Surgical robot actuator suitable for hysteroscope surgical operation

Abstract

A surgical robot actuator suitable for hysteroscope surgical operation comprises a clamping part and a control part, and the clamping part is configured to fixedly install a surgical operator to ensure that the surgical operator does not shake in the surgical process; the control part is configured to drive the surgical operator to complete surgical actions; the clamping part comprises a main fixing plate, the main fixing plate provides fixing positions for parts of the clamping part and the control part, and the main fixing plate separates the clamping part from the control part; the control part comprises a shell, the shell is fixedly installed on the main fixing plate, and the control part further comprises a front bearing seat, a lead screw nut, a linear bearing, a guide rod, a lead screw, a rear bearing seat, a coupler, a motor, a shading piece and an infrared sensor. The actuator is easy to operate, and medical staff are not prone to being polluted by body fluid of a patient. And the sterile sleeve cannot be wound on a surgical operator.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical devices, and specifically relates to a surgical robot actuator suitable for hysteroscopic surgery. Background Art

[0002] Surgical robots are generally composed of three main parts: 1. Doctor control system; 2. 3D imaging video platform; 3. Robotic arm. Doctors obtain information about the patient's surgical site through the 3D imaging video platform, and then output operation instructions through the control system, and finally the robotic arm performs the surgical action. However, in general, the robotic arm only provides large surgical actions (somewhat similar to human arms), while detailed and specific surgical actions are completed by the surgical actuator connected to the end of the robotic arm (the function of the surgical actuator is similar to that of human palms and fingers).

[0003] Gynecological electrosurgical resection is a physical therapy operation, generally referring to hysteroscopic electrosurgical resection or cervical loop electrosurgical resection. Hysteroscopic electrosurgical resection generally refers to physical surgery performed under a hysteroscope, while cervical loop electrosurgical resection mainly uses a high-frequency radio knife to generate ultra-high frequency radio waves from the tip of the electrode to achieve the purpose of cutting and hemostasis. Both are commonly used to treat some gynecological diseases, and need to be treated under the guidance of a doctor according to the patient's actual situation.

[0004] At present, during electroresection surgery, the patient lies on the operating table in the lithotomy position. The surgeon sits in front of the patient's perineum and operates the electroresection scope to perform the surgery. The entire operation is also very physically demanding, and because the surgeon is in close proximity to the patient, he or she is easily contaminated by the patient's body fluids.

[0005] To meet the sterile environment requirements of the operating room, corresponding instruments need to use sterile covers. Existing surgical robot actuators do not have a suitable way to fix the sterile covers, which results in the sterile covers being entangled around the surgical manipulator after being tightened during use, hindering the movement of the surgical manipulator, and the front end of the sterile cover is prone to loosening. Utility Model Content

[0006] In view of the shortcomings of existing surgical robot actuators, the utility model example proposes a surgical robot actuator suitable for hysteroscopic surgery and having a sterile cover fixing structure. The surgical robot actuator suitable for hysteroscopic surgery includes a holding part and a control part, wherein the clamping part is configured to fix the surgical manipulator to ensure that the surgical manipulator does not shake during the operation; the control part is configured to drive the surgical manipulator to complete the surgical action. The surgical robot actuator suitable for hysteroscopic surgery proposed by the utility model is easy to operate, saves the doctor's physical strength, and the medical staff is not easily contaminated by the patient's body fluids; the sterile cover fixing method is scientific and reasonable, and will not be entangled on the surgical manipulator.

[0007] The utility model provides a surgical robot actuator suitable for hysteroscopic surgery, which includes a clamping part 100 and a control part 200, wherein the clamping part 100 is configured to fix and install a surgical manipulator to ensure that the surgical manipulator does not shake during the operation; the control part 200 is configured to drive the surgical manipulator to complete the surgical action;

[0008] The clamping part includes a main fixing plate 1, which provides a fixing position for the parts of the clamping part 100 and the control part 200, and the main fixing plate 1 separates the clamping part and the control part;

[0009] The control unit 200 includes a shell 2, which is installed and fixed on the main fixed plate 1. The control unit further includes a front bearing seat 3, a screw nut 4, a linear bearing 5, a guide rod 6, a screw 7, a rear bearing seat 8, a coupling 9, a motor 10, a shading member 11, and an infrared sensor 12.

[0010] According to a practical mode of the present invention, for example, the lead screw nut 4 is assembled through the lead screw 7, the linear bearing 5 is assembled through the guide rod 6, the lead screw 7 and the guide rod 6 are installed between the front bearing seat 3 and the rear bearing seat 8, and fixed by tightening screws; the front bearing seat 3 and the rear bearing seat 8 are fixedly installed on the main fixed plate 1; the motor 10 is connected and fixed to the lead screw 7 through the coupling 9; the infrared sensor 12 is installed and fixed on the main fixed plate 1.

[0011] According to one embodiment of the present invention, for example, the shading member 11 is mounted on the lead screw nut 4 and can perform telescopic movement on the lead screw 7 along with the lead screw nut 4 .

[0012] According to a practical embodiment of the present invention, for example, the clamping portion 100 includes a hand piece cover 13, a hand piece pad 14, a push block 15, an optical lens cover 16, an optical lens pad 17, a camera pad 18, an enabling button 19, a flange adapter 20, an adapter plate 21, and a fixing flange 22.

[0013] According to a practical method of the utility model, for example, the hand piece pad 14, the optical lens pad 17, and the camera pad 18 are fixedly installed on the main fixed plate 1, and the camera pad 18 is a plate with a certain thickness and softness.

[0014] According to one embodiment of the present invention, for example, a sterile cover fixing hook is provided on the hand piece pad 14 to fix the sterile cover.

[0015] According to one embodiment of the present invention, for example, the hand piece pad 14 and the optical lens pad 17 have a groove matched with the shape of the surgical manipulator on a side away from the main fixing plate 1 .

[0016] According to a practical embodiment of the present invention, for example, the hand piece cover 13 and the optical lens box cover 16 clamp the surgical manipulator between the box cover and the cushion block through a spring mechanism to form a fixed whole.

[0017] According to a practical embodiment of the present invention, for example, the flange adapter 20, the adapter plate 21 and the fixing flange 22 are assembled with each other and fixed on the mechanical arm of the surgical robot, thereby completing the fixation of the surgical robot actuator and the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of the clamping part of a surgical robot actuator suitable for hysteroscopic surgery provided by an embodiment of the utility model.

[0019] Figure 2 A schematic diagram of the structure of a surgical robot actuator control unit suitable for hysteroscopic surgery provided in an embodiment of the utility model.

[0020] Figure 3 A schematic diagram of the overall structure of a surgical robot actuator suitable for hysteroscopic surgery provided by an embodiment of the utility model.

[0021] Figure 4 A schematic diagram of the structure of a sterile sleeve fixing hook on a surgical robot actuator hand piece pad 14 suitable for hysteroscopic surgery provided by an embodiment of the utility model.

[0022] Figure 5 This is an enlarged schematic diagram of a sterile sleeve fixing hook structure on a surgical robot actuator hand piece pad 14 suitable for hysteroscopic surgery provided by an embodiment of the utility model.

[0023] Figure 6 This is an overall structural diagram of a surgical robot actuator suitable for hysteroscopic surgery provided by an embodiment of the utility model, viewed from above.

[0024] Figure 7 This is an overall structural diagram of a surgical robot actuator suitable for hysteroscopic surgery provided by an embodiment of the utility model, viewed from the side. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. However, those skilled in the art know that the utility model is not limited to the accompanying drawings and the following embodiments.

[0026] like Figure 1 , Figure 3As shown, the surgical robot actuator suitable for hysteroscopic surgery includes a clamping part 100 and a control part 200, wherein the clamping part 100 is configured to fix the surgical manipulator to ensure that the surgical manipulator does not shake during the operation; the control part 200 is configured to drive the surgical manipulator to complete the surgical action ( Figure 6 , Figure 7 The overall structure is shown from different angles. The clamping part includes a main fixing plate 1, which provides a fixing position for the components of the clamping part 100 and the control part 200, and separates the clamping part from the control part.

[0027] like Figure 2 As shown, the control unit 200 includes a shell 2, which is installed and fixed on the main fixed plate 1. The control unit further includes a front bearing seat 3, a screw nut 4, a linear bearing 5, a guide rod 6, a screw 7, a rear bearing seat 8, a coupling 9, a motor 10, a shading member 11, and an infrared sensor 12.

[0028] The lead screw nut 4 is assembled through the lead screw 7, and the linear bearing 5 is assembled through the guide rod 6. The lead screw 7 and the guide rod 6 are installed between the front bearing seat 3 and the rear bearing seat 8 and fixed by the jacking screws. The front bearing seat 3 and the rear bearing seat 8 are fixedly installed on the main fixing plate 1; the motor 10 is connected and fixed to the lead screw 7 through the coupling 9. The infrared sensor 12 is installed and fixed on the main fixing plate 1.

[0029] The shading member 11 is mounted on the lead screw nut 4, and can perform telescopic movement on the lead screw 7 along with the lead screw nut 4. When the shading member 11 moves to the position of the infrared sensor 12, the infrared sensor 12 can be triggered.

[0030] like Figure 1 As shown, the clamping part 100 includes a hand piece cover 13, a hand piece pad 14, a push block 15, an optical lens cover 16, an optical lens pad 17, a camera pad 18, an enabling button 19, a flange adapter 20, an adapter plate 21, and a fixing flange 22.

[0031] The hand piece pad 14, the optical lens pad 17, and the camera pad 18 are fixedly mounted on the main fixing plate 1, and the camera pad 18 is a plate with a certain thickness and softness.

[0032] like Figure 4 , Figure 5 As shown, there is a sterile cover fixing hook on the hand piece pad 14 to fix the sterile cover. Its function is to put a sterile cover on the surgical robot actuator during the operation. The front end strap of the sterile cover can be wrapped around the sterile cover fixing hook, and the front end of the sterile cover can be fixed to the hand piece pad 14 through the sterile cover fixing hook to ensure that the front end strap of the sterile cover will not be wrapped around the surgical manipulator and hinder the use of the surgical manipulator.

[0033] The hand piece pad 14 and the optical lens pad 17 have grooves adapted to the shape of the surgical manipulator on the side away from the main fixing plate 1 .

[0034] The hand piece cover 13 and the optical lens box cover 16 clamp the surgical manipulator between the box cover and the cushion block through a spring mechanism to form a fixed whole.

[0035] The flange adapter 20, the adapter plate 21 and the fixing flange 22 are assembled with each other and fixed on the mechanical arm of the surgical robot, thereby completing the fixation of the surgical robot actuator and the mechanical arm.

Claims

1. A surgical robot actuator suitable for hysteroscopic surgery, characterized in that: The surgical robot actuator suitable for hysteroscopic surgery comprises a clamping part (100) and a control part (200), wherein the clamping part (100) is configured to fix and install a surgical manipulator to ensure that the surgical manipulator does not shake during the operation; and the control part (200) is configured to drive the surgical manipulator to complete the surgical action; The clamping part comprises a main fixing plate (1), the main fixing plate (1) provides a fixing position for the parts of the clamping part (100) and the control part (200), and the main fixing plate (1) separates the clamping part and the control part; The control unit (200) comprises a housing (2), the housing (2) being mounted and fixed on the main fixing plate (1), and the control unit further comprises a front bearing seat (3), a screw nut (4), a linear bearing (5), a guide rod (6), a screw rod (7), a rear bearing seat (8), a coupling (9), a motor (10), a light shielding member (11), and an infrared sensor (12); The clamping part (100) comprises a hand piece cover (13), a hand piece cushion block (14), a push block (15), an optical lens cover (16), an optical lens cushion block (17), a camera cushion block (18), an enabling button (19), a flange adapter (20), an adapter plate (21), and a fixing flange (22); a sterile cover fixing hook is provided on the hand piece cushion block (14) to fix the sterile cover.

2. The surgical robot actuator suitable for hysteroscopic surgery according to claim 1, characterized in that: The screw nut (4) is assembled through the screw (7), the linear bearing (5) is assembled through the guide rod (6), the screw (7) and the guide rod (6) are installed between the front bearing seat (3) and the rear bearing seat (8), and fixed by tightening screws; the front bearing seat (3) and the rear bearing seat (8) are fixedly installed on the main fixing plate (1); the motor (10) is connected and fixed to the screw (7) through a coupling (9); and the infrared sensor (12) is installed and fixed on the main fixing plate (1).

3. The surgical robot actuator suitable for hysteroscopic surgery according to claim 2, characterized in that: The light shielding member (11) is mounted on the screw nut (4) and can perform telescopic movement on the screw (7) along with the screw nut (4).

4. The surgical robot actuator suitable for hysteroscopic surgery according to claim 3, characterized in that: The hand piece pad (14), the optical mirror pad (17), and the camera pad (18) are fixedly mounted on the main fixing plate (1), and the camera pad (18) is a plate with a certain thickness and softness.

5. The surgical robot actuator suitable for hysteroscopic surgery according to claim 4, characterized in that: The hand piece pad (14) and the optical lens pad (17) have a groove matching the shape of the surgical manipulator on the side away from the main fixing plate (1).

6. The surgical robot actuator suitable for hysteroscopic surgery according to claim 5, characterized in that: The hand piece cover (13) and the optical mirror cover (16) clamp the surgical manipulator between the box cover and the cushion block through a spring mechanism to form a fixed whole.

7. The surgical robot actuator suitable for hysteroscopic surgery according to claim 6, characterized in that: The flange adapter (20), the adapter plate (21) and the fixing flange (22) are assembled with each other and fixed on the mechanical arm of the surgical robot, thereby completing the fixation of the actuator of the surgical robot and the mechanical arm.

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