Trans-natural channel endoscopic surgical robot device

Abstract

An endoscopic surgical robot device passing through a natural channel comprises a master end and a slave end, and the master end comprises a master end industrial personal computer, an operating handle, a display screen, pedals and a master end UPS. The operating handle is connected with the main end industrial personal computer through a USB interface, the display screen is connected to the main end industrial personal computer through a video line, the pedal is connected to the main end industrial personal computer through IO, and the main end UPS provides a backup power source for the main end industrial personal computer. The slave end comprises a slave end industrial personal computer, a mechanical arm, a connecting flange, an end effector, a slave end UPS (Uninterrupted Power Supply) and a binocular range finder; the mechanical arm is connected to the slave end industrial personal computer; the end effector is connected to the mechanical arm through a connecting flange; the binocular distance measuring device is connected to the slave end industrial personal computer through a network cable; and the slave end UPS power supply provides a backup power supply for the slave end industrial personal computer.

Description

Technical Field

[0001] The present invention relates to the field of machinery, in particular to medical instruments, and more particularly to a natural channel endoscopic surgical robot device. Background Art

[0002] Surgical robots are booming in the medical industry. Currently, surgical robots are mainly concentrated in application fields such as laparoscopic surgical robots, navigation robots, and orthopedic robots. In the field of natural channel surgery, surgical robots at home and abroad are still in the initial stage. The natural channel endoscopic surgical robot of the present invention formally fills this blank area.

[0003] At present, natural channel endoscopic surgeries are all performed manually by doctors using instruments, and there are problems such as long operation time, easy fatigue and infection of doctors, difficult to reach the patient's position, heavy bleeding of patients, easy perforation, and slow recovery.

[0004] The natural channel endoscopic surgical robot of the present invention comprehensively overcomes the above shortcomings, allowing doctors to complete various endoscopic surgeries more easily, reducing the doctors' labor intensity, increasing the stability of the surgery, and being able to reach various positions and angles that are difficult to handle, with less bleeding and faster recovery for patients. Summary of the invention

[0005] The natural channel endoscopic surgical robot device of the present invention is a master-slave control mode, including a master end and a slave end. Through intuitive master-slave mapping, the doctor operates the control handle on the master end to control the robotic arm of the slave end surgical platform to perform RCM movement (i.e., pitch, swing, rotation, and telescopic movement about a fixed point); the robotic arm flange is connected to the end effector, and the end effector clamps different endoscopic surgical instruments, enters the patient's body through the natural channel, and controls the surgical instruments to perform telescopic, rotation and other movements, thereby realizing surgical operations such as cutting, coagulation, and excision.

[0006] The master end of the natural channel endoscopic surgical robot device of the present invention comprises: a master end industrial computer, an operating handle, a mechanical arm foot switch, a display screen, and a master end UPS power supply.

[0007] The slave end of the natural channel endoscopic surgical robot device of the present invention comprises: a slave end industrial computer, a robotic arm, a connecting flange, an end effector, and a slave end UPS power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a structural diagram of a main end 100 of a natural channel endoscopic surgical robot device provided in an embodiment of the present invention.

[0009] Figure 2This is a structural diagram of a slave end 200 of a natural channel endoscopic surgical robot apparatus provided in an embodiment of the present invention.

[0010] Figure 3 This is a structural diagram of the connection between the master end 100 and the slave end 200 of the natural channel endoscopic surgical robot device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0011] To make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. However, those skilled in the art will appreciate that the present invention is not limited to the accompanying drawings and the following embodiments.

[0012] The natural channel endoscopic surgical robot device provided in the embodiment of the present invention comprises a master end 100 and a slave end 200, wherein the master end 100 is composed as follows: Figure 1 As shown: the main end 100 includes a main end industrial computer 101, an operating handle 102, a display screen 103, a foot pedal 104 and a main end UPS power supply 105; the operating handle 102 is connected to the main end industrial computer 101 through a USB interface, the display screen 103 is connected to the main end industrial computer 101 through a video cable, the foot pedal 104 is connected to the main end industrial computer 101 through IO, and the main end UPS power supply 105 provides backup power for the main end industrial computer 101.

[0013] like Figure 1 As shown, the main end 100 further includes a main end bottom plate 106, a main end roller 107, a main end cabinet 108, and a main end middle platform 109. The main end 100 as a whole presents a trolley structure, which includes a main end bottom plate 106, and a plurality of main end rollers 107 are arranged on the lower side of the main end bottom plate 106 to facilitate the movement of the main end 100. The pedal 104 is installed in the middle part below the main end bottom plate 106. The main end cabinet 108 is installed on the main end bottom plate 106, and the main end industrial computer 101 and the main end UPS power supply 105 are installed inside the main end cabinet 108. The main end middle platform 109 is installed on the main end cabinet 108, and the height of the main end middle platform 109 from the ground is 0.8-1.2 meters to facilitate the operation of the operator. The operating handle 102 is arranged at one end of the main end middle platform 109, so that the operator can hold it conveniently. The display screen 103 is arranged on the main end middle platform 109.

[0014] The slave end 200 of the natural channel endoscopic surgical robot device provided in the embodiment of the present invention is composed as follows: Figure 2As shown: the slave end includes a slave-end industrial computer 201, a robotic arm 202, a connecting flange 203, an end effector 204, a slave-end UPS power supply 205, and a binocular distance measurement 206; the robotic arm 202 is connected to the slave-end industrial computer 201; the end effector 204 is connected to the robotic arm 202 through the connecting flange 203; the binocular distance measurement 206 is connected to the slave-end industrial computer 201 through a network cable; the slave-end UPS power supply 205 provides backup power to the slave-end industrial computer 201.

[0015] like Figure 2 As shown, the slave end 200 further includes a main frame 207 and a slave end roller 208, wherein the main frame 207 further includes a bottom end surface 2071, a handrail 2072 and a top end surface 2073. The slave end 200 presents a trolley structure, which includes a slave end main frame 207, and the slave end main frame 207 is a rectangular parallelepiped frame structure, including a bottom end surface 2071 and a top end surface 2073, and a slave end roller 208 is installed at each of the four corners of the bottom end surface 2071, and a handrail 2072 is provided on one side of the top end surface 2073 to facilitate the hand grip when pushing the slave end 200. The mechanical arm 202 is installed on the top end surface 2073. The binocular distance measurement 206 is installed on the outer side of the slave end main frame 207. The slave end industrial computer 201 and the slave end UPS power supply 205 are installed inside the slave end main frame 207.

[0016] The master end and the slave end of the natural channel endoscopic surgical robot device provided by the embodiment of the present invention are connected by a network cable through an RJ45 port and adopt a UDP communication protocol, such as Figure 3 shown.

[0017] The embodiment of the present invention takes hysteroscopic surgery as an example to illustrate the specific control process.

[0018] In the operating room, first prepare according to the robot startup process, the main end operating handle 102 completes the initialization, and the appropriate end effector 204 is connected to the robot arm 202 through the connecting flange 203. Then the robot arm 202 completes the self-check and enters the surgical mode to complete the system preparation.

[0019] The endoscope 301 is inserted into the patient's body through the vagina and adjusted to a suitable position. The endoscope 301 is then fixed to the end effector 204 of the robot arm 202, and the video output of the endoscope 301 is connected to the display screen 103 of the main end.

[0020] Then the nurse turns on the binocular distance measurement 206 through the remote control, measures the distance from the patient to the slave end, and thereby calculates the required offset, and transmits it to the master end display screen 103 for display and confirmation.

[0021] After local surgical preparations are completed, robotic surgery can be performed.

[0022] The doctor sits in front of the master end 100, steps on the foot switch 104 and moves the operating handle 102. The master end industrial computer 101 collects the control signal of the foot switch 104 and the posture information of the operating handle 102 in real time, processes them through the control algorithm, and sends them to the slave end industrial computer 201 of the slave end 200 through the UDP communication protocol. The slave end industrial computer 201 receives the control signal and posture information, and then controls the movement of the robotic arm 202 through the robot control algorithm to achieve various surgical actions.

[0023] At the same time, the robot arm 202 also feeds back real-time spatial posture data, contact force data, speed data, etc. through the slave industrial computer 201, and transmits it to the master industrial computer 101 of the master end 100 through the UDP communication protocol. After processing, the 3D operating status of the robot arm, the current position of the endoscope 301, the extension and retraction amount of the endoscope 301, contact force protection and other information are displayed to the doctor in real time on the display screen 103, so that the doctor can perform the operation more safely.

[0024] The master-end UPS power supply 105 ensures that the master-end 100 and the slave-end UPS power supply 106 ensure that the slave-end 200 can remain in working condition for a certain period of time in the event of an accidental power outage, so that the doctor can calmly remove the endoscope clamped by the end effector 204 from the patient's body to avoid causing harm to the patient.

[0025] By using the natural channel endoscopic surgery robot, the doctor can sit at the main end 100 and operate the handle 102 to perform the surgery, which can be operated with one hand. The position of the endoscope 301 can be displayed in real time through the clock method. The robot arm 202 can rotate 360 ​​degrees and can reach a more tricky surgical position. The robot will not get tired and can maintain accuracy and stability during long-term surgical operations, avoiding the narrow field of vision and easy disorientation under the original traditional surgical method. The physical challenge of the doctor during the 1-2 hour operation is avoided, and the doctor's hand tremors will also increase the uncertainty of the operation. In addition, the learning curve of robotic surgery is short, and the operation essentials can be mastered quickly, so that the doctor's surgical level can reach homogeneity, keep the doctor away from the patient, and avoid bacterial and viral infections, making the doctor's surgery more calm and confident.

Claims

1. A natural channel endoscopic surgical robot device, characterized in that: The natural channel endoscopic surgical robot device comprises a master end (100) and a slave end (200), wherein the master end (100) comprises a master end industrial computer (101), an operating handle (102), a display screen (103), a foot pedal (104) and a master end UPS power supply (105); the operating handle (102) is connected to the master end industrial computer (101) via a USB interface, the display screen (103) is connected to the master end industrial computer (101) via a video cable, the foot pedal (104) is connected to the master end industrial computer (101) via an IO, and the master end UPS power supply (105) provides backup power to the master end industrial computer (101).

2. The natural channel endoscopic surgical robot device according to claim 1, characterized in that: The slave end (200) comprises a slave end industrial computer (201), a mechanical arm (202), a connection flange (203), an end effector (204), a slave end UPS power supply (205), and a binocular distance measurement (206); the mechanical arm (202) is connected to the slave end industrial computer (201); the end effector (204) is connected to the mechanical arm (202) via the connection flange (203); the binocular distance measurement (206) is connected to the slave end industrial computer (201) via a network cable; and the slave end UPS power supply (205) provides backup power to the slave end industrial computer (201).

3. The natural channel endoscopic surgical robot device according to claim 1 or 2, characterized in that: The main end (100) further comprises a main end bottom plate (106), a main end roller (107), a main end cabinet (108), and a main end middle platform (109).

4. The natural channel endoscopic surgical robot device according to claim 3, characterized in that: The main end (100) presents a trolley structure as a whole, which includes a main end bottom plate (106). A plurality of main end rollers (107) are arranged on the lower side of the main end bottom plate (106) to facilitate the movement of the main end (100).

5. The natural channel endoscopic surgical robot device according to claim 4, characterized in that: The foot pedal (104) is installed in the middle part below the main end bottom plate (106); the main end cabinet (108) is installed on the main end bottom plate (106), and the main end industrial computer (101) and the main end UPS power supply (105) are installed inside the main end cabinet (108); the main end middle platform (109) is installed on the main end cabinet (108), and the height of the main end middle platform (109) from the ground is 0.8-1.2 meters to facilitate the operation of the operator; the operating handle (102) is arranged at one end of the main end middle platform (109) so that the operator can hold it conveniently; and the display screen (103) is arranged on the main end middle platform (109).

6. The natural channel endoscopic surgical robot device according to claim 2 or 5, characterized in that: The slave end (200) further includes a main frame (207) and a slave end roller (208), wherein the main frame (207) further includes a bottom end surface (2071), a handrail (2072) and a top end surface (2073).

7. The natural channel endoscopic surgical robot device according to claim 6, characterized in that: The slave end (200) presents a trolley structure, which includes a slave end main frame (207). The slave end main frame (207) is a rectangular parallelepiped frame structure, including a bottom end surface (2071) and a top end surface (2073). A slave end roller (208) is installed at each of the four corners of the bottom end surface (2071), and a handrail (2072) is provided on one side of the top end surface (2073) to facilitate hand grip when pushing the slave end (200).

8. The natural channel endoscopic surgical robot device according to claim 7, characterized in that: The mechanical arm (202) is installed on the top end surface (2073); the binocular distance measurement (206) is installed on the outer side of the slave end main body frame (207); and the slave end industrial computer (201) and the slave end UPS power supply (205) are installed inside the slave end main body frame (207).

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