A suction and water injection hemostasis robot for neurosurgery

Abstract

The application discloses a suction and water injection hemostasis robot for neurosurgery, which comprises a suction and water injection device, a hemostatic forceps device and a control device; the suction and water injection device is quickly detachably installed at the end of a first robot or a first mechanical arm, and is used for realizing water injection and suction functions; the hemostatic forceps device is quickly detachably installed at the end of a second robot or a second mechanical arm, and is used for realizing a hemostasis function; and the control device is used for controlling the suction and water injection device, the hemostatic forceps device, the first robot, the first mechanical arm, the second robot and the second mechanical arm. The suction and water injection hemostasis robot can complete continuous operations such as flushing, blood and blood clot suction and fixed-point hemostasis on line, and can reduce the influence of manual tool holding and frequent tool replacement on a surgical process.

Description

Technical Field

[0001] This invention belongs to the field of surgical instrument technology, specifically relating to a suction and injection hemostasis robot for neurosurgery. Background Technology

[0002] With the development of neurosurgical robots and remote control technology, utilizing robotic systems to assist in craniocerebral surgery has gradually become an important direction for improving operational stability and reducing the burden of manual operation. During craniocerebral surgery, after drilling, local bleeding, blood accumulation, and residual blood or tissue fragments often occur, requiring immediate procedures such as irrigation, negative pressure aspiration, and electrocoagulation for hemostasis. Traditional procedures mainly rely on the surgeon manually holding the irrigation tube, suction device, and electrocoagulation forceps, necessitating frequent instrument changes. Furthermore, manual operation is easily affected by hand stability, confined surgical space, endoscopic obstruction of vision, and the need for multiple instruments. For neurosurgical robots, if they only possess a single operational function, it is still difficult to complete continuous intraoperative cleaning and hemostasis, and rapid instrument changes are not possible. Therefore, a neurosurgical assistive robot system that integrates aspiration, irrigation, hemostasis, visual acquisition, and remote control functions is needed.

[0003] Existing neurosurgical robots can functionally perform irrigation, aspiration, and electrocoagulation hemostasis, but they still rely on manual operation by the surgeon, resulting in multiple instruments being separate and unable to coordinate efficiently. For example, Chinese patent CN100345666C discloses a "neurosurgery robot" in which the robot's fingers are equipped with irrigation and aspiration systems, and can replace instruments such as hemostatic clips, tissue scissors, and aspiration tubes as needed to complete surgical procedures such as hemostasis, resection, and cleaning. However, it does not provide a detailed design for the integration, rapid replacement, and specific drive structure of the aspiration and irrigation device and the bipolar electrocoagulation forceps hemostasis module. Chinese patent CN119896512A discloses a "visualized brain hematoma removal device and hematoma removal system." This solution sets up an irrigation tube and an aspiration tube in a composite tube, and sets an irrigation port, an aspiration port, and an endoscope at the end, enabling visualized irrigation and aspiration during brain hematoma removal. However, it does not have a robotic system structure that allows for coordinated switching with the bipolar electrocoagulation forceps hemostasis module. Chinese patent CN206777396U discloses "a bipolar electrocoagulation forceps for neurosurgery", which achieves forceps tip clamping through a handle pushing device, wedge-shaped pushing component and other structures. It mainly solves the clamping action of the bipolar electrocoagulation forceps itself, but does not solve the problems of installing the electrocoagulation forceps with the robot end and operating in conjunction with the water injection and aspiration module.

[0004] In summary, while existing solutions involve neurosurgical robots, irrigation and aspiration devices, and electrocoagulation forceps structures, they remain at the level of single-module development or single functional modules, failing to form a complete aspiration, irrigation, and hemostasis system for neurosurgical robot applications. Furthermore, existing irrigation and aspiration devices and hemostasis devices primarily focus on tubing, composite tubing, and the forceps themselves, lacking the ability to be quickly installed on different robot ends, and making it difficult to ensure the stability of the tool ends at bleeding points and hematoma sites for extended periods. Therefore, this leads to frequent changes of irrigation, aspiration, and hemostasis tools during surgical procedures, relying heavily on manual intervention, and easily causing problems such as discontinuous surgical operations and slow tool change speeds. Summary of the Invention

[0005] To address the aforementioned problems in existing technologies, this invention provides a suction and injection hemostasis robot for neurosurgery. This robot integrates a suction and injection device, a hemostatic forceps device, a quick-change module, a vision acquisition module, and a remote control module into the same system, enabling the robot to perform continuous operations such as flushing, blood and clot aspiration, and targeted hemostasis online, while reducing the impact of manual instrument handling and frequent instrument changes on the surgical process.

[0006] To achieve the above objectives, the present invention adopts the following specific technical solution:

[0007] This invention provides a suction and injection hemostasis robot for neurosurgery, which includes a suction and injection device, a hemostatic forceps device, and a control device. The water injection and suction device can be quickly and detachably installed at the end of the first robot or the first robotic arm to realize the functions of water injection and suction. The hemostatic forceps device can be quickly and detachably installed at the end of the second robot or the second robotic arm to achieve hemostasis. The control device is used to control the aspiration and injection device, the hemostatic forceps device, the first robot, the first robotic arm, the second robot, and the second robotic arm.

[0008] Furthermore, the suction and injection device includes a water injector module, a suction module, and a suction and injection platform; The water injector module is used to implement the water injection function and includes a fluid control valve, an infusion hose, a water injection pipeline, and a water injection motor. The fluid control valve is a two-way valve, including a two-way valve body, a two-way valve core, and a two-way valve stem. The two-way valve body and the water injection motor are both fixedly installed on the suction water injection platform. One end of the two-way valve body is connected to the infusion hose, and the other end is connected to the water injection pipeline. The output shaft of the water injection motor is drivenly connected to the two-way valve stem, and is used to control the rotation of the valve core in the two-way valve body through the two-way valve stem, thereby controlling the opening and closing of the infusion hose and the water injection pipeline. The water injection pipeline is used to deliver irrigation fluid to the surgical area. The suction module is used to implement the suction function and includes a suction device, a suction device holder, a sensor-slider connector, a force sensor, and a linear module. The linear module is fixedly installed on the suction water injection platform and is used to drive the sensor-slider connector to achieve reciprocating linear motion along the extension direction of the suction device. The force sensor is fixedly connected between the sensor-slider connector and the suction device holder. The suction device holder is slidably installed on the sensor-slider connector along the extension direction of the suction device. The suction device is fixedly installed on the suction device holder. The water suction and injection platform can be quickly and detachably installed on the first robot or the first robotic arm; The control device is signal-connected to the water injection motor, the force sensor, and the linear module, and is used to control the water injection motor and the linear module.

[0009] Furthermore, the water injection device also includes a water injection pipe clamp and a camera module. One end of the water injection pipeline clamp is fixedly installed on the suction water injection platform to clamp and fix the water injection pipeline. The camera module is fixedly installed at one end of the suction and water injection platform facing the outlet of the water injection pipeline, and is used to collect images of the operating area of ​​the water injection pipeline and the suction device. The control device is connected to the camera module via a signal.

[0010] Furthermore, the water injector module also includes two upper parts of two two-way valve holders, a lower part of two-way valve holders corresponding to the upper parts of the two-way valve holders, a motor coupling, and a spring clip corresponding to the upper parts of the two-way valve holders. The lower parts of both two two-way valve holders are fixedly installed on the suction and injection platform and located on both sides of the two-way valve body; one end of the upper part of each two-way valve holder is hinged to the lower part of the corresponding two-way valve holder by a pin, and the other end is hinged to one end of the corresponding spring clip by a pin; the other end of each spring clip is locked to the lower part of the corresponding two-way valve holder; the connection parts of the two-way valve body with the infusion hose and the injection pipeline are respectively fixed by the upper part of the corresponding two-way valve holder, the lower part of the two-way valve holder, and the spring clip. One end of the motor coupling is connected to the valve stem of the two-way valve via a locking engagement, and the other end is fixedly connected to the output shaft of the motor via a set screw and a locking engagement. Both the infusion hose and the water injection line are fixedly connected to the two-way valve body via Luer connectors.

[0011] Furthermore, the suction clamp includes two upper suction clamps, one lower suction clamp, and spring clips corresponding to the upper suction clamps. One end of the lower part of the suction clamp is fixedly connected to the force sensor and is slidably mounted on the sensor-slider connector; The upper parts of the two suction device holders are spaced apart along the extension direction of the suction device; One end of the upper part of the suction clamp is hinged to the lower part of the suction clamp via a pin, and the other end is hinged to one end of the corresponding spring buckle two via a pin; the other end of the spring buckle two is locked to the lower part of the suction clamp. The suction device is secured by the upper part of the suction device holder, the lower part of the suction device holder, and the spring buckle.

[0012] Furthermore, the sensor-slider connector is fixedly connected to the slider of the linear module one.

[0013] Furthermore, the hemostatic forceps device includes a hemostatic forceps platform, a second force sensor, a forceps holder, a bipolar electrocoagulation hemostatic forceps, a second linear module, a second camera module, and a forceps clamping component; The hemostatic forceps platform can be quickly and detachably installed on the second robot or the second robotic arm; The second force sensor is fixedly connected between the hemostatic forceps platform and the forceps holder; The forceps holder is used to hold and fix the fixed end of the bipolar electrocoagulation hemostatic forceps; Both the linear module 2 and the camera module 2 are fixedly installed on the hemostatic forceps platform; the linear module 2 drives the forceps clamping member to slide back and forth along the forceps arm of the bipolar electrocoagulation hemostatic forceps, and is used to control the forceps tip of the bipolar electrocoagulation hemostatic forceps through the forceps clamping member; the camera module 2 is used to acquire images of the operating area of ​​the bipolar electrocoagulation hemostatic forceps. The control device is connected to the second force sensor, the second linear module, the bipolar electrocoagulation hemostatic forceps, and the second camera module, and is used to control the second linear module and the bipolar electrocoagulation hemostatic forceps.

[0014] Furthermore, the tweezers holder includes a left tweezers holder, a right tweezers holder, and a spring clip. The left part of the forceps holder is fixedly connected to the second force sensor; one end of the right part of the forceps holder is hinged to the left part of the forceps holder by a pin, and the other end is hinged to one end of the third snap spring by a pin; the other end of the third snap spring is locked and fixed between the left part of the forceps holder; the fixed end of the bipolar electrocoagulation hemostatic forceps is surrounded and fixed by the left part of the forceps holder, the right part of the forceps holder, and the third snap spring; The tweezer clamping component is fixedly connected to the slider of the second linear module.

[0015] Furthermore, the suction and injection platform is connected to the first robot or the first robotic arm, and the hemostatic forceps platform is connected to the second robot or the second robotic arm via quick-release mechanisms.

[0016] Furthermore, it also includes a remote control module that is signal-connected to the control device.

[0017] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: 1. The suction and injection hemostasis robot of the present invention integrates the suction and injection device and the hemostasis forceps device into a neurosurgical robot system. Compared with the existing single irrigation and suction device or separate bipolar electrocoagulation forceps, it can complete surgical area observation, irrigation, suction, hemostasis and feedback control on the same platform, with higher system integrity and integration.

[0018] 2. The aspiration and injection hemostasis robot of the present invention enables the aspiration and injection device and the hemostatic forceps device to be quickly installed onto a robotic arm, a small robot, or other end-effector platform through a quick-release mechanism. Compared with the traditional fixed installation or manual hand-held use of instruments, the present invention has better modularity and adaptability, facilitating quick disassembly and replacement according to different surgical equipment or different operational needs.

[0019] 3. The aspiration and water injection device of the present invention adopts a compact arrangement, making the water injection end and the suction end close in space. After the water injection pipeline flushes the bleeding area, the suction device can promptly aspirate blood, blood clots and tissue fragments at adjacent locations, reducing the diffusion of flushing fluid and blood, and minimizing the impact on the endoscopic field of vision and subsequent surgical procedures.

[0020] 4. The hemostatic forceps device of the present invention drives the bipolar electrocoagulation forceps to close by cooperating with the clamp and the linear module; compared with the traditional method of doctors manually pressing the electrocoagulation forceps, this structure can be controlled by the robot to close the forceps tip, making the clamping position and closing process more stable. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the aspiration and injection hemostasis robot of the present invention; Figure 2 This is a schematic diagram of the water suction and injection device. Figure 3 This is a structural schematic diagram of the water injector module; Figure 4 This is a schematic diagram of the attractor module. Figure 5 A schematic diagram of the hemostatic forceps device; Figure 6 - A schematic diagram of the water injection process for the water injector module; Figure 7 - A schematic diagram of the hemostasis process using hemostasis forceps; Figure 8 - Schematic diagram of the installation structure of a small robot-suction water injection device.

[0022] Figure label: 1-Aspiration and water injection device, 2-Hemostatic forceps device, 11-Water injection module, 12-Aspirator module, 13-Water injection tubing clamp, 14-Aspiration and water injection platform, 15-Camera module one, 111-Upper part of two-way valve clamp, 112-Lower part of two-way valve clamp, 113-Two-way valve body, 114-Two-way valve stem, 115-Motor coupling, 116-Spring clip one, 117-Infusion tubing, 118-Water injection tubing, 119-Water injection motor, 121-Aspirator, 122-Upper part of aspirator clamp, 123-Lower part of aspirator clamp, 124-Spring clip two, 125-Sensor-sliding device Block connector, 126-Force sensor one, 127-Linear module one, 21-Hemostatic forceps platform, 22-Force sensor two, 23-Left part of forceps holder, 24-Right part of forceps holder, 25-Spring buckle three, 26-Bipolar electrocoagulation hemostatic forceps, 27-Linear module two, 28-Camera module two, 29-Forceps clamping component, 261-Electrocoagulation forceps connector, 262-Forceps arm, 263-Forceps tip, 291-Force sensor three, 31-Quick-change male head, 32-Quick-change female head, 33-Robotic arm, 41-Small robot, 42-Suction device-Small robot quick-release male head, 43-Suction device-Small robot quick-release female head. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] like Figure 1 As shown in the structure, this embodiment provides a suction and injection hemostasis robot for neurosurgery. The robot includes a suction and injection device 1, a hemostatic forceps device 2, and a control device. The suction and injection device 1 can be quickly and detachably installed at the end of a first robot or a first robotic arm to achieve injection and suction functions. The hemostatic forceps device 2 can be quickly and detachably installed at the end of a second robot or a second robotic arm to achieve hemostasis. The control device controls the suction and injection device 1, the hemostatic forceps device 2, the first robot, the first robotic arm, the second robot, and the second robotic arm. Figure 1 The first and second robotic arms are not distinguished in the text and are collectively referred to as robotic arm 33.

[0025] like Figure 2As shown, the aforementioned suction and water injection device 1 includes a water injector module 11, a suction module 12, a water injection pipe clamp 13, a suction and water injection platform 14, and a camera module 15. The suction and water injection platform 14 can be quickly and detachably installed on the first robot or the first robotic arm. The water injector module 11 and the suction module 12 are installed side by side on the suction and water injection platform 14.

[0026] like Figure 3 As shown, the water injector module 11 is used to realize the water injection function and includes a fluid control valve, a motor coupling 115, an infusion hose 117, a water injection line 118, and a water injection motor 119. The fluid control valve is a two-way valve and includes a two-way valve body 113, a two-way valve stem 114, and a two-way valve core. The two-way valve body 113 and the water injection motor 119 are both fixedly installed on the suction water injection platform 14. One end of the two-way valve body 113 is connected to the infusion hose 117, and the other end is connected to the water injection line 118. The output shaft of the water injection motor 119 is drivenly connected to the two-way valve stem 114, and is used to control the rotation of the valve core in the two-way valve body 113 through the two-way valve stem 114, thereby controlling the opening and closing of the infusion hose 117 and the water injection line 118. The water injection line 118 is used to deliver irrigation fluid to the surgical area. The control device is connected to the water injection motor 119 signal and camera module 15 to control the water injection motor 119. One end of the water injection pipe clamp 13 is fixedly installed on the suction water injection platform 14 to clamp and fix the water injection pipe 118. The camera module 15 is fixedly installed on the end of the suction water injection platform 14 facing the outlet of the water injection pipe 118 to acquire images of the operating area of ​​the water injection pipe 118 and the suction device 121.

[0027] To achieve the fixed installation of the two-way valve body 113 on the suction and injection platform 14, such as Figure 3As shown, the water injector module 11 also includes two upper two-way valve holders 111, lower two-way valve holders 112 corresponding to the upper two-way valve holders 111, and spring clips 116 corresponding to the upper two-way valve holders 111. The two lower two-way valve holders 112 are fixedly installed on the suction water injection platform 14 and located on both sides of the two-way valve body 113. One end of each upper two-way valve holder 111 is hinged to the corresponding lower two-way valve holder 112 via a pin, and the other end is hinged to one end of the corresponding spring clip 116 via a pin. The other end of each spring clip 116 is locked to the lower part 112 of the corresponding two-way valve holder. The engagement of the spring clip 116 with the lower part 112 of the two-way valve holder achieves a circumferential locking of the upper part 111 of the two-way valve holder, the lower part 112 of the two-way valve holder, and the spring clip 116. The connection between the two-way valve body 113 and the infusion hose 117 and the water injection line 118 is respectively fixed by the circumferential locking of the corresponding upper part 111 of the two-way valve holder, the lower part 112 of the two-way valve holder, and the spring clip 116. One end of the motor coupling 115 is connected to the two-way valve stem 114 by a form-locking connection, and the other end is fixedly connected to the output shaft of the motor by a set screw and a form-locking connection. The infusion hose 117 and the water injection line 118 are both fixedly connected to the two-way valve body 113 by Luer connectors.

[0028] like Figure 4As shown, the suction module 12 is used to implement the suction function and includes a suction device 121, a suction device holder, a sensor-slider connector 125, a force sensor 126, and a linear module 127. The linear module 127 is fixedly installed on the suction water injection platform 14 and is used to drive the sensor-slider connector 125 to achieve reciprocating linear motion along the extension direction of the suction device 121. The force sensor 126 is fixedly connected between the sensor-slider connector 125 and the suction device holder. The suction device holder is slidably installed on the sensor-slider connector 125 along the extension direction of the suction device 121, so that the suction device holder can only slide along the extension direction of the suction device 121. In this embodiment, the suction device 121 is a tubular component. The suction device 121 is fixedly installed on the suction device holder. A control device is signal-connected to the force sensor 126 and the linear module 127 and is used to control the linear module 127. The suction clamp includes two upper suction clamp portions 122, one lower suction clamp portion 123, and spring clips 124 corresponding to the upper suction clamp portions 122. One end of the lower suction clamp portion 123 is fixedly connected to a force sensor 126 and slidably mounted on a sensor-slider connector 125. The two upper suction clamp portions 122 are spaced apart along the extension direction of the suction device 121. One end of each upper suction clamp portion 122 is hinged to the lower suction clamp portion 123 by a pin, and the other end is hinged to one end of the corresponding spring clip 124 by a pin. The other end of the spring clip 124 is locked to the lower part 123 of the suction holder. The engagement of the spring clip 124 with the lower part 123 of the suction holder achieves a circumferential locking of the upper part 122 of the suction holder, the lower part 123 of the suction holder, and the spring clip 124. The suction device 121 is fixed by the circumferential locking of the upper part 122 of the suction holder, the lower part 123 of the suction holder, and the spring clip 124. The sensor-slider connector 125 is fixedly connected to the slider of the linear module 127. Both the linear module 127 and the linear module 27 can use a motor-screw nut slider assembly, or other linear modules. The outlet end of the water injection pipe 118 is adjacent to the suction end of the suction device 121, so that the blood, blood clots, or tissue fragments generated after the water injection module 11 irrigates the surgical area can be aspirated by the suction device 121.

[0029] like Figure 5As shown, the hemostatic forceps device 2 includes a hemostatic forceps platform 21, a second force sensor 22, a forceps holder, a bipolar electrocoagulation hemostatic forceps 26, a second linear module 27, a second camera module 28, and a forceps clamping member 29. The hemostatic forceps platform 21 can be quickly and detachably installed on the second robot or the second robotic arm 33. The second force sensor 22 is fixedly connected between the hemostatic forceps platform 21 and the forceps holder. The forceps holder is used to clamp and fix the fixed end of the bipolar electrocoagulation hemostatic forceps 26. The second linear module 27 and the second camera module 28 are both fixedly installed on the hemostatic forceps platform 21; the second linear module 27 drives the forceps clamping member 29 to slide back and forth along the forceps arm of the bipolar electrocoagulation hemostatic forceps 26, and is used to control the tip of the bipolar electrocoagulation hemostatic forceps 26 through the forceps clamping member 29. The second camera module 28 is used to acquire images of the operating area of ​​the bipolar electrocoagulation hemostatic forceps 26. The control device is connected to the force sensor 22, the linear module 27, the bipolar electrocoagulation hemostatic forceps 26, and the camera module 28, and is used to control the linear module 27 and the bipolar electrocoagulation hemostatic forceps 26.

[0030] The forceps holder includes a left forceps holder 23, a right forceps holder 24, and a spring clip 25. The left forceps holder 23 is fixedly connected to the force sensor 22. One end of the right forceps holder 24 is hinged to the left forceps holder 23 via a pin, and the other end is hinged to one end of the spring clip 3 via a pin. The other end of the spring clip 3 is locked and fixed between the left forceps holder 23 and the forceps holder 24. The fixed end of the bipolar electrocoagulation hemostatic forceps 26 is wrapped and fixed by the left forceps holder 23, the right forceps holder 24, and the spring clip 3. The forceps clamping member 29 is fixedly connected to the slider of the linear module 27.

[0031] In the aforementioned aspiration and injection hemostasis robot, the aspiration and injection platform 14 is connected to the first robot or the first robotic arm 33, and the hemostatic forceps platform 21 is connected to the second robot or the second robotic arm 33 via quick-release mechanisms. The quick-release mechanisms include a quick-release male connector and a quick-release female connector. The aforementioned aspiration and injection hemostasis robot also includes a remote control module that is signal-connected to the control device.

[0032] In addition, apart from the two-way valve body 113, the two-way valve stem 114, the infusion tubing 117, the water injection line 118, and the suction device 121, all other components are enclosed in a medical sterile cover. The suction, water injection, and hemostatic instruments are installed and replaced directly through the quick-release mechanism.

[0033] The water injection process of the above-mentioned suction and injection hemostasis robot is as follows: Figure 6As shown, the two-way valve stem 114 is normally closed. When it is necessary to inject water to clean the bleeding port, clean water flows in from the infusion hose 117 in the direction of the arrow. The output shaft of the water injection motor 119 rotates 90°, driving the two-way valve stem 114 to rotate. The two-way valve stem 114 drives the valve core inside the two-way valve body 113 to rotate. At this time, the water outlet of the valve core is connected to the entire pipeline. The clean water provided by the infusion hose 117 enters the water injection pipeline 118 through the water outlet to achieve water output.

[0034] The suction process of the above-mentioned suction and injection hemostasis robot is as follows: When the entire suction and injection device 1 moves with the robot to the vicinity of the bleeding point, the linear module 127 drives the suction device 121 to be fed linearly to the surface of the brain. The end of the suction device 121 sucks up blood, hematoma and other foreign objects and transports them to the outside. At this time, the force sensor 126 is used to provide feedback on the pressure when contacting the brain.

[0035] The hemostasis process of the above-mentioned suction and injection hemostasis robot is as follows: Figure 7 As shown, after the bipolar electrocoagulation hemostatic forceps 26 is held and fixed, the electrocoagulation wire is connected to the electrocoagulation forceps connector 261 of the bipolar electrocoagulation hemostatic forceps 26 through the external opening of the forceps holder 23. The forceps arm 262 of the bipolar electrocoagulation hemostatic forceps 26 is generally in an open state. First, the entire hemostatic forceps device 2 is driven by the robot to the bleeding surface. When the linear module 27 drives the forceps clamping member 29 to move downward in a straight line, due to the taper of the forceps arm 262 from the inside to the outside, its opening width will increase as it approaches the forceps tip 263. The rigid forceps clamping member 29 will force the elastic forceps arm 262 to fit inward. At this time, the force sensor 3 291 will be subjected to lateral pressure and transmit pressure data. The forceps tip 263 will also fit inward. The high-frequency current passes between the two ends of the forceps tip 263, causing the local tissue to be heated and coagulated, achieving the hemostatic effect. At the same time, when the forceps tip 263 touches the surface of the skull, the force sensor 22 will detect the pressure and provide feedback.

[0036] Rapid installation of neurosurgical end-effectors and external robotic arms, such as... Figure 8 As shown, the quick-change male connector 31 is fixedly connected to the suction and injection device 1 or the hemostatic forceps device 2 by bolts and nuts, and the quick-change female connector 32 is fixedly connected to the robotic arm 33. The suction and injection device 1 or the hemostatic forceps device 2 can be connected to the external robotic arm by pressing the button on the quick-change male connector 31 and inserting it into the corresponding hole. Meanwhile, as... Figure 8 As shown, the suction and injection device 1 can also be installed with an external small robot. The quick-release male connector 42 of the suction device-small robot is fixedly connected to the small robot 41, and the quick-release female connector 43 of the suction device-small robot is fixed to the suction and injection device 1 by bolts and nuts. The quick-release male connector 42 and the quick-release female connector 43 of the suction device-small robot are locked together by sliding insertion. The hemostatic forceps device 2 can be quickly installed on the small robot 41 in the same way.

[0037] The operation procedure of the aforementioned aspiration and injection hemostasis robot on the system is as follows: The operator first sends an operation command through the remote control module to the control device. The control device controls the movement of the robotic arm 33 / small robot body according to the operation command, so that the robot end effector moves to the vicinity of the surgical area. Subsequently, the robotic arm 33 / small robot body selects and installs the corresponding functional tools through the quick-release mechanism. For example, when it is necessary to clean the bleeding point, the aspiration and injection device 1 is installed, and the water source and negative pressure source are connected to the aspiration and injection device 1 from the outside of the robot. When hemostasis is required, the hemostatic forceps device 2 is installed. During the operation, the force sensor is used to detect the contact force between the robot end effector and the tissue, and feeds it back to the force feedback control device and the control device to adjust the movement mode. At the same time, the vision acquisition module acquires the image information of the surgical area and feeds the surgical area image back to the remote control module through the control device for the operator to judge.

[0038] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

[0039] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A suction and injection hemostasis robot for neurosurgery, characterized in that, Includes aspiration and injection device, hemostatic forceps device, and control device; The water injection and suction device can be quickly and detachably installed at the end of the robot to realize water injection and suction functions. The hemostatic forceps device can be quickly and detachably installed at the end of the robot to achieve hemostasis. The control device is used to control the aspiration and injection device, the hemostatic forceps device, and the robot.

2. The aspiration and injection hemostasis robot as described in claim 1, characterized in that, The suction and injection device includes a water injector module, a suction module, and a suction and injection platform; Both the water injector module and the suction module are installed on the suction water injection platform, which can be connected to the robot end effector via the quick-release mechanism.

3. The aspiration and injection hemostasis robot as described in claim 2, characterized in that, The water injection device includes a water injection pipeline, a fluid control valve, and a camera module. The water injection pipeline is used to deliver irrigation fluid to the surgical area, and the fluid control valve is used to control the on / off state or flow rate of the water injection pipeline; The camera module is fixedly installed at one end of the suction and water injection platform facing the outlet of the water injection pipeline, and is used to collect images of the operating area of ​​the water injection pipeline and the suction device. The control device is connected to the camera module via a signal.

4. The aspiration and injection hemostasis robot as described in claim 2, characterized in that, The aspirator module includes an aspirator, an aspirator clamping assembly, a force sensor, and an aspirator driving assembly. The suction clamping assembly is used to secure the suction device. The suction drive mechanism is used to drive the suction device closer to or away from the surgical area, and the sensor is used to detect the force applied to the suction device.

5. The aspiration and injection hemostasis robot as described in claim 4, characterized in that, The water outlet of the water injection pipe and the suction end of the suction device are arranged adjacent to each other, so that the blood, blood clots or tissue fragments generated after the water injection module rinses the surgical area can be suctioned by the suction device.

6. The aspiration and injection hemostasis robot as described in claim 2, characterized in that, The suction device is clamped and connected to the quick-release mechanism.

7. The aspiration and injection hemostasis robot as described in claim 1, characterized in that, The hemostatic forceps device includes a hemostatic forceps platform, a second force sensor, a pinch holder, a bipolar electrocoagulation hemostatic forceps, a forceps body drive structure, and a forceps clamping component. The hemostatic forceps platform can be connected to the end effector of a robot via the quick-release mechanism; The forceps holder is used to fix the bipolar electrocoagulation forceps hemostatic forceps, and the forceps body driving structure is used to drive the forceps clamping member to move relative to the bipolar electrocoagulation hemostatic forceps, so as to control the opening and closing of the forceps tip of the bipolar electrocoagulation hemostatic forceps to complete hemostasis. The control device is signal-connected to the second force sensor, the tweezers driving structure, and the second camera module, and is used to control the tweezers driving structure.

8. The aspiration and injection hemostasis robot as described in claim 7, characterized in that, The electrocoagulation hemostatic forceps are clamped and connected to the quick-release mechanism.

9. The aspiration and injection hemostasis robot as described in any one of claims 1-8, characterized in that, The suction and injection platform is connected to different types of robot ends, and the hemostatic forceps platform is connected to different types of robot ends via quick-release mechanisms.

10. The aspiration and injection hemostasis robot as described in any one of claims 1-8, characterized in that, It also includes a remote control module that is signal-connected to the control device.

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