Multi-degree-of-freedom surgical mechanical arm with microwave hemostatic knife

Abstract

The utility model belongs to the technical field of surgical instruments, and particularly relates to a multi-degree-of-freedom surgical mechanical arm with a microwave hemostasis knife. Comprising an operation cutting tool bit, a snakelike joint tube and a mechanical arm body, the operation cutting tool bit is connected to the mechanical arm body through the snakelike joint tube and comprises a sleeve, a microwave hemostasis knife and an electric hook are arranged at the front end of the sleeve, a microwave conduction wire is connected to the rear portion of the microwave hemostasis knife, and an electric wire is connected to the rear portion of the electric hook. A water inlet hole is formed in the ventral face of the microwave hemostasis knife, a water outlet hole is formed in the back face of the microwave hemostasis knife, a water inlet pipe communicated with the water inlet hole and a water outlet pipe communicated with the water outlet hole are arranged in the sleeve, and the electric wire, the microwave conduction wire, the water inlet pipe and the water outlet pipe sequentially penetrate through the snake-shaped joint pipe and the mechanical arm body. The surgical cutting tool bit with the microwave hemostasis knife is combined with the snakelike joint tube, so that the hemostasis effect can be guaranteed, and the surgical cutting tool bit can swing flexibly.

Description

Technical Field

[0001] The utility model belongs to the technical field of surgical instruments, and in particular relates to a multi-freedom surgical mechanical arm with a microwave hemostatic knife. Background Art

[0002] Surgical robots are advanced medical devices invented with the help of the development of minimally invasive surgery and related underlying technologies. Surgical robots are a sub-field of medical robots. Surgical robots are precision-operated robots that surgeons can control remotely and precisely operate through tiny incisions to enter the patient's body, thereby assisting surgeons in performing minimally invasive surgery. Surgical robots are used in the field of minimally invasive surgery that is beyond human capabilities, to achieve precision operations that cannot be completed by human capabilities alone. Laparoscopic surgical robots usually consist of a surgical console, a surgical vehicle equipped with a robotic arm, and a video system. The robotic arm simulates the human arm, providing surgeons with a series of movements that simulate the human wrist, while filtering the tremor of the human hand itself. At present, the most mature laparoscopic surgical robot is the da Vinci surgical robot. For more than 20 years, the da Vinci platform has pioneered new functions in the operating room and changed the field of minimally invasive surgery. Through more than 5 million surgeries, Intuitive has become a recognized leader in the field of surgical robots. Its advantage is that the distal end of its robotic arm can rotate flexibly. But unfortunately, whether it is da Vinci or other robots, their energy instruments are relatively scarce, with only electric knives and ultrasonic knives. Although the electric knife can be softly connected and made into a joint structure like surgical forceps, so that it can rotate flexibly, its hemostatic function is weak; the ultrasonic knife cannot be made into a joint because of the linear transmission of ultrasound, which greatly limits its application range. Therefore, it is urgent to design a multi-degree-of-freedom robotic arm combined with a microwave hemostatic knife to have the advantages of high flexibility and good hemostatic effect. Utility Model Content

[0003] In view of the problems existing in the above-mentioned prior art, the utility model discloses a multi-degree-of-freedom surgical robot arm with a microwave hemostatic knife, and specifically discloses the following technical solutions:

[0004] A multi-degree-of-freedom surgical robot with a microwave hemostat, comprising a surgical cutting knife head, a serpentine joint tube and a robot arm body, wherein the surgical cutting knife head is connected to the robot arm body through the serpentine joint tube, the surgical cutting knife head comprises a sleeve, and protective plates are respectively arranged on both sides of the front end of the sleeve, and a microwave hemostat and an electric hook are arranged between the two protective plates at the front end of the sleeve, and the sleeve is filled with a filler for fixing the microwave hemostat and the electric hook, the rear of the microwave hemostat is connected to a microwave transmission line, and the rear of the electric hook is connected to an electric wire, A water inlet hole is provided on the ventral surface of the microwave hemostat, a water outlet hole is provided on the back surface of the microwave hemostat, a water inlet pipe and a water outlet pipe are respectively provided inside the sleeve, one end of the water inlet pipe extends into the interior of the microwave hemostat and is connected with the water inlet hole, one end of the water outlet pipe extends into the interior of the microwave hemostat and is connected with the water outlet hole, one end of the electric wire away from the electric hook, one end of the microwave transmission line away from the microwave hemostat, one end of the water inlet pipe away from the microwave hemostat and one end of the water outlet pipe away from the microwave hemostat all pass through the serpentine joint tube and the robotic arm body in sequence.

[0005] Furthermore, the serpentine joint tube includes a flexible inner support tube and a plurality of connecting tube monomers fixed at intervals on the flexible inner support tube, the front end of the flexible inner support tube is fixedly connected to the sleeve, and the rear end is fixedly connected to the mechanical arm main body, the front end of the connecting tube monomer and the front end of the mechanical arm main body are symmetrically provided with two smooth lugs, the rear end of the connecting tube monomer and the rear end of the sleeve are symmetrically provided with two smooth grooves matching the smooth lugs, the connecting line of the two smooth lugs on the same connecting tube monomer and the connecting line of the two smooth grooves are perpendicular to each other, the sleeve and the connecting tube monomer, between two adjacent connecting tube monomers, and between the connecting tube monomer and the mechanical arm main body are all spliced ​​with each other through smooth lugs and smooth grooves, a plurality of traction ropes are fixedly connected to the rear end surface of the sleeve in the circumferential direction, and threading holes are provided on the periphery of the connecting tube monomer and the periphery of the mechanical arm main body corresponding to the position of each traction rope, and the end of the traction rope away from the sleeve passes through the threading holes on the connecting tube monomer and the mechanical arm main body in turn.

[0006] Furthermore, the flexible inner support tube is a rubber tube.

[0007] Furthermore, the microwave hemostatic knife, the electric hook and the two protective plates are all located on the same plane, the front end of the electric hook is flush with the front end of the microwave hemostatic knife and exceeds the front end of the protective plate close to the electric hook.

[0008] Furthermore, the vertical distance between the water inlet and the tip of the microwave hemostatic knife is smaller than the vertical distance between the water outlet and the tip of the microwave hemostatic knife.

[0009] Compared with the prior art, the beneficial effects of the utility model are:

[0010] The utility model combines a surgical cutting knife head with a microwave hemostat and a serpentine joint tube, which not only ensures the hemostatic effect of the surgical cutting knife head, but also enables the surgical cutting knife head with a microwave hemostat to swing flexibly because both the microwave transmission line and the electric wire can be made of flexible materials and will not interfere with the movement of the serpentine joint tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is the front view of the utility model.

[0012] Figure 2 for Figure 1 Cross-sectional view along the AA direction.

[0013] Figure 3 This is the front view of the surgical cutting blade.

[0014] Figure 4 This is a front cross-sectional view of a surgical cutting blade.

[0015] Figure 5 It is a cross-sectional view of the surgical cutting blade in the BB direction.

[0016] 1-sleeve, 2-microwave hemostatic knife, 3-electric hook, 4-protection plate, 5-electric conductor, 6-microwave transmission line, 7-water inlet hole, 8-water outlet hole, 9-water inlet pipe, 10-water outlet pipe, 11-filler, 12-connecting tube monomer, 13-flexible inner support tube, 14-threading hole, 15-traction rope, 16-mechanical arm body. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] Reference Figure 1-5A multi-degree-of-freedom surgical robot with a microwave hemostatic knife comprises a surgical cutting knife head, a serpentine joint tube and a robot body 16, wherein the surgical cutting knife head is connected to the robot body 16 through the serpentine joint tube, the surgical cutting knife head comprises a sleeve 1, and protective plates 4 are respectively arranged on both sides of the front end of the sleeve 1, and the protective plates 4 are two protrusions left after two U-shaped grooves are dug out from the front of the sleeve 1, and a microwave hemostatic knife 2 and an electric hook 3 are arranged at the front end of the sleeve 1 between the two protective plates 4, and the sleeve 1 is filled with a filler 11 for fixing the microwave hemostatic knife 2 and the electric hook 3, the rear part of the microwave hemostatic knife 2 is connected to a microwave transmission line 6, the rear part of the electric hook 3 is connected to an electric wire 5, the ventral surface of the microwave hemostatic knife 2 is provided with a water inlet hole 7, and the microwave A water outlet 8 is provided on the back of the microwave hemostatic knife 2, and a water inlet pipe 9 and a water outlet pipe 10 are respectively provided inside the sleeve 1. One end of the water inlet pipe 9 extends into the interior of the microwave hemostatic knife 2 and is connected with the water inlet hole 7, and one end of the water outlet pipe 10 extends into the interior of the microwave hemostatic knife 2 and is connected with the water outlet hole 8. The end of the electric wire 5 away from the electric hook 3, the end of the microwave transmission line 6 away from the microwave hemostatic knife 2, the end of the water inlet pipe 9 away from the microwave hemostatic knife 2, and the end of the water outlet pipe 10 away from the microwave hemostatic knife 2 all pass through the serpentine joint tube and the mechanical arm body 16 in sequence, and are respectively connected to the corresponding energy device or driving device, such as the water inlet pipe 9 and the water outlet pipe 10 are respectively connected to the water pump, the microwave transmission line 6 is connected to the microwave generator, and the electric wire 5 is connected to the power supply.

[0019] In this embodiment, the serpentine joint tube includes a flexible inner support tube 13 and a plurality of connecting tube monomers 12 fixed at intervals on the flexible inner support tube 13. The front end of the flexible inner support tube is fixedly connected to the sleeve 1, and the rear end is fixedly connected to the mechanical arm body 16. The flexible inner support tube 13 is used to connect the plurality of connecting tube monomers 12. The electrical conductor 5, the microwave transmission line 6, the water inlet pipe 9 and the water outlet pipe 10 all pass through the flexible inner support tube 13. The front end of the connecting tube monomer 12 and the front end of the mechanical arm body 16 are symmetrically provided with two smooth lugs, and the rear end of the connecting tube monomer 12 and the rear end of the sleeve 1 are symmetrically provided with two smooth grooves matching the smooth lugs. The connecting line of the two smooth lugs on the same connecting tube monomer 12 is perpendicular to the connecting line of the two smooth grooves. The sleeve 1 and the connecting tube monomer 12 and the two adjacent connecting tube monomers 12 and between the connecting tube monomer 12 and the robot arm body 16 are spliced ​​with each other through smooth lugs and smooth grooves. A plurality of traction ropes 15 are fixedly connected to the rear end surface of the sleeve 1 in the circumferential direction. The periphery of the connecting tube monomer 12 and the periphery of the robot arm body 16 are provided with threading holes 14 corresponding to the position of each traction rope 15. The end of the traction rope 15 away from the sleeve 1 passes through the threading holes 14 on the connecting tube monomer 12 and the robot arm body 16 in turn, and is respectively connected to the corresponding pulling wire devices. The specific structure of the serpentine joint tube and the pulling wire device can refer to the serpentine tube joint structure and the wire drive carrier module in the Chinese invention patent with publication number CN114587600A. By controlling the pulling wire device to pull the corresponding traction rope 15, the serpentine joint tube is bent according to the length change of the traction rope 15 in this direction, thereby driving the surgical cutting head at its front end to adjust to a suitable angle.

[0020] In this embodiment, the flexible inner support tube 13 is a rubber tube, which can connect a plurality of connecting tube monomers 12 and does not affect the bending of the serpentine joint tube.

[0021] In this embodiment, the microwave hemostatic knife 2, the electric hook 3 and the two protective plates 4 are all located on the same plane. The front end of the electric hook 3 is flush with the front end of the microwave hemostatic knife 2, so that medical personnel can select one of them for operation. The front end of the electric hook 3 exceeds the front end of the protective plate 4 close to the electric hook 3, thereby avoiding the protective plate 4 from hindering the use of the electric hook 3.

[0022] In this embodiment, the microwave transmission line 6 is a copper wire with an insulating sheath, which can bend and deform along with the serpentine joint tube.

[0023] In this embodiment, the filler 11 is made of epoxy resin glue, which can effectively fix the microwave hemostatic knife 2 and the electric hook 3 after curing, and has an insulating effect.

[0024] In this embodiment, the vertical distance between the water inlet hole 7 and the tip of the microwave hemostatic knife 2 is smaller than the vertical distance between the water outlet hole 8 and the tip of the microwave hemostatic knife 2, thereby facilitating timely extraction of blood through the water inlet hole 7.

[0025] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A multi-degree-of-freedom surgical robot arm with a microwave hemostatic knife, characterized in that: The invention comprises a surgical cutting blade head, a serpentine joint tube and a mechanical arm body, wherein the surgical cutting blade head is connected to the mechanical arm body through the serpentine joint tube, the surgical cutting blade head comprises a sleeve, and protective plates are respectively arranged on both sides of the front end of the sleeve, and a microwave hemostatic knife and an electric hook are arranged between the two protective plates at the front end of the sleeve, and the sleeve is filled with a filler for fixing the microwave hemostatic knife and the electric hook, the rear part of the microwave hemostatic knife is connected to a microwave transmission line, the rear part of the electric hook is connected to an electric wire, and the ventral surface of the microwave hemostatic knife is provided with a There is a water inlet hole, and a water outlet hole is opened on the back of the microwave hemostatic knife. A water inlet pipe and a water outlet pipe are respectively arranged inside the sleeve. One end of the water inlet pipe extends to the inside of the microwave hemostatic knife and is connected with the water inlet hole, and one end of the water outlet pipe extends to the inside of the microwave hemostatic knife and is connected with the water outlet hole. One end of the electric wire is away from the electric hook, one end of the microwave transmission line is away from the microwave hemostatic knife, one end of the water inlet pipe is away from the microwave hemostatic knife, and one end of the water outlet pipe is away from the microwave hemostatic knife all pass through the serpentine joint tube and the mechanical arm body in sequence.

2. The multi-degree-of-freedom surgical robot arm with a microwave hemostatic knife according to claim 1, characterized in that: The serpentine joint tube includes a flexible inner support tube and a plurality of connecting tube monomers fixed at intervals on the flexible inner support tube, the front end of the flexible inner support tube is fixedly connected to the sleeve, and the rear end is fixedly connected to the mechanical arm main body, the front end of the connecting tube monomer and the front end of the mechanical arm main body are symmetrically provided with two smooth lugs, the rear end of the connecting tube monomer and the rear end of the sleeve are symmetrically provided with two smooth grooves matching the smooth lugs, the connecting line of the two smooth lugs on the same connecting tube monomer is perpendicular to the connecting line of the two smooth grooves, the sleeve and the connecting tube monomer, the two adjacent connecting tube monomers, and the connecting tube monomer and the mechanical arm main body are all spliced ​​with each other through smooth lugs and smooth grooves, a plurality of traction ropes are fixedly connected to the circumferential direction on the rear end surface of the sleeve, and threading holes are provided on the periphery of the connecting tube monomer and the periphery of the mechanical arm main body corresponding to the position of each traction rope, and the end of the traction rope away from the sleeve passes through the threading holes on the connecting tube monomer and the mechanical arm main body in turn.

3. The multi-degree-of-freedom surgical robot arm with a microwave hemostatic knife according to claim 2, characterized in that: The flexible inner supporting tube is a rubber tube.

4. The multi-degree-of-freedom surgical robot arm with a microwave hemostatic knife according to claim 1, characterized in that: The microwave hemostatic knife, the electric hook and the two protective plates are all located on the same plane, the front end of the electric hook is flush with the front end of the microwave hemostatic knife and exceeds the front end of the protective plate close to the electric hook.

5. The multi-degree-of-freedom surgical robot arm with a microwave hemostatic knife according to claim 1, characterized in that: The vertical distance between the water inlet and the tip of the microwave hemostatic knife is smaller than the vertical distance between the water outlet and the tip of the microwave hemostatic knife.

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