Trans-natural orifice surgical robot trolley with laser positioning and distance measuring device

Abstract

A natural orifice passing surgical robot trolley with a laser positioning and distance measuring device comprises a trolley base, a mechanical arm installed on the trolley base and the laser positioning and distance measuring device, and the trolley base further comprises a cuboid-shaped trolley base body with the hollow interior and idler wheels installed at the bottom of the trolley base body; the laser positioning and distance measuring device is installed in the middle of the upper portion of the outer vertical face of the trolley base body.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medical instruments, and particularly relates to a natural orifice transluminal surgery robot trolley with a laser positioning and ranging device. BACKGROUND

[0002] Surgical robots are thriving in the medical industry, and current surgical robots are mainly concentrated in the application fields of laparoscopy, neurosurgery, orthopedics and the like.

[0003] Natural orifice transluminal endoscopic surgery is a non-invasive / minimally invasive surgical method, which can be used for various natural channels, including: urethra, anus, oral cavity, nasal cavity, ear canal and other human externally open channels, through an endoscope, various energy platforms (including: plasma, laser and the like) are used to implement cutting, enucleation, coagulation and other surgical operations on the patient part, so that the treatment purpose is achieved. CONTENT OF THE UTILITY MODEL

[0004] The natural orifice transluminal endoscopic surgery robot system comprises a master operating table and a slave mechanical arm trolley, and a doctor controls a control handle of the master operating table to control a mechanical arm on the slave mechanical arm trolley to make a remote center of motion (RCM) movement (i.e. pitch, swing, rotation, stretching movement about a fixed point).

[0005] At present, the relative position of the patient and the slave mechanical arm trolley is generally determined by measuring with a tape measure, and this method is relatively inconvenient in operation and has a large error range and low repeated measurement accuracy; therefore, a convenient and accurate positioning method becomes particularly important.

[0006] In order to solve the above problems, the utility model provides a natural orifice transluminal surgery robot trolley with laser positioning and ranging device, it includes: trolley base, mechanical arm installed on trolley base, installation base plate 1, adjusting screw 2, lock nut 3, laser generator 4, adjusting rod screw 5, wherein, installation base plate 1, adjusting screw 2, lock nut 3, laser generator 4, adjusting rod screw 5 five parts assembly into an entirety afterwards, install in the installation position of trolley base. Laser generator 4 has two laser emission holes up and down, wherein the laser of the upper laser emission hole emits cross line, the laser of the lower laser emission hole emits horizontal one word line, the laser horizontal line of the upper laser emission hole is parallel with the ground plane (or reference plane), and the displacement Y of the laser horizontal line to the ground is the required patient height, at this time, if the patient position is too far from the laser horizontal line, the height of the operating bed can be adjusted. The angle of the two laser emission holes can be adjusted, when the displacement Y of the laser horizontal line of the upper laser emission hole to the ground is determined, the angle of the lower laser emission hole is adjusted, when the laser horizontal lines of the two laser emission holes are coincident and the centers are coincident in the same vertical plane, the displacement X of the front end surface of the measuring trolley to the vertical plane is the distance required between the patient and the end mechanical arm trolley. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 It is the whole structure schematic diagram of the natural orifice transluminal surgery robot trolley with laser positioning and ranging device provided by the utility model embodiment.

[0008] Figure 2 It is the laser positioning and ranging device structure schematic diagram in the natural orifice transluminal surgery robot trolley with laser positioning and ranging device provided by the utility model embodiment.

[0009] Figure 3 It is the adjusting screw structure schematic diagram in the natural orifice transluminal surgery robot trolley with laser positioning and ranging device provided by the utility model embodiment.

[0010] Figure 4 It is the laser generator structure schematic diagram in the natural orifice transluminal surgery robot trolley with laser positioning and ranging device provided by the utility model embodiment.

[0011] Figure 5 It is the laser generator cross section structure schematic diagram in the natural orifice transluminal surgery robot trolley with laser positioning and ranging device provided by the utility model embodiment.

[0012] Figure 6 It is the laser generator and the laser spot structure schematic diagram of the laser emitted in the natural orifice transluminal surgery robot trolley with laser positioning and ranging device provided by the utility model embodiment.

[0013] Figure 7 is the intersection diagram of laser light rays emitted by two laser emission holes.

[0014] Figure 8 is the installation structure diagram of the laser positioning and ranging device on the natural orifice surgery robot trolley with the laser positioning and ranging device. DETAILED DESCRIPTION

[0015] As Figure 1 shown, the natural orifice surgery robot trolley with the laser positioning and ranging device provided by the embodiments of the present application comprises a trolley base 10, a mechanical arm 11 installed on the trolley base 10, and a laser positioning and ranging device 12. The trolley base 10 further comprises a trolley base body 101 in the shape of a cuboid and hollow inside, and a roller 102 installed at the bottom of the trolley base body 101. The laser positioning and ranging device 12 is installed at the middle position of the outer vertical surface of the trolley base body 101.

[0016] As Figure 2 shown, the laser positioning and ranging device 12 comprises an installation base plate 1, an adjusting screw 2, a lock nut 3, a laser generator 4, and an adjusting rod screw 5. The laser generator 4 comprises two laser emission holes: a first laser emission hole 41 and a second laser emission hole 42.

[0017] The adjusting screw 2 and the lock nut 3 are installed on the installation base plate 1 through threaded connection. The head, tail and cylindrical head side of the adjusting screw 2 are all provided with threaded holes; the threaded holes of the head and tail are used for installing a jacking screw which passes through the laser generator 4 of the adjusting screw 2. The thicker optical axis part of the adjusting screw 2 is provided with a through hole through which the laser generator 4 passes. The adjusting rod screw 5 is installed in the threaded hole of the cylindrical head side. The lock nut 3 prevents the adjusting screw from loosening.

[0018] The laser generator 4 can emit laser light rays after being powered on. The laser light rays emitted by the laser generator used are respectively a cross line (A in Figure 6 ) and a horizontal line (B in Figure 6 ).

[0019] The adjusting rod screw 5 passes through the installation base plate 1 and is connected in the threaded hole of the cylindrical head of the adjusting screw 2 through threaded connection, so as to finely adjust the angle of the adjusting screw 2.

[0020] The adjusting screw 2 passes through the mounting base plate 1 and is locked by a lock nut 3; the laser generator 4 passes through the through hole of the light axis part of the adjusting screw 2, then the jacking screw is screwed into the threaded holes in the head and tail of the adjusting screw 2 to jacks up the laser generator 4; the jacking screw is finely adjusted, and the center points of the two laser beams are adjusted on the same vertical line and perpendicular to the horizontal line of the cross laser; the adjusting rod screw 5 is screwed on the threaded hole on the side of the cylindrical head of the adjusting screw 2 and can be pushed up and down to finely adjust the angle of the adjusting screw 2.

[0021] As shown in Figure 8 The laser positioning and ranging device 12 is assembled and installed on the installation position of the natural orifice transluminal surgery robot trolley with the laser positioning and ranging device.

[0022] After emitting the laser, the slave mechanical arm trolley is aligned with a vertical plane (wall), the upper cross laser emitting hole is first finely adjusted, the adjusting rod screw 5 is pushed, the horizontal line of the cross laser is overlapped with the required patient height value Y on the vertical plane, and the patient height value Y is ensured to meet the requirement; then the slave mechanical arm trolley is pushed, the front end surface of the slave mechanical arm trolley is pushed to the required distance X between the patient and the slave mechanical arm trolley; then the trolley is pushed, and the lower laser emitting hole is finely adjusted, the adjusting rod screw 5 is pushed, the horizontal line of the cross laser is overlapped with the horizontal line of the cross laser, and the center points of the two laser beams are adjusted on the same vertical line when the laser positioning and ranging device is assembled, so that the two center points are overlapped, the horizontal lines are overlapped, and the laser positioning and ranging device is calibrated.

[0023] When the slave mechanical arm trolley is too far or too close to the patient, the intersection of the two laser beams is obviously not overlapped, the intersection of the two laser beams and the horizontal line are overlapped by pushing the slave mechanical arm trolley, and whether the distance X between the patient and the slave mechanical arm trolley and the patient height value Y are suitable can be judged.

[0024] Compared with the conventional trolley, the natural orifice transluminal surgery robot trolley with the laser positioning and ranging device according to the embodiment of the utility model is more convenient and faster in positioning height and distance through the laser positioning and ranging device, does not need additional tools, and makes the ranging and positioning more accurate.

Claims

1. A natural orifice surgery robot cart with laser positioning and ranging device, characterized in that, The natural orifice surgery robot trolley with laser positioning and ranging device comprises a trolley base (10), a mechanical arm (11) installed on the trolley base (10), and a laser positioning and ranging device (12), wherein the trolley base (10) further comprises a cuboid hollow trolley base body (101) and a roller (102) installed at the bottom of the trolley base body (101); and the laser positioning and ranging device (12) is installed at the middle of the upper part of the outer facade of the trolley base body (101).

2. The natural orifice surgical robotic cart with laser positioning and ranging device of claim 1, wherein, The laser positioning and ranging device (12) comprises a mounting base plate (1), an adjusting screw (2), a lock nut (3), a laser generator (4), and an adjusting rod screw (5); wherein the laser generator (4) comprises two laser emission holes: a first laser emission hole (41) and a second laser emission hole (42).

3. The natural orifice surgical robotic cart with laser positioning and ranging device of claim 2, wherein, The adjusting screw (2) and the lock nut (3) are threadedly connected and installed on the mounting base plate (1); the head, tail and cylindrical head side of the adjusting screw (2) are all provided with threaded holes; the threaded holes of the head and tail are used for installing a jacking screw which jacks the laser generator (4) passing through the adjusting screw (2); the thicker optical axis part of the adjusting screw (2) has a through hole through which the laser generator (4) passes; and the adjusting rod screw (5) is installed in the threaded hole in the cylindrical head side of the adjusting screw (2).

4. The natural orifice surgical robotic cart with laser positioning and ranging device of claim 3, wherein, The laser generator (4) can emit laser light after being powered on, and the laser light emitted by the first laser emission hole (41) and the second laser emission hole (42) is a cross line and a horizontal line, respectively.

5. The natural orifice surgical robotic cart with laser positioning and ranging device of claim 4, wherein, The adjusting rod screw (5) is threadedly connected in the cylindrical head threaded hole of the adjusting screw (2) by passing through the mounting base plate (1).

6. The natural orifice surgical robotic cart with laser positioning and ranging device of claim 5, wherein, The adjusting screw (2) passes through the mounting base plate (1) and is locked by the lock nut (3); after the laser generator (4) passes through the through hole in the optical axis part of the adjusting screw (2), the jacking screw is screwed into the threaded holes of the head and tail of the adjusting screw (2) to jack the laser generator (4); the adjusting rod screw (5) is screwed on the threaded hole in the cylindrical head side of the adjusting screw (2) and can be up and down; the laser generator (4) has two laser emission holes which emit different laser light; wherein the laser emitted by the upper laser emission hole is a cross line, and the laser emitted by the lower laser emission hole is a horizontal line.

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