Gynecological robotic surgery system

Abstract

The utility model discloses a gynecological robot surgery system, including a radio frequency host, a controller, and a mechanical arm with a force control sensor, a temperature sensor, and a radio frequency contact installed at the end, the radio frequency host is a radio frequency energy generator, the force control sensor is connected to the radio frequency contact and the mechanical arm respectively, the mechanical arm and the radio frequency energy generator are connected to the control output end of the controller, the control input end of the controller is electrically connected to the force control sensor and the temperature sensor, and the mechanical arm makes the radio frequency contact form a treatment trajectory under the software control of the force control sensor, the temperature sensor and the controller, and the treatment trajectory includes linear reciprocating motion, spiral reciprocating motion, and fan-shaped motion. The utility model can accurately calculate the strength and temperature of the treatment, plan the optimal treatment trajectory path, and perform treatment with the most comfortable strength and angle.

Description

Technical Field

[0001] The utility model belongs to the technical field of gynecological disease treatment, and more specifically relates to a gynecological robot surgery system. Background Art

[0002] At present, the traditional treatment method for gynecological vaginal diseases in hospitals is basically that the doctor holds a radio frequency energy contact, enters the vagina, starts the radio frequency energy, sets the radio frequency power and a fixed temperature value, and then the doctor holds the energy contact in the vaginal cavity and moves it back and forth along the inner wall of the vagina according to personal experience, and the time lasts for about half an hour to achieve the purpose of treatment. This brings several shortcomings:

[0003] 1. An experienced doctor must be employed;

[0004] 2. During the treatment, the force, speed and contact angle used by doctors vary from person to person and cannot be precisely quantified;

[0005] 3. Doctors may have problems with concentration and fatigue during treatment;

[0006] 4. Due to reasons 2 and 3, the patient's comfort and experience during treatment are weakened, which also affects the treatment effect. Utility Model Content

[0007] The purpose of the utility model is to provide a gynecological robot surgery system with a simple structure, easy to use, and a stable state throughout the treatment process, so that patients have a good sense of comfort and experience, and achieve a safe and ideal treatment effect. It completely overcomes the shortcomings of manual operation by doctors.

[0008] In order to achieve the above purpose, the utility model adopts the following technical measures:

[0009] A gynecological robotic surgery system comprises a radio frequency host, a controller, and a mechanical arm with a force control sensor, a temperature sensor, and a radio frequency contact installed at the end. The radio frequency host is a radio frequency energy generator. The force control sensor is connected to the radio frequency contact and the mechanical arm respectively. The mechanical arm and the radio frequency energy generator are connected to the control output end of the controller. The control input end of the controller is electrically connected to the force control sensor and the temperature sensor. Under the software control of the force control sensor, the temperature sensor, and the controller, the mechanical arm enables the radio frequency contact to form a treatment trajectory. The treatment trajectory includes linear reciprocating motion, spiral reciprocating motion, and fan-shaped motion. After the radio frequency contact enters the gynecological vagina, the radio frequency contact emits radio frequency energy to act on the surface tissue of the inner cavity of the gynecological vagina.

[0010] In the traditionalThe movement of the mechanical arm is added between the radio frequency energy generator and the radio frequency contact, replacing the manual operation of the doctor, saving precious medical resources. Combined with large-scale application, it will also reduce medical expenses, thereby alleviating the economic burden on patients.

[0011] The control input end of the controller is electrically connected to the force control sensor and the temperature sensor. The software accurately calculates the strength and temperature of the treatment, plans the optimal treatment trajectory, and performs treatment at the most comfortable strength and angle. The force control sensor and the temperature sensor can realize the perception of force and temperature, and can detect the data signals of force and temperature. Then, the controller feedback controls the mechanical arm, the RF host, the RF energy generator, and the RF contact to adjust the treatment trajectory, strength, and temperature; thereby, the entire treatment process can be precisely quantified and controlled. Compared with existing manual treatments: 1. It avoids the uncertainty that the parameters of the manual treatment process cannot be quantified and can only be based on experience; 2. It avoids the differences in treatment effects caused by different experiences of different doctors; 3. It avoids the differences in treatment effects caused by different concentration levels and fatigue levels of a doctor; 4. It allows patients to have a good sense of comfort and experience, thereby achieving a safe and ideal treatment effect.

[0012] The mechanical arm, under the software control of the force control sensor, temperature sensor and controller, enables the radio frequency contact to form a treatment trajectory, which includes linear reciprocating motion, spiral reciprocating motion, fan-shaped motion, and multiple trajectories. Compared with the single action of manual treatment, it can achieve an ideal treatment effect.

[0013] Preferably, the force control sensor is a six-axis force control sensor.

[0014] Preferably, the robotic arm is mounted on a trolley.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] A mechanical arm with force sensors, temperature sensors, and radio frequency contacts installed on the end replaces the doctor's operation. The software accurately calculates the strength and temperature of the treatment, plans the optimal treatment trajectory, and performs treatment at the most comfortable strength and angle. The force control sensor and temperature sensor can realize the perception of force and temperature, and can detect the data signals of force and temperature. Then, the controller feedback controls the mechanical arm, radio frequency host, radio frequency energy generator, and radio frequency contact to adjust the treatment trajectory, strength, and temperature; at the same time, it maintains a stable state throughout the treatment process, so that the patient has a good comfort and experience, thereby achieving the safest and most ideal treatment effect. It completely overcomes the shortcomings of manual operation of doctors. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is one of the structural schematic diagrams of a gynecological robotic surgery system.

[0018] Figure 2 This is the second structural schematic diagram of a gynecological robotic surgery system.

[0019] Figure 3 This is the third structural schematic diagram of a gynecological robotic surgery system.

[0020] Figure 4 This is the fourth structural schematic diagram of a gynecological robotic surgery system.

[0021] Figure 5 This is the fifth structural schematic diagram of a gynecological robotic surgery system.

[0022] Figure 6 This is the sixth structural schematic diagram of a gynecological robotic surgery system.

[0023] Among them: 1. Trolley; 2. Controller (Advantech SPPC-P8156); 3. Robotic arm (LuoShi XME3-R760-BOS1); 4. Force control sensor (Kunwei KWR75B); 5. RF contact (BBT-PDKF01Y); 6. Vagina simulator (existing simple structure); 7. RF energy generator (BBT-RF-C280). DETAILED DESCRIPTION

[0024] 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.

[0025] Embodiment 1:

[0026] according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6It can be seen that a gynecological robotic surgery system includes a radio frequency host (existing product), a controller 2, and a force control sensor 4, a temperature sensor (10K thermistor TTF-103), a radio frequency contact 5 and a robotic arm 3 installed at the end. The radio frequency host is a radio frequency energy generator 7 (BBT-RF-C280), and the robotic arm 3 and the radio frequency energy generator 7 are connected to the controller 2. Under the software control of the force control sensor 4, the temperature sensor (10K thermistor TTF-103) and the controller 2, the robotic arm 3 enables the radio frequency contact 5 to form a treatment trajectory, and the treatment trajectory includes linear reciprocating motion, spiral reciprocating motion, and fan-shaped motion. After the radio frequency contact 5 enters the gynecological vagina, the radio frequency contact 5 emits radio frequency energy to act on the surface tissue of the inner cavity of the gynecological vagina. The force control sensor 4 is connected to the RF contact 5 and the robotic arm 3 respectively. The robotic arm 3 and the RF energy generator 7 are connected to the control output end of the controller 2. The control input end of the controller 2 is electrically connected to the force control sensor 4 and the temperature sensor (10K thermistor). Under the software control of the force control sensor 4, the temperature sensor (10K thermistor) and the controller 2, the robotic arm 3 enables the RF contact to form a treatment trajectory. The treatment trajectory includes linear reciprocating motion, spiral reciprocating motion, and fan-shaped motion. After the RF contact 5 enters the gynecological vagina, the RF contact 5 emits RF energy to act on the surface tissue of the gynecological vaginal cavity.

[0027] The force control sensor 4 is a six-axis force control sensor (purchased on the market).

[0028] The robot arm 3 is installed on the trolley 1 .

[0029] A binocular endoscopic vision system (existing product) is provided at the end of the robotic arm 3, and the binocular endoscopic vision system includes an image acquisition and processing module (existing product) and a three-dimensional display system (existing product), and the three-dimensional display system is displayed on the electronic display screen installed on the robotic arm 3.

[0030] The controller 2 is connected to a virtual simulation control system (existing product), which includes a simulation operation manager (existing product) and a simulation operation recorder (existing product). The simulation operation manager includes an operation step input module (existing product) and an operation implementation module (existing product), and the simulation operation recorder is used to record operation matters.

[0031] The simulation operation manager includes a feedback module (existing product), and the information fed back by the feedback module includes motion control information, position feedback information, visual feedback information, and force feedback information. The feedback module is connected to a virtual environment generator.

[0032] according to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 It can be seen that the utility model has developed a mechanical arm 3 with a force control sensor 4, a temperature sensor, and a radio frequency contact 5 installed at the end to replace the doctor's operation. The software accurately calculates the strength and temperature of the treatment, plans the optimal treatment trajectory path, and performs treatment with the most comfortable strength and angle. The force control sensor 4 and the temperature sensor can realize the perception of force and temperature, and can detect the data signals of force and temperature. Then, the controller feedback controls the mechanical arm, the radio frequency host, the radio frequency energy generator 7, and the radio frequency contact 5 to adjust the treatment trajectory, strength, and temperature; at the same time, it maintains a stable state throughout the treatment process, so that the patient has a good comfort and experience, thereby achieving the safest and most ideal treatment effect. It completely overcomes the shortcomings of manual treatment by doctors.

[0033] refer to Figures 1 to 6 , wherein the force control sensor 4 is a six-axis force control sensor (Kunwei KWR75B); wherein the robot arm 3 is installed on the trolley 1;

[0034] refer to Figures 1 to 6 The model of the force control sensor 4 is Kunwei KWR75B-six-dimensional force control sensor; the model of the radio frequency contact is BBT-PDKF01Y; and the model of the temperature sensor is TTF-103.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gynecological robotic surgery system, characterized in that: The invention comprises a radio frequency host, a controller (2), and a force control sensor (4), a temperature sensor, a radio frequency contact (5), and a mechanical arm (3) installed at the end, wherein the radio frequency host is a radio frequency energy generator (7), the force control sensor (4) is connected to the radio frequency contact and the mechanical arm (3) respectively, the mechanical arm (3) and the radio frequency energy generator (7) are connected to the control output end of the controller (2), and the control input end of the controller (2) is electrically connected to the force control sensor (4) and the temperature sensor.

2. A gynecological robotic surgery system according to claim 1, characterized in that: The force control sensor (4) is a six-axis force control sensor.

3. A gynecological robotic surgery system according to claim 1, characterized in that: The mechanical arm (3) is installed on the trolley (1).

4. A gynecological robotic surgery system according to claim 1, characterized in that: A binocular endoscope vision system is provided at the end of the mechanical arm (3), and the binocular endoscope vision system comprises an image acquisition and processing module and a three-dimensional display system, and the three-dimensional display system is displayed on an electronic display screen installed on the mechanical arm (3).

5. A gynecological robotic surgery system according to claim 1, characterized in that: The controller (2) is connected to a virtual simulation control system, which includes a simulation operation manager and a simulation operation recorder. The simulation operation manager includes an operation step input module and an operation implementation module. The simulation operation recorder is used to record operation matters.

6. A gynecological robotic surgery system according to claim 5, characterized in that: The simulation operation manager comprises a feedback module, and the information fed back by the feedback module comprises motion control information, position feedback information, visual feedback information, and force feedback information. The feedback module is connected to a virtual environment generator.

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