Surgical Robotic System

Abstract

The utility model relates to the technical field of medical devices, and specifically discloses a surgical robot system. The system includes a cart, a locking assembly, a support bracket, an in-place detection module, a mechanical arm and an end effector; the locking assembly is fixedly connected to the cart, and the locking assembly is detachably connected to the connecting part of the operating bed; the support bracket is movably connected to the cart, and the support bracket is surrounded by a accommodating space; the in-place detection module is fixedly connected to the support bracket, and the in-place detection module is used to detect whether the support bracket is in place; the end effector is arranged at the output end of the mechanical arm, and the mechanical arm is used to move the end effector in space, and the end effector is used to perform a predetermined action. With the design that the locking assembly is detachably connected to the connecting part, the system can determine the relative position relationship between the operating bed and the surgical robot system, which is convenient for determining the head coordinates of the patient, thereby reducing the difficulty of positioning the patient's head, and the setting of the in-place detection module helps to improve the efficiency of treatment.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a surgical robot system. Background Art

[0002] The surgical robot system is a medical instrument developed in recent years that combines active control of the robotic arm with the stereotactic method. It can be applied to different types of head surgeries. The surgical robot system uses stereotactic technology to help doctors use more scientific and reasonable surgical approaches. It is widely used in deep brain stimulation, stereotactic brain electrode implantation for epileptic lesion localization and other surgeries. Stereotactic methods include the use of a stereotactic frame and a stereotactic surgical robot. Both methods pre-scan the head CT and obtain the spatial coordinates of various positions of the head through three-dimensional reconstruction. The doctor designs the approach in this coordinate system, and then uses the coordinates to achieve precise path guidance during the operation.

[0003] However, existing surgical robot systems are unable to achieve rapid positioning with the operating table, which makes it difficult to determine the coordinates of the patient's head and makes it impossible to treat the affected area in a timely and efficient manner, seriously delaying the progress of the operation and reducing the efficiency of treatment. Utility Model Content

[0004] The utility model aims to provide a surgical robot system to achieve rapid positioning of the surgical robot system and an operating table, reduce the difficulty of positioning the patient's head, and improve the efficiency of treatment.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A surgical robot system comprises a trolley, a locking assembly, a support bracket, an in-place detection module, a robotic arm and an end effector; the locking assembly is fixedly connected to the trolley, and the locking assembly is detachably connected to the connecting portion of the operating bed; the support bracket is movably connected to the trolley, and the support bracket is surrounded by a accommodating space; the in-place detection module is fixedly connected to the support bracket, and the in-place detection module is used to detect whether the support bracket is in-place; the robotic arm is connected to the trolley, and the end effector is arranged at the output end of the robotic arm, the robotic arm is used to move the end effector in space, and the end effector is used to perform a predetermined action.

[0007] As a preferred technical solution for the surgical robot system, the locking assembly includes a locking frame fixedly connected to the cart and two locking claws movably connected to the locking frame, the two locking claws can move toward or away from each other, and the two locking claws can clamp the connecting part from both sides.

[0008] As a preferred technical solution for the surgical robot system, a clamping groove is provided in the middle of the locking claw, the groove wall of the clamping groove can fit tightly with the outer surface of the connecting part, and the clamping groove on one locking claw is arranged opposite to the clamping groove on the other locking claw.

[0009] As a preferred technical solution of the surgical robot system, the locking claw can move relative to the locking frame along a working direction, and the working direction is located in a horizontal plane.

[0010] As a preferred technical solution of the surgical robot system, the surgical robot system further includes a movable frame, which is movably connected to the supporting bracket and the cart respectively.

[0011] As a preferred technical solution for the surgical robot system, the cart is a rectangular parallelepiped, the supporting bracket is movably connected to the side of the cart, the locking assembly is fixedly connected to the side of the cart, the robotic arm is arranged at the top of the cart, and the four corners of the bottom end of the cart are rotatably connected with universal wheels.

[0012] As a preferred technical solution of the surgical robot system, the surgical robot system further includes a guiding unit, which is used to guide the end effector to move according to a preset trajectory, and the guiding unit is communicatively connected with the robotic arm and the end effector respectively.

[0013] As a preferred technical solution of the surgical robot system, the robotic arm includes a plurality of arm segments, adjacent arm segments are connected by joints, and the robotic arm has at least six degrees of freedom.

[0014] As a preferred technical solution for the surgical robot system, the in-place detection module includes an image capturing unit, which is used to obtain three-dimensional image information in the accommodating space; the surgical robot system also includes a workstation, which is used to process and display the three-dimensional image information.

[0015] As a preferred technical solution for the surgical robot system, the in-place detection module includes a pressure sensing layer, which is arranged on the inner wall of the accommodating space, and the pressure sensing layer is used to detect the pressure exerted on the supporting bracket.

[0016] Beneficial effects of the utility model:

[0017] The surgical robot system is designed with a locking component that is detachably connected to the connecting part, so that the relative position relationship between the operating table and the surgical robot system can be determined. The above structure makes it easy to determine the coordinates of the patient's head, thereby reducing the difficulty of positioning the patient's head by the support bracket, and helps to speed up the speed of moving the support bracket into position. When the support bracket moves into position, the patient's head will be clamped between the support bracket and the operating table, avoiding position displacement of the patient's head in subsequent surgical operations; with the setting of the in-position detection module, the relative position perception between the patient's head and the support bracket can be completed without relying on other tracking devices. By grasping the specific movements of the support bracket, it is possible to determine whether the support bracket has achieved the purpose of positioning the patient's head, thereby achieving accurate positioning of the patient's head; due to the determination of the relative position relationship between the operating table and the surgical robot system, it is easy to determine the working position of the end effector according to the coordinates of the patient's head, thereby speeding up the speed at which the robotic arm drives the end effector to move into position, which is conducive to the end effector to perform subsequent surgical operations as soon as possible, and improves the treatment efficiency of the surgical robot system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a surgical robot system provided in an embodiment of the utility model.

[0019] In the figure:

[0020] 1. Workstation; 2. Cart; 21. Universal wheel; 22. Handle; 3. Robotic arm; 4. End effector; 5. Support bracket; 6. Image capture unit; 7. Movable frame; 8. Locking assembly; 81. Locking frame; 82. Locking claw. DETAILED DESCRIPTION

[0021] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0022] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0025] like Figure 1 As shown, this embodiment provides a surgical robot system, including a cart 2, a locking assembly 8, a support bracket 5, an in-place detection module, a robotic arm 3 and an end effector 4; the locking assembly 8 is fixedly connected to the cart 2, and the locking assembly 8 is detachably connected to the connecting part of the operating bed; the support bracket 5 is movably connected to the cart 2, and the support bracket 5 is surrounded by a accommodating space; the in-place detection module is fixedly connected to the support bracket 5, and the in-place detection module is used to detect whether the support bracket 5 is in place; the robotic arm 3 is connected to the cart 2, and the end effector 4 is arranged at the output end of the robotic arm 3, the robotic arm 3 is used to move the end effector 4 in space, and the end effector 4 is used to perform a predetermined action.

[0026] The surgical robot system is designed to determine the relative position relationship between the operating table and the surgical robot system by means of the design that the locking component 8 is detachably connected to the connecting part. The above structure facilitates the determination of the coordinates of the patient's head, thereby reducing the difficulty of positioning the patient's head by the support bracket 5, and helps to speed up the speed of moving the support bracket 5 into position. When the support bracket 5 moves into position, the patient's head will be clamped between the support bracket 5 and the operating table, avoiding position displacement of the patient's head in subsequent surgical operations; with the setting of the in-position detection module, the relative position perception between the patient's head and the support bracket 5 can be completed without relying on other tracking devices. By grasping the specific movements of the support bracket 5, it is possible to determine whether the support bracket 5 has achieved the purpose of positioning the patient's head, thereby achieving accurate positioning of the patient's head; due to the determination of the relative position relationship between the operating table and the surgical robot system, it is easy to determine the working position of the end effector 4 according to the coordinates of the patient's head, thereby speeding up the speed at which the robotic arm 3 drives the end effector 4 to move into position, which is conducive to the end effector 4 to perform subsequent surgical operations as soon as possible, thereby improving the treatment efficiency of the surgical robot system.

[0027] In other implementations of this embodiment, the in-position detection module is fixedly connected to other components of the surgical robot system, and the position of the support bracket 5 is tracked to achieve the purpose of position calibration of the support bracket 5.

[0028] In this embodiment, a shaping pillow is provided on the operating table, and the patient's head is preliminarily positioned by the shaping pillow.

[0029] In this embodiment, the locking assembly 8 includes a locking frame 81 fixedly connected to the trolley 2 and two locking claws 82 movably connected to the locking frame 81. The two locking claws 82 can move toward or away from each other, and the two locking claws 82 can clamp the connection part from both sides. With the design of the locking frame 81 and the locking claws 82, the structural limitation of the locking assembly 8 is achieved, ensuring that the locking assembly 8 can be smoothly detachably connected to the connection part. The above design is simple and reliable, has high working stability and occupies little space. While ensuring the connection stability, it can also determine the relative position between the surgical robot system and the operating table, which helps to ensure the long-term stable operation of the surgical robot system.

[0030] Furthermore, a clamping groove is provided in the middle of the locking claw 82 , and the groove wall of the clamping groove can fit tightly with the outer surface of the connecting portion, and the clamping groove on one locking claw 82 is arranged opposite to the clamping groove on the other locking claw 82 .

[0031] By means of the setting of the clamping groove, the connection part and the locking claw 82 can be precisely matched, avoiding the possibility of a gap, thereby reducing the risk of relative position deviation between the connection part and the locking claw 82, ensuring the connection stability between the locking component 8 and the connection part, and ensuring that the coordinates of the patient's head remain unchanged. The above design improves the working efficiency of the surgical robot system, reduces the risk of errors during surgery, and ensures the success rate of the surgery.

[0032] Exemplarily, the locking claw 82 can move relative to the locking frame 81 along the working direction, and the working direction is located in the horizontal plane. The above design enables the two locking claws 82 to move toward or away from each other, thereby ensuring the smooth operation of the locking assembly 8, optimizing the activity trajectory of the locking claw 82, simplifying the disassembly steps of the locking assembly 8 on the connection part, and improving the working efficiency of the surgical robot system. The limitation that the working direction is located in the horizontal plane reduces the influence of the deadweight of the locking claw 82 and reduces the risk of the locking claw 82 being accidentally displaced.

[0033] In this embodiment, the surgical robot system further includes a movable frame 7, which is movably connected to the support bracket 5 and the cart 2. With the arrangement of the movable frame 7, the support bracket 5 can move and flip relative to the cart 2, so that the support bracket 5 can be smoothly put in place, ensuring the accurate positioning of the patient's head by the support bracket 5. The movable frame 7 meets the requirements of the support bracket 5 to move and flip relative to the cart 2. The structure of the movable frame 7 is simple and reliable, with high working stability and small space occupation, which is conducive to the smooth operation of the surgical robot system.

[0034] Specifically, a motion tracking unit is provided on the movable frame 7, and the motion tracking unit is used to record the rotation and displacement of the movable frame 7, thereby calculating the changes in the relative position and relative angle between the support bracket 5 and the cart 2, and determining the specific posture of the support bracket 5 after the movement is in place, thereby achieving accurate grasp of the relative position relationship between the patient's head and the cart 2.

[0035] In other implementations of this embodiment, the relative position of the support bracket 5 and the cart 2 is determined, and the operating table can drive the patient placed thereon to move in space. The doctor drives the patient's head to adjust the position by driving the operating table until the support bracket 5 moves into place. In this implementation, the relative position relationship between the support bracket 5 and the cart 2 remains unchanged, which makes it easy to determine the coordinates of the patient's head after the support bracket 5 moves into place. The above scheme simplifies the workflow of the surgical robot system, reduces the workload of doctors, and reduces the risk of misoperation.

[0036] Exemplarily, the cart 2 is a rectangular parallelepiped, the support bracket 5 is movably connected to the side of the cart 2, the locking assembly 8 is fixed to the side of the cart 2, the mechanical arm 3 is arranged at the top of the cart 2, and the four corners of the bottom end of the cart 2 are rotatably connected with universal wheels 21.

[0037] The design that the support bracket 5 and the locking assembly 8 are arranged on the side of the cart 2 and the mechanical arm 3 is arranged on the top of the cart 2 realizes the structural optimization design of the surgical robot system, reduces the risk of position conflicts between the components, improves the aesthetics of the cart 2, and reduces the space occupied by the surgical robot system. At the same time, the setting of the universal wheel 21 facilitates the transportation of the surgical robot system. The four corners of the bottom of the cart 2 can also be telescopically provided with pillars. When the pillars are retracted, the universal wheels 21 are in contact with the ground, there is a gap between the pillars and the ground, and the surgical robot system is in an active state; when the pillars are extended, there is a gap between the universal wheels 21 and the ground, the pillars are in contact with the ground, and the surgical robot system is in a positioning state. The above-mentioned improvement ensures the flexibility of the position change of the surgical robot system and improves the efficiency of the transportation of the surgical robot system through the switchable design of the positioning state and the active state.

[0038] Specifically, a handle 22 is provided at the top of the cart 2 , and the doctor can move the cart 2 by pushing the handle 22 .

[0039] In this embodiment, the surgical robot system further includes a guiding unit, which is used to guide the end effector 4 to move according to a preset trajectory, and the guiding unit is respectively connected to the mechanical arm 3 and the end effector 4 in communication. With the setting of the guiding unit, the smooth operation of the mechanical arm 3 and the end effector 4 is guaranteed, thereby ensuring the precise movement of the end effector 4 and the smooth operation of the end effector 4, and ensuring the normal progress of subsequent surgical operations.

[0040] Exemplarily, the robot arm 3 includes multiple arm segments, and adjacent arm segments are connected by joints, and the robot arm 3 has at least six degrees of freedom. The limitation that the robot arm 3 has multiple arm segments and at least six degrees of freedom ensures the smooth operation of the robot arm 3, and can drive the end effector 4 to complete corresponding actions such as displacement and flipping, meeting the needs of subsequent surgical operations. The structure of the robot arm 3 is simple and reliable, with high working stability and small space occupation, which is conducive to the smooth operation of the surgical robot system.

[0041] The arm segments and joints on the robot arm 3 are conventional arrangements in the art, and the specific structure and working principle are common knowledge in the art, and will not be elaborated herein.

[0042] In one implementation of this embodiment, the in-place detection module includes an image capturing unit 6, which is used to obtain three-dimensional image information in the accommodating space; the surgical robot system also includes a workstation 1, which is used to process and display the three-dimensional image information.

[0043] With the help of the setting of the image capturing unit 6, the specific position of the patient's head in the accommodating space can be fed back in the form of an image, thereby achieving precise control of the relative position relationship between the patient's head and the supporting bracket 5, so as to make an accurate judgment on whether the movement of the detecting supporting bracket 5 is in place, thereby improving the accuracy of the surgical robot system in positioning the patient's head, and helping to ensure the long-term stable operation of the surgical robot system; at the same time, the image capturing unit 6 collects three-dimensional image information of the patient's head and uploads it to the workstation 1, which can intuitively show the doctor the specific situation of the patient's head in the accommodating space, which helps the doctor to grasp the specific situation of the patient and facilitates the subsequent surgical operations.

[0044] Based on the three-dimensional image information of the patient's head displayed on the workstation 1, the doctor plans and issues surgical guidance instructions, directing the robotic arm 3 to reach a specified position near the patient's head and performing subsequent surgical operations through the end effector 4.

[0045] Specifically, the workstation 1 is communicatively connected to the robotic arm 3. The workstation 1 can also process and collect the patient's medical images and intraoperative photo positioning information, and integrate and track the image information and position information with the action to be performed by the robotic arm 3. The above improvements enable doctors to use the workstation 1 to implement intraoperative monitoring, which helps to obtain patient information in a timely manner, facilitates accurate control of the working condition of the end effector 4, helps to reduce the difficulty of the operation, reduces the risk of errors during the operation, and improves the success rate of the operation.

[0046] Specifically, the image capturing unit 6 is a capturing device such as a three-dimensional optical camera or a radar camera. The specific structure and setting method of the image capturing unit 6 are common knowledge in the art and are well known to those skilled in the art, so no further details are given here.

[0047] In another implementation of this embodiment, the in-place detection module includes a pressure sensing layer, which is disposed on the inner wall of the accommodating space, and the pressure sensing layer is used to detect the pressure exerted on the supporting bracket 5 .

[0048] Specifically, the pressure sensing layer includes an elastic cover and a plurality of pressure sensors. The inner wall of the accommodation space and the elastic cover enclose a working space, and all pressure sensors are arranged in the working space. The pressure sensor is communicatively connected to the control module of the surgical robot system, and the control module is used to collect and process the information transmitted by the pressure sensor. The working mode and specific structure of the pressure sensing layer are common knowledge in the field and are well-known to technicians in the field, so they will not be elaborated here.

[0049] With the help of the setting of the pressure sensing layer, the specific force conditions of the inner wall of the accommodating space when it contacts the patient's head can be determined, and then the relative position relationship between the patient's head and the support bracket 5 can be analyzed, thereby completing the accurate judgment of whether the movement of the detection support bracket 5 is in place. Based on this, the accuracy of the surgical robot system in positioning the patient's head can be improved, which helps to ensure the long-term stable operation of the surgical robot system.

[0050] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A surgical robot system, characterized in that: include: Carts (2); A locking assembly (8) is fixedly connected to the trolley (2), and the locking assembly (8) is detachably connected to a connecting portion of the operating bed; A support bracket (5) is movably connected to the cart (2), and the support bracket (5) is surrounded by a receiving space; An in-place detection module is fixedly connected to the support bracket (5), and the in-place detection module is used to detect whether the support bracket (5) has moved into position; A robotic arm (3) and an end effector (4), wherein the robotic arm (3) is connected to the cart (2), the end effector (4) is arranged at the output end of the robotic arm (3), the robotic arm (3) is used to move the end effector (4) in space, and the end effector (4) is used to perform a predetermined action.

2. The surgical robot system according to claim 1, characterized in that: The locking assembly (8) comprises a locking frame (81) fixedly connected to the trolley (2) and two locking claws (82) movably connected to the locking frame (81); the two locking claws (82) can move towards or away from each other; and the two locking claws (82) can clamp the connection portion from both sides.

3. The surgical robot system according to claim 2, characterized in that: A clamping groove is provided in the middle of the locking claw (82), and the groove wall of the clamping groove can fit tightly with the outer surface of the connecting part. The clamping groove on one locking claw (82) is arranged opposite to the clamping groove on the other locking claw (82).

4. The surgical robot system according to claim 2, characterized in that: The locking claw (82) can move relative to the locking frame (81) along a working direction, and the working direction is located in a horizontal plane.

5. The surgical robot system according to claim 1, characterized in that: The surgical robot system further comprises a movable frame (7), wherein the movable frame (7) is movably connected to the supporting bracket (5) and the trolley (2) respectively.

6. The surgical robot system according to claim 1, characterized in that: The cart (2) is a rectangular parallelepiped, the support bracket (5) is movably connected to the side of the cart (2), the locking assembly (8) is fixed to the side of the cart (2), the mechanical arm (3) is arranged at the top of the cart (2), and the four corners of the bottom end of the cart (2) are rotatably connected with universal wheels (21).

7. The surgical robot system according to claim 1, characterized in that: The surgical robot system further comprises a guiding unit, which is used to guide the end effector (4) to move according to a preset trajectory, and the guiding unit is respectively communicatively connected with the robotic arm (3) and the end effector (4).

8. The surgical robot system according to claim 1, characterized in that: The mechanical arm (3) comprises a plurality of arm segments, adjacent arm segments are connected via joints, and the mechanical arm (3) has at least six degrees of freedom.

9. The surgical robot system according to any one of claims 1 to 8, characterized in that: The in-place detection module comprises an image capturing unit (6), which is used to obtain three-dimensional image information in the accommodating space; the surgical robot system also comprises a workstation (1), which is used to process and display the three-dimensional image information.

10. The surgical robot system according to any one of claims 1 to 8, characterized in that: The in-place detection module comprises a pressure sensing layer, the pressure sensing layer is arranged on the inner wall of the accommodating space, and the pressure sensing layer is used to detect the pressure exerted on the supporting bracket (5).

Images