Microsurgery robot positioning system

Abstract

The utility model relates to a microsurgery robot positioning system which comprises a surgical trolley, a positioning assembly, a surgery assembly, a detection assembly, a control device and a display device, the surgical trolley can walk on a road surface, the positioning assembly comprises a first support part, and the angle of the first support part can be adjusted around a first horizontal direction; the detection assembly is installed at the middle section position of the first support part in the first horizontal direction and comprises an image collection part and a distance detection part, the image collection part is used for collecting images of objects and surgical sites on the collection direction side, and the distance detection part is used for detecting the distance between the distance detection part and the objects and the surgical sites on the detection direction side. The control device calculates the position of the surgical site in real time, and the display device displays the image collected by the image collection component and the distance detected by the distance detection component in real time. According to the utility model, an operator can be guided to adjust the position of the robot very conveniently, and automatic positioning of the posture of the mechanical arm is realized.

Description

Technical Field

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

[0002] Microsurgical robot systems usually adopt a traditional master-slave structure, consisting of a console operated by the doctor and a microsurgical robot that performs surgery on the patient. The microsurgical robot mainly consists of an operating table, a positioning component, a robotic arm component and a surgical instrument component connected in sequence. The robotic arm component can change its posture to perform surgical movements. The positioning component can adjust the height and angle of the robotic arm so that the robotic arm and the surgical site are in a relative position relationship that meets the requirements. The operating table can drive the robot close to the patient during surgery and away from the patient after the operation. Because the operating space and the field of view of the microscope in microsurgery are very small, and the doctor performs remote operation at a position far away from the microsurgery robot, the actual position of the end of the surgical instrument cannot be observed before the end of the surgical instrument enters the field of view of the microscope. For safety reasons, medical staff usually push the surgical robot close to the patient and manually adjust the position of the microsurgery robot and the posture of the robotic arm. When pushing the operating trolley close to the patient's surgical site, the staff behind the microsurgery robot cannot clearly judge the relative position of the surgical instrument and the patient. When adjusting the posture of the robotic arm so that the end of the instrument enters the field of view of the microscope, they need to be very careful and slow to complete the operation for fear of touching the end of the instrument or the end of the instrument injuring the patient. Usually, the position of the robotic arm and surgical instrument needs to be adjusted repeatedly to achieve the ideal surgical position. Utility Model Content

[0003] To this end, the utility model provides a microsurgery robot positioning system that can guide an operator to very conveniently adjust the robot position and realize automatic positioning of the robot arm posture.

[0004] In order to solve the above technical problems, the present invention provides a microsurgery robot positioning system, comprising:

[0005] An operating trolley capable of traveling on a road surface;

[0006] A positioning assembly connected to the operating table trolley, the positioning assembly comprising a first bracket portion, the first bracket portion being adjustable in angle around a first horizontal direction;

[0007] A surgical assembly, comprising two robotic arms and two surgical instruments, wherein the two robotic arms are respectively connected to two ends of the first support portion along a first horizontal direction, and the two surgical instruments are respectively connected to ends of the two robotic arms;

[0008] a detection assembly mounted in the middle of the first support portion along the first horizontal direction, the detection assembly comprising an image acquisition component and a distance detection component, the image acquisition component being configured to acquire images of objects and the surgical site in its acquisition direction, and the distance detection component being configured to detect the distance to the objects and the surgical site in its detection direction;

[0009] a control device, the control device being communicatively connected to the detection component and calculating the location of the surgical site in real time;

[0010] A display device is communicatively connected to the control device and displays the image captured by the image acquisition component and the distance detected by the distance detection component in real time.

[0011] Furthermore, the first bracket portion can be reciprocated between a first angle position and a second angle position. When the first bracket portion is adjusted to the first angle position, the acquisition direction of the image acquisition component and the detection direction of the distance detection component are tilted downward by 30°. When the first bracket portion is adjusted to the second angle position, the acquisition direction of the image acquisition component and the detection direction of the distance detection component are vertically downward.

[0012] Furthermore, the positioning assembly further includes a first electric adjustment mechanism for driving the first bracket portion to adjust an angle around a first horizontal direction, and the control device is communicatively connected to the first electric adjustment mechanism.

[0013] Furthermore, the distance detection component is an ultrasonic sensor, an infrared sensor, or a laser sensor.

[0014] Furthermore, the first bracket portion is a beam, and the two robotic arms are respectively connected to two ends of the beam.

[0015] Furthermore, the positioning assembly also includes a second bracket part and a third bracket part, one end of the second bracket part along the second horizontal direction is connected to the middle position of the first bracket part along the first horizontal direction, the upper end of the third bracket part is connected to the other end of the second bracket part along the second horizontal direction, and the lower end of the third bracket part is connected to the operating trolley.

[0016] Furthermore, the second bracket part can adjust the angle around the vertical direction, and the third bracket part can adjust the height along the vertical direction. The positioning assembly also includes a second electric adjustment mechanism for driving the second bracket part to adjust the angle around the vertical direction and a third electric adjustment mechanism for driving the third bracket part to adjust the height along the vertical direction. The control device is communicated with the second electric adjustment mechanism and the third electric adjustment mechanism.

[0017] Furthermore, the second bracket portion is a cantilever beam, one end of the cantilever beam is connected to the first bracket portion, and the other end of the cantilever beam is connected to the upper end of the third bracket portion.

[0018] Furthermore, the third bracket part is a column, the lower end of the column is connected to the operating trolley, and the upper end of the column is connected to the second bracket part.

[0019] Furthermore, the second horizontal direction is perpendicular to the first horizontal direction.

[0020] The above technical solution of the present invention has the following advantages over the existing technology: the microsurgery robot positioning system described in the present invention can detect objects on the side of the operating trolley in real time through the image acquisition component and the distance detection component when the operating trolley approaches the patient, thereby smoothly guiding the operating trolley to the vicinity of the patient; when the operating trolley approaches the patient, the first bracket part can be adjusted so that the image acquisition component and the distance detection component can detect the surgical site, obtain the real-time distance to the surgical site, and the operating trolley can continue to approach the patient according to the real-time distance until the real-time distance is the optimal distance. The relative position relationship between the surgical instrument and the surgical site is obtained according to the above-mentioned real-time distance, which is convenient for subsequent microsurgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0022] Figure 1 This is a schematic structural diagram of the microsurgery robot positioning system of the present invention;

[0023] Figure 2 This is a schematic diagram of the first bracket component in the present invention adjusting the angle around the first horizontal direction;

[0024] Figure 3 This is a schematic diagram of adjusting the angle of the second bracket portion around the vertical direction in the present invention;

[0025] Figure 4 Schematic diagram of adjusting the height of the third bracket portion in the vertical direction in the present invention;

[0026] Figure 5 This is a control principle block diagram of the utility model.

[0027] Description of the accompanying drawings:

[0028] 1. Operating trolley;

[0029] 2. Positioning assembly; 21. First bracket portion; 22. First electric adjustment mechanism; 23. Second bracket portion; 24. Third bracket portion; 25. Second electric adjustment mechanism; 26. Third electric adjustment mechanism;

[0030] 3. Surgical components; 31. Robotic arms; 32. Surgical instruments;

[0031] 4. Detection component; 41. Image acquisition component; 42. Distance detection component;

[0032] 5. Control device;

[0033] 6. Display device;

[0034] 7. Surgical site. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0036] See also Figures 1 to 5 As shown, an embodiment of the microsurgery robot positioning system in the present invention.

[0037] The microsurgery robot positioning system includes:

[0038] Operating trolley 1, the operating trolley can be walked on the road;

[0039] A positioning assembly 2, connected to the operating table trolley 1, comprising a first bracket portion 21, wherein the first bracket portion 21 is adjustable in angle around a first horizontal direction;

[0040] The surgical assembly 3 includes two robotic arms 31 and two surgical instruments 32. The two robotic arms 31 are respectively connected to the two ends of the first support portion 21 along the first horizontal direction, and the two surgical instruments 32 are respectively connected to the ends of the two robotic arms 31.

[0041] a detection assembly 4, mounted in the middle of the first bracket portion 21 along the first horizontal direction, comprising an image acquisition component 41 and a distance detection component 42. The image acquisition component 41 is configured to acquire images of objects and the surgical site in its acquisition direction, and the distance detection component 42 is configured to detect the distance to objects and the surgical site in its detection direction;

[0042] A control device 5, the control device 5 is communicatively connected to the detection component and calculates the position of the surgical site in real time;

[0043] The display device 6 is communicatively connected to the control device 5 and displays the image captured by the image acquisition component 41 and the distance detected by the distance detection component 42 in real time.

[0044] The surgical trolley 1 is a mobile vehicle capable of moving a microsurgical robot over a wide range. The positioning assembly is a motion platform that drives the robotic arm 31 to a working range relatively close to the surgical site. The robotic arm 31 can receive commands and accurately locate itself at a point in three-dimensional (or two-dimensional) space to perform its operations, driving the surgical instrument 32 into contact with the surgical site 7 to perform the surgical procedure. The image acquisition component 41 is a camera, and the distance detection component 42 is a distance sensor. The acquisition direction of the image acquisition component 41 and the detection direction of the distance detection component 42 are approximately perpendicular to the first direction. As the surgical trolley 1 approaches the patient, the acquisition direction of the image acquisition component 41 and the detection direction of the distance detection component 42 are approximately parallel to the direction of travel of the surgical trolley 1. Once the surgical trolley 1 is near the patient, the acquisition direction of the image acquisition component 41 and the detection direction of the distance detection component 42 are directed toward the surgical site 7. The control device 5 is a controller capable of sending commands to the controlled device and calculating the required results based on the detection data from the detection component 4.

[0045] When the operating trolley 1 approaches the patient, the image acquisition component 41 and the distance detection component 42 can be used to detect objects on the side of the operating trolley 1 in real time, so that the operating trolley 1 can be smoothly guided to the vicinity of the patient; when the operating trolley 1 approaches the patient, the first bracket part 21 can be adjusted so that the image acquisition component 41 and the distance detection component 42 can detect the surgical site, obtain the real-time distance to the surgical site, and the operating trolley 1 can continue to approach the patient according to the real-time distance until the real-time distance is the optimal distance. The relative position relationship between the surgical instrument 32 and the surgical site is obtained according to the above real-time distance, which is convenient for subsequent microsurgery.

[0046] In this embodiment, the above-mentioned first bracket portion 21 can be reciprocated between the first angle position and the second angle position. When the above-mentioned first bracket portion 21 is adjusted to the above-mentioned first angle position, the acquisition direction of the above-mentioned image acquisition component 41 and the detection direction of the distance detection component 42 are tilted downward by 30°. When the above-mentioned first bracket portion 21 is adjusted to the above-mentioned second angle position, the acquisition direction of the above-mentioned image acquisition component 41 and the detection direction of the distance detection component 42 are vertically downward.

[0047] During the movement of the operating table 1, it should be prevented from colliding with obstacles in front of it. Obstacles are of different heights, and the surgical site is also of different heights. Therefore, it is necessary to set its detection range within an appropriate range. The first bracket portion 21 can be rotated from the first angle position to the second angle position from top to bottom, and can also be rotated from the second angle position to the first angle position from bottom to top. Figure 2 , illustrating the adjustable range of the first bracket portion 21.

[0048] In this embodiment, the positioning assembly further includes a first electric adjustment mechanism 22 for driving the first bracket portion 21 to adjust an angle around a first horizontal direction. The control device 5 is in communication connection with the first electric adjustment mechanism 22 .

[0049] Medical personnel adjust the angle of the first bracket portion 21 around the first horizontal direction according to the image displayed on the display device 6 until the acquisition direction of the image acquisition component 41 is facing the patient's surgical site. At this time, the detection direction of the distance detection component 42 is also facing the patient's surgical site. The distance detection component 42 measures the distance to the patient's surgical site. The control device 5 controls the first electric adjustment mechanism 22 and calculates the position of the surgical site based on the adjustment angle, distance and other known data of the first electric adjustment mechanism 22.

[0050] In this embodiment, the distance detection component 42 is an ultrasonic sensor, an infrared sensor, or a laser sensor.

[0051] The operating principle of an ultrasonic sensor is primarily based on the emission, reflection, and reception of ultrasonic waves. This sensor uses the piezoelectric effect to convert electrical energy into ultrasonic energy and transmit it to the object being measured. When the ultrasonic wave hits the object, it is reflected back and received by the sensor, where it is converted back into an electrical signal. By measuring the time interval between the emission and reception of the ultrasonic wave, the distance between the object and the sensor can be calculated.

[0052] Infrared sensors utilize the physical properties of infrared light for measurement. Infrared light, also known as infrared light, has properties such as reflection, refraction, scattering, interference, and absorption. Any substance with a certain temperature (above absolute zero) can radiate infrared light. Infrared sensors measure without direct contact with the object being measured, eliminating friction and offering advantages such as high sensitivity and fast response.

[0053] Laser sensors utilize laser technology for measurement. They consist of a laser, a laser detector, and a measurement circuit. Laser sensors are a new type of measuring instrument, offering advantages such as non-contact, long-distance measurement, high speed, high accuracy, a wide range, and strong resistance to light and electrical interference.

[0054] In this embodiment, the first bracket portion 21 is a beam, and the two robotic arms 31 are respectively connected to two ends of the beam.

[0055] The first direction of the first bracket portion 21 is the length direction of the beam, and the two mechanical arms 31 are respectively connected to the ends of the beam, so that a certain distance is formed between the two mechanical arms 31. The first bracket portion 21 is set as a beam, which has a relatively compact structure and good mechanical properties.

[0056] In this embodiment, the positioning assembly further includes a second bracket portion 23 and a third bracket portion 24. One end of the second bracket portion 23 along the second horizontal direction is connected to the middle position of the first bracket portion 21 along the first horizontal direction. The upper end of the third bracket portion 24 is connected to the other end of the second bracket portion 23 along the second horizontal direction. The lower end of the third bracket portion 24 is connected to the operating trolley 1.

[0057] By providing the second bracket portion 23 and the third bracket portion 24 , the positioning assembly is formed into a suspension arm structure, and the surgical instrument is suspended above the surgical site for surgery.

[0058] In this embodiment, the second bracket part 23 can adjust the angle around the vertical direction, and the third bracket part 24 can adjust the height along the vertical direction. The positioning assembly also includes a second electric adjustment mechanism 25 for driving the second bracket part 23 to adjust the angle around the vertical direction and a third electric adjustment mechanism 26 for driving the third bracket part 24 to adjust the height along the vertical direction. The control device 5 is communicatively connected to the second electric adjustment mechanism 25 and the third electric adjustment mechanism 26.

[0059] Medical personnel adjust the angle of the second bracket part 23 around the second horizontal direction and the height of the third bracket part 24 along the vertical direction according to the image displayed on the display device 6 until the acquisition direction of the image acquisition component 41 is facing the patient's surgical site. The control device can control the second electric adjustment mechanism 25 and the third electric adjustment mechanism 26 and calculate the position of the surgical site according to the adjustment angle of the first electric adjustment mechanism 22, the second electric adjustment mechanism 25, the third electric adjustment mechanism 26, the distance and other known data.

[0060] In this embodiment, the second bracket portion 23 is a cantilever beam, one end of the cantilever beam is connected to the first bracket portion 21 , and the other end of the cantilever beam is connected to the upper end of the third bracket portion 24 .

[0061] One end of the cantilever beam is connected to the middle section of the crossbeam. The second bracket portion 23 is configured as a cantilever beam, which has a compact structure and good mechanical properties.

[0062] In this embodiment, the third bracket portion 24 is a column, the lower end of the column is connected to the operating trolley 1 , and the upper end of the column is connected to the second bracket portion 23 .

[0063] The third bracket portion 24 is configured as a column, which has a compact structure and good mechanical properties.

[0064] In this embodiment, the second horizontal direction and the first horizontal direction are perpendicular to each other.

[0065] The following combination Figure 2 、 Figure 3 and Figure 4 , briefly introduce how the location of the surgical site is obtained.

[0066] Define the center of the base of the surgical trolley 1 as the coordinate origin a (0, 0, 0), the center of the image acquisition component 41 as point b (b1, b2, b3), and the patient's surgical site 7 as point c (c1, c2, c3). Assuming the cantilever beam rotates about the vertical direction by an angle of θ1 and the length of the cantilever beam along the second horizontal direction is x1, we can calculate: b1 = x1 * cos(θ1); b2 = x1 * sin (θ1).

[0067] If the height of the column is h1 and the distance between the detection component and the cantilever beam is h2, then b3 = h1-h2. Therefore, the position of camera point b relative to the origin is (x1 * cos(θ1), x1 * sin (θ1), h1-h2).

[0068] When the distance detection component measures the patient distance L1 at an angle θ2, the distance between the patient point c (c1, c2, c3) and the origin can be calculated as C1 = b1 + L1*sin(θ2)*cos(θ1);

[0069] C2 = b2 + L1*sin(θ2)*sin(θ1);

[0070] C3 = b3 - L1*cos(θ2).

[0071] The positional relationship between the robotic arm 31 and the operating table is known, so the positional relationship between the operating site and the surgical instrument 32 is obtained.

[0072] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A microsurgery robot positioning system, characterized in that: include: An operating trolley capable of traveling on a road surface; A positioning assembly connected to the operating table trolley, the positioning assembly comprising a first bracket portion, the first bracket portion being adjustable in angle around a first horizontal direction; A surgical assembly, comprising two robotic arms and two surgical instruments, wherein the two robotic arms are respectively connected to two ends of the first support portion along a first horizontal direction, and the two surgical instruments are respectively connected to ends of the two robotic arms; a detection assembly mounted in the middle of the first support portion along the first horizontal direction, the detection assembly comprising an image acquisition component and a distance detection component, the image acquisition component being configured to acquire images of objects and the surgical site in its acquisition direction, and the distance detection component being configured to detect the distance to the objects and the surgical site in its detection direction; a control device, the control device being communicatively connected to the detection component and calculating the location of the surgical site in real time; A display device is communicatively connected to the control device and displays the image captured by the image acquisition component and the distance detected by the distance detection component in real time.

2. The microsurgery robot positioning system according to claim 1, characterized in that: The first bracket portion can be reciprocated between a first angle position and a second angle position. When the first bracket portion is adjusted to the first angle position, the acquisition direction of the image acquisition component and the detection direction of the distance detection component are tilted downward by 30°. When the first bracket portion is adjusted to the second angle position, the acquisition direction of the image acquisition component and the detection direction of the distance detection component are vertically downward.

3. The microsurgery robot positioning system according to claim 1, characterized in that: The positioning assembly further includes a first electric adjustment mechanism for driving the first bracket portion to adjust an angle around a first horizontal direction, and the control device is in communication connection with the first electric adjustment mechanism.

4. The microsurgery robot positioning system according to claim 1, characterized in that: The distance detection component is an ultrasonic sensor, an infrared sensor, or a laser sensor.

5. The microsurgery robot positioning system according to claim 1, characterized in that: The first bracket portion is a beam, and the two robotic arms are respectively connected to two ends of the beam.

6. The microsurgery robot positioning system according to claim 1, characterized in that: The positioning assembly also includes a second bracket portion and a third bracket portion, wherein one end of the second bracket portion along the second horizontal direction is connected to the middle position of the first bracket portion along the first horizontal direction, the upper end of the third bracket portion is connected to the other end of the second bracket portion along the second horizontal direction, and the lower end of the third bracket portion is connected to the operating trolley.

7. The microsurgery robot positioning system according to claim 6, characterized in that: The second bracket part can adjust the angle around the vertical direction, and the third bracket part can adjust the height along the vertical direction. The positioning assembly also includes a second electric adjustment mechanism for driving the second bracket part to adjust the angle around the vertical direction and a third electric adjustment mechanism for driving the third bracket part to adjust the height along the vertical direction. The control device is communicated with the second electric adjustment mechanism and the third electric adjustment mechanism.

8. The microsurgery robot positioning system according to claim 6, characterized in that: The second bracket part is a cantilever beam, one end of the cantilever beam is connected to the first bracket part, and the other end of the cantilever beam is connected to the upper end of the third bracket part.

9. The microsurgery robot positioning system according to claim 6, characterized in that: The third bracket part is a column, the lower end of the column is connected to the operating table vehicle, and the upper end of the column is connected to the second bracket part.

10. The microsurgery robot positioning system according to claim 6, characterized in that: The second horizontal direction is perpendicular to the first horizontal direction.

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