the extract recovery bag (1); 2. The No. 1 micro motor (8) controls the electric tweezers (18) to close and pick up the target extract; 3. The second micro motor (10) controls the micro mobile station 1 (7) to retract backward and retract the electric tweezers (18) holding the extract; 4. The linear actuator (17) is activated, driving the shape memory alloy clamp (2) on which the extract recovery bag (1) is installed to extend forward, so that the extract recovery bag (1) moves in front of the electric tweezers (18); Fifth, the No. 1 micro motor (8) controls the electric tweezers (18) to release the extract into the extract recovery bag (1).

2. The handheld surgical robot according to claim 1, characterized in that, When the second micro mobile station (9) moves backward relative to the first micro mobile station (7), the electric tweezers (18) closes; when the first micro mobile station (7) moves forward, the electric tweezer sleeve (5) fixed with it moves forward, causing the electric tweezers (18) to extend forward.

3. The handheld surgical robot according to claim 2, characterized in that, The movement trajectory of the first micro mobile station (7) is parallel to the movement direction of the linear driver (17); the first micro motor (8) on the first micro mobile station (7) controls the second micro mobile station (9) to move back and forth by rotating the threaded rod; the second micro motor (10) controls the first micro mobile station to move back and forth by rotating the micro mobile station moving guide rail (6), and the micro mobile station fixed guide rail (15) supports the movement of the first micro mobile station.

4. The handheld surgical robot according to claim 1, characterized in that, The upper cover (4) is located on the upper side of the shell (16) of the handheld surgical robot and plays a protective role for the entire handheld surgical robot.

5. The handheld surgical robot according to claim 1, characterized in that, The first micro motor (8), the second micro motor (10) and the linear actuator are powered by a battery (12). The rotation direction of the two micro motors and the extension and retraction of the linear actuator (17) are controlled by a micro control handle (14).

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