In-vitro throat visual auxiliary equipment and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses in-vitro throat visual auxiliary equipment and a surgical robot system.The in-vitro throat visual auxiliary equipment comprises a supporting part located outside a patient, a first supporting arm, a second supporting arm, an imaging assembly and an auxiliary displayer, and the supporting ends of the first supporting arm and the second supporting arm are detachably arranged on the supporting part; the imaging assembly is arranged at the working end of the first supporting arm, the auxiliary displayer is arranged at the working end of the second supporting arm, and the auxiliary displayer is in communication connection with the imaging assembly and used for displaying auxiliary images collected by the imaging assembly. The imaging assembly and the auxiliary display are arranged on the in-vitro supporting part, so that shooting of a target area (such as an oropharyngeal part) in vitro is achieved, an assistant can see an operation visual field for auxiliary operation without lowering the head in a narrow operation visual field space by observing an auxiliary image displayed by the auxiliary display, the operation is easier, and the operation efficiency is improved. The device can be accurately matched with a surgeon, and operation tool pollution caused by the fact that an assistant lowers the head is avoided.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical devices, and in particular to an extra-corporeal laryngopharyngeal visual auxiliary device and a surgical robot system. BACKGROUND

[0002] Laparoscopic surgery is a surgical form that has been gradually developed and widely used in recent years, greatly reducing the patient's recovery time, discomfort experience and postoperative side effects. In the process of performing laparoscopic surgery by a surgical robot system, an endoscope provides a surgical field of view for a leading surgeon, and the leading surgeon controls a surgical tool to perform surgical operations.

[0003] In the case of performing laryngopharyngeal surgery operation by using a surgical robot system, the endoscope and the surgical tool are inserted into the deep part of the patient's oropharynx, and the leading surgeon and the assistant cannot share the visual field. Since the surgical field of view is narrow, in the case where the assistant needs to cooperate during the operation, the assistant cannot accurately cooperate. At the same time, the assistant needs to lower his head to see the surgical field of view and then perform auxiliary operations, which not only makes the operation difficult, but also has the risk of contaminating the surgical tool. CONTENT OF THE UTILITY MODEL

[0004] Based on the above problems, the purpose of the present disclosure is to provide an extra-corporeal laryngopharyngeal visual auxiliary device, comprising:

[0005] a support part located outside the patient's body;

[0006] a first support arm, a support end of the first support arm being detachably arranged on the support part;

[0007] a second support arm, a support end of the second support arm being detachably arranged on the support part;

[0008] an imaging assembly arranged on a working end of the first support arm;

[0009] an auxiliary display arranged on a working end of the second support arm, the auxiliary display being in communication connection with the imaging assembly, and being used for displaying auxiliary images collected by the imaging assembly.

[0010] In some embodiments, further comprising:

[0011] at least one connecting piece, detachably arranged on the support part, the at least one connecting piece being fixedly connected with the support end of the first support arm and the support end of the second support arm.

[0012] In some embodiments, the first support arm comprises:

[0013] a first connecting arm, the support end of the first support arm being located on the first connecting arm, and the support end of the first connecting arm being fixedly arranged on the at least one connecting piece; and

[0014] a first working arm, a working end of the first support arm is located on the first working arm, a connecting end of the first working arm is connected with a connecting end of the first connecting arm through a spherical hinge joint, and a working end of the first working arm is connected with the imaging assembly;

[0015] The second support arm comprises:

[0016] a second connecting arm, a support end of the second support arm is located on the second connecting arm, and the support end of the second connecting arm is fixedly arranged on the at least one connecting piece; and

[0017] a second working arm, a working end of the second support arm is located on the second working arm, a connecting end of the second working arm is connected with a connecting end of the second connecting arm through a spherical hinge joint, and a working end of the second working arm is connected with the auxiliary display.

[0018] In some embodiments, the at least one connecting piece comprises a single connecting piece, and the single connecting piece comprises:

[0019] a ring-shaped clamp for being clamped on the support part, the ring-shaped clamp comprising an opening and first and second connecting platforms oppositely arranged at the opening, the first connecting platform being connected with the support end of the first connecting arm, the second connecting platform being connected with the support end of the second connecting arm, and the first and second connecting arms extending away from each other from the support ends to the connecting ends;

[0020] two extension arms symmetrically arranged on both sides of the opening and extending outward, the two extension arms comprising oppositely arranged threaded holes; and

[0021] a locking piece comprising a threaded segment, the threaded segment of the locking piece being used for passing through the threaded holes of the two extension arms to lock the ring-shaped clamp on the support part.

[0022] In some embodiments, the support part comprises a sheath assembly, and the sheath assembly comprises:

[0023] a distal sheath comprising a plurality of channels arranged through in an axial direction, and the connecting piece is detachably arranged on an outer periphery of the distal sheath;

[0024] a plurality of proximal sheaths connected with the distal sheath, the plurality of proximal sheaths respectively communicating with the plurality of channels, and the plurality of proximal sheaths extending away from each other outward.

[0025] In some embodiments, the at least one connecting piece comprises a first connecting piece and a second connecting piece, and the first and second connecting pieces are arranged at intervals on the support part;

[0026] The first connecting member or the second connecting member comprises:

[0027] A ring-shaped clamp for clamping on the support part, the ring-shaped clamp comprising an opening and a connecting platform opposite to the opening, the connecting platform being connected with the support end of the first connecting arm or the support end of the second connecting arm;

[0028] Two extension arms symmetrically arranged on both sides of the opening and extending outward, the two extension arms comprising oppositely arranged threaded holes; and

[0029] A locking member comprising a threaded segment, the threaded segment of the locking member being used for passing through the threaded holes of the two extension arms to lock the ring-shaped clamp on the support part.

[0030] In some embodiments, the support part comprises an arc-shaped support, and the first connecting member and the second connecting member are respectively arranged at intervals along the arc-shaped support.

[0031] In some embodiments, the first working arm comprises a linear part at one side of the connecting end and a bent part at one side of the working end, and the imaging assembly is arranged at the working end of the bent part; and / or

[0032] The first working arm further comprises a first telescopic joint in the axial direction; and / or

[0033] The second working arm further comprises a second telescopic joint in the axial direction.

[0034] In some embodiments, the imaging assembly comprises:

[0035] A near-field imager comprising at least one near-field imaging lens and at least one near-field image sensor; and / or

[0036] A wide-angle imager comprising a wide-angle lens and a wide-angle image sensor, the field of view angle of the wide-angle imager being greater than the field of view angle of the near-field imager,

[0037] The auxiliary image comprises a near-field image acquired by the near-field imager and / or a wide-angle image acquired by the wide-angle imager.

[0038] In some embodiments, further comprising:

[0039] A switching key arranged on the auxiliary display, the switching key being used for causing the auxiliary display to display the near-field image acquired by the near-field imager, display the wide-angle image acquired by the wide-angle imager, or superimposedly display the near-field image acquired by the near-field imager and the wide-angle image acquired by the wide-angle imager.

[0040] In some embodiments, further comprising:

[0041] a heat-conductive structure disposed at a proximal end of a lens of the imaging assembly and thermally coupled with the lens; and

[0042] a heat-generating circuit, the heat-generating circuit comprising:

[0043] a heat-generating resistor for generating heat, and the heat-generating resistor is thermally coupled with the heat-conductive structure; and

[0044] a controllable switch disposed on the support arm, the controllable switch being connected with the heat-generating resistor for turning on or blocking the heat-generating circuit.

[0045] In some embodiments, further comprising:

[0046] a hydrophobic coating covering a distal surface of the lens of the imaging assembly; and / or

[0047] an illumination unit, an output end of the illumination unit being disposed at a working end of the first support arm.

[0048] In some embodiments, the present disclosure further provides a surgical robot system, comprising:

[0049] a master console cart comprising at least one master control display;

[0050] a surgical cart comprising at least one mechanical arm and at least one surgical tool and endoscope tool disposed on the at least one mechanical arm, the surgical cart being communicatively connected with the master console cart; and

[0051] an extracorporeal laryngopharynx visualization auxiliary device as described in any embodiment of the present disclosure, an imaging assembly of the extracorporeal laryngopharynx visualization auxiliary device being communicatively connected with the at least one master control display;

[0052] a controller communicatively connected with the at least one master control display, the endoscope tool and the imaging assembly, the controller being configured to control the at least one master control display to display an operative field image acquired by the endoscope tool and / or an auxiliary image acquired by the imaging assembly.

[0053] Some embodiments of the present disclosure have one or more of the following beneficial effects: 1. By setting the imaging assembly and the auxiliary display on the extracorporeal support, the photographing of the target area (such as the oropharynx) is achieved extracorporeally, and the assistant can see the surgical field without bending down to assist the operation by observing the auxiliary image displayed on the auxiliary display in the narrow surgical field space, which is easier to operate, can be accurately matched with the lead surgeon, and can also avoid the pollution of the surgical tool caused by the assistant bending down; 2. The positions of the imaging assembly and the auxiliary display are adjustable, which is convenient for the assistant to adjust the imaging assembly and the auxiliary display to the best angle and position; 3. The wide-angle imager can provide a larger field of view image, so that the assistant can find the corresponding target area more quickly, and cooperate with the lead surgeon to complete the auxiliary operation in time, so as to shorten the operation time; 4. The lens of the imaging assembly can be heated by the heating circuit and the heat-conducting structure, so that the inside and outside of the lens can be defogged, so that the surgical field is clearer; 5. The hydrophobic coating on the surface of the lens of the imaging assembly can prevent the lens from being contaminated by liquid and stains, which is conducive to maintaining a clear field of view during the operation. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced. The drawings in the following description only show some embodiments of the present disclosure, and other embodiments can be obtained by those skilled in the art without creative labor on the basis of the contents of the embodiments of the present disclosure and these drawings.

[0055] Figure 1 A structural schematic diagram of an extracorporeal laryngopharynx visual auxiliary device according to some embodiments of the present disclosure is shown.

[0056] Figure 2 A structural schematic diagram of a first support arm according to some embodiments of the present disclosure is shown.

[0057] Figure 3 A structural schematic diagram of a second support arm according to some embodiments of the present disclosure is shown.

[0058] Figure 4 A structural schematic diagram of a connecting piece according to some embodiments of the present disclosure is shown.

[0059] Figure 5 A side structural schematic diagram of an extracorporeal laryngopharynx visual auxiliary device according to some embodiments of the present disclosure is shown.

[0060] Figure 6 Another side structural schematic diagram of an extracorporeal laryngopharynx visual auxiliary device according to some embodiments of the present disclosure is shown.

[0061] Figure 7Fig. 1 shows a structural schematic diagram of an in-vivo laryngeal visual auxiliary device according to some embodiments of the present disclosure;

[0062] Figure 8 Fig. 4 shows a structural schematic diagram of a connecting piece according to some embodiments of the present disclosure;

[0063] Figure 9 Fig. 5 shows a structural schematic diagram of an imaging assembly according to some embodiments of the present disclosure;

[0064] Figure 10 Fig. 6 shows a working scene schematic diagram of an imaging assembly according to some embodiments of the present disclosure;

[0065] Figure 11 Fig. 7 shows a structural schematic diagram of a surgical robot system according to some embodiments of the present disclosure;

[0066] Figure 12 Fig. 8 shows a display window schematic diagram of a master display according to some embodiments of the present disclosure.

[0067] List of reference signs:

[0068] 100, 200, in-vivo laryngeal visual auxiliary device;

[0069] 110, 210, support part; 111, distal sheath; 1111, proximal port; 1112, distal port; 1113, channel; 112, 112a-d, proximal sheath; 113, telescopic tube; 1131, upper tube; 1132, lower tube; 114, connecting structure;

[0070] 120, 220, first support arm; 121, 221, first connecting arm; 1211, 2211, support end of first connecting arm; 1212, connecting end of first connecting arm; 122, first working arm; 1221, linear part; 1222, bending part; 1223, connecting end of first working arm; 1224, working end of first working arm; 123, 133, spherical hinge joint;

[0071] 130, 230, second support arm; 131, 231, second connecting arm; 1311, 2311, support end of second connecting arm; 1312, connecting end of second connecting arm; 132, second working arm; 1323, connecting end of second working arm; 1324, working end of second working arm;

[0072] 140, 240, imaging assembly; 141, near-field imager; 142, wide-angle imager; A, field of view angle of near-field imager; B, field of view angle of wide-angle imager; 143, illumination unit;

[0073] 150, 250, auxiliary display;

[0074] 160, 260, connecting piece; 260a-b, first connecting piece, second connecting piece; 161, 261, ring-shaped clip; 1611,

[0075] 2611, opening; 1612a-b, first connecting platform and second connecting platform; 2612, connecting platform; 162, 262, extension arm; 163, 263, locking piece; 1631, 2631, threaded segment; 163, 2632, holding handle; 1633, connecting

[0076] boss; 1634, extension;

[0077] 300, patient; 310, oropharyngeal region; 330, target region;

[0078] 1000, surgical robot system; 500, master console cart; 510, cart body; 520, master control display;

[0079] 521, two-dimensional display; 522, stereoscopic display; 525, first display window; 526, second display window;

[0080] 530, master operator; 600, surgical cart; 620, mechanical arm; 630, surgical tool; 650, endoscopic tool. DETAILED DESCRIPTION

[0081] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, not all embodiments.

[0082] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0083] In the description of the present disclosure, it should be noted that unless specifically defined and limited otherwise, the terms "mount", "connect", "connection", "coupling" should be understood broadly, for example, can be fixed connection, can also be detachable connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium; can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, the proximal part or the rear end, the rear part, and the end opposite to the proximal end, the proximal part or the rear end, the rear part is defined as the distal end, the distal part or the front end, the front part. Alternatively, the end close to the operator (such as a doctor) is defined as the distal end, the distal part or the front end, the front part, and the end opposite to the distal end, the distal part or the front end, the front part is defined as the proximal end, the proximal part or the rear end, the rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used for medical instruments or surgical robots, or for other non-medical devices.

[0084] The present disclosure provides an extra-corporeal laryngopharyngeal visualization aid. Figure 1 A structural schematic diagram of an extra-corporeal laryngopharyngeal visualization aid 100 according to some embodiments of the present disclosure is shown. As shown, the extra-corporeal laryngopharyngeal visualization aid 100 can include a support portion 110, a first support arm 120, a second support arm 130, an imaging assembly 140, and an auxiliary display 150. Figure 1

[0085] The support portion 110 is located outside the patient's body. It should be understood that the support portion 110 can include a bracket, an auxiliary support accessory, or any other structure that can achieve a supporting effect. For example, the support portion 110 can include an arc shape, a tubular shape, a columnar shape, an irregular shape, or a combination of one or more of the above. The support portion 110 can be disposed close to the patient, for example, close to the patient's head, or close to the patient's side, etc. In some embodiments, the support portion 110 can be disposed close to the top of the patient's head or circumferentially around the patient's head. Those skilled in the art should understand that the support portion 110 can be disposed on a hospital bed, or on an external device, or any other appropriate place. The specific setting position and structure of the support portion 110 are not limited here.

[0086] As shown, the first support arm 120 and the second support arm 130 can be disposed on the support portion 110. The first support arm 120 and the second support arm 130 can be disposed on the same side of the support portion 110, or on opposite sides of the support portion 110, or on the same side of the support portion 110 and on the opposite sides of the support portion 110, etc. The first support arm 120 and the second support arm 130 can be disposed on the same plane of the support portion 110, or on different planes of the support portion 110, etc. The first support arm 120 and the second support arm 130 can be disposed on the same side of the patient, or on opposite sides of the patient, etc. The first support arm 120 and the second support arm 130 can be disposed on the same side of the patient's head, or on opposite sides of the patient's head, etc. The first support arm 120 and the second support arm 130 can be disposed on the same plane of the patient's head, or on different planes of the patient's head, etc. The first support arm 120 and the second support arm 130 can be disposed on the same side of the patient's body, or on opposite sides of the patient's body, etc. The first support arm 120 and the second support arm 130 can be disposed on the same plane of the patient's body, or on different planes of the patient's body, etc. Figure 1 ​As shown, the support end 1211 of the first support arm 120 is detachably mounted on the support portion 110, and the support end 1311 of the second support arm 130 is detachably mounted on the support portion 110. It should be understood that the support ends 1211 of the first support arm 120 and 1311 of the second support arm 130 can be detachably connected to the support portion 110 via a detachable structure, connector, or any other means that allows for detachable connection. The support ends 1211 of the first support arm 120 and 1311 of the second support arm 130 can be spaced apart on the support portion 110, or they can be connected together on the support portion 110.

[0087] like Figure 1 As shown, the imaging component 140 is disposed on the working end 1224 of the first support arm 120. For example, the imaging component 140 may include, but is not limited to, a camera, an infrared camera, etc. The imaging component 140 may include one or more imaging lenses and an image sensor, which can be used to capture images of the target area. It should be understood that the imaging component 140 is positioned outside the patient's body near the target area (e.g., above the patient's mouth) via the first support arm 120 to capture images of the oropharyngeal region. In some embodiments, the first support arm 120 may include a movable joint, a movable linkage assembly, or other suitable movable structures. It should be understood that the first support arm 120 may also be a linkage without a movable joint. The working end 1224 and the support end 1221 of the first support arm 120 may be located at opposite ends of the first support arm 120. In this disclosure, the working end may be a free end or an end away from the support end. For example, the working end 1224 of the first support arm 120 is used to mount the imaging component 140 so that the imaging component 140 is positioned above the patient's oropharynx to achieve external imaging of the target area (e.g., the oropharynx).

[0088] By making the imaging component 140 movable relative to the support 110, such as through rotation and / or telescopic movement, the assistant can easily adjust the imaging component 140 to a suitable angle and position to facilitate the acquisition of auxiliary images of the oropharyngeal region for patients of different body types, thus enabling the assistant to perform auxiliary operations based on these images. It should be understood that the auxiliary images can be visual images of the non-surgical or surgical areas acquired by the assistant through the imaging component 140 during the auxiliary operation.

[0089] like Figure 1As shown, the auxiliary display 150 is disposed on the working end 1324 of the second support arm 130. The auxiliary display 150 is communicatively connected with the imaging assembly 140, for example, can be connected wirelessly or by wire. The auxiliary display 150 is used to display the auxiliary image collected by the imaging assembly 140. Those skilled in the art can understand that the auxiliary display 150 can be an organic display, a liquid crystal display (LCD), a cathode ray tube display (CRT), a plasma display (PDP), or other suitable forms of visual display devices. In some embodiments, the second support arm 130 can include a movable joint, a movable linkage assembly, or other suitable movable structures, etc. It should be understood that the second support arm 130 can also be a linkage without a movable joint. The working end 1324 of the second support arm 130 is used to carry the auxiliary display 150, so that the assistant (for example, an auxiliary doctor) can observe the image of the target area through the auxiliary display 150.

[0090] By disposing the imaging assembly and the auxiliary display on the extracorporeal support part, the photographing of the target area (for example, the oropharynx) is realized extracorporeally. The assistant can observe the auxiliary image displayed by the auxiliary display, and can see the surgical field without bending down in the narrow surgical field space, so that the assistant can operate more easily, can cooperate with the main doctor accurately, and can avoid the pollution of the surgical tool caused by the bending down of the assistant.

[0091] In some embodiments, the auxiliary display 150 can be disposed on the working end 1324 of the second support arm 130 through a movable joint or other suitable movable structures, so that the auxiliary display 150 can rotate and / or stretch and contract relative to the support part 110. In some embodiments, the auxiliary display 150 can be fixedly disposed on the working end 1324 of the second support arm 130, and the second support arm 130 can include a movable joint, a movable linkage assembly, or other suitable movable structures, etc., so that the auxiliary display 150 can rotate and / or stretch and contract relative to the support part 110.

[0092] By making the auxiliary display 150 movable relative to the support part 110, for example, rotating and / or stretching and contracting, the assistant can adjust the auxiliary display 150 to the optimal observation angle and position, so that the assistant can observe the auxiliary image displayed by the auxiliary display 150 at different angles and positions in the case of assisting operation.

[0093] In the case of needing an assistant to cooperate in the operation, the assistant can move the auxiliary instrument (e.g. suction tube) quickly and accurately in the narrow surgical field space by observing the auxiliary image displayed on the auxiliary display 150, for example, to reach the deep throat target area through the mouth to suck blood or saliva. The assistant can adjust the auxiliary display 150 to the best observation angle, and can see the surgical field without bending over to assist the operation, which is easier and can be more accurate in cooperation with the main operator. In this way, the risk of surgical tool contamination caused by the assistant needing to bend over or approach the patient's mouth or head area to assist the operation due to the narrow surgical field space can be avoided.

[0094] In some embodiments, as shown in FIG. 1, the extracorporeal throat visual auxiliary device 100 can further include at least one connecting piece 160. The at least one connecting piece 160 is detachably arranged on the support part 110 and fixedly connected with the support end 1211 of the first support arm 120 and the support end 1311 of the second support arm 130. It should be understood that the at least one connecting piece 160 can include a single connecting piece or multiple connecting pieces. Figure 1 In some embodiments, as shown in FIG. 1, the extracorporeal throat visual auxiliary device 100 can further include at least one connecting piece 160. The at least one connecting piece 160 is detachably arranged on the support part 110 and fixedly connected with the support end 1211 of the first support arm 120 and the support end 1311 of the second support arm 130. It should be understood that the at least one connecting piece 160 can include a single connecting piece or multiple connecting pieces. Figure 1 In some embodiments, as shown in FIG. 1, the extracorporeal throat visual auxiliary device 100 can further include at least one connecting piece 160. The at least one connecting piece 160 is detachably arranged on the support part 110 and fixedly connected with the support end 1211 of the first support arm 120 and the support end 1311 of the second support arm 130. It should be understood that the at least one connecting piece 160 can include a single connecting piece or multiple connecting pieces.

[0095] Figure 2 In some embodiments, as shown in FIG. 1, the extracorporeal throat visual auxiliary device 100 can further include at least one connecting piece 160. The at least one connecting piece 160 is detachably arranged on the support part 110 and fixedly connected with the support end 1211 of the first support arm 120 and the support end 1311 of the second support arm 130. It should be understood that the at least one connecting piece 160 can include a single connecting piece or multiple connecting pieces. Figure 2 In some embodiments, as shown in FIG. 1, the extracorporeal throat visual auxiliary device 100 can further include at least one connecting piece 160. The at least one connecting piece 160 is detachably arranged on the support part 110 and fixedly connected with the support end 1211 of the first support arm 120 and the support end 1311 of the second support arm 130. It should be understood that the at least one connecting piece 160 can include a single connecting piece or multiple connecting pieces. Figure 2 In some embodiments, as shown in FIG. 1, the extracorporeal throat visual auxiliary device 100 can further include at least one connecting piece 160. The at least one connecting piece 160 is detachably arranged on the support part 110 and fixedly connected with the support end 1211 of the first support arm 120 and the support end 1311 of the second support arm 130. It should be understood that the at least one connecting piece 160 can include a single connecting piece or multiple connecting pieces.

[0096] In some embodiments, as shown in FIG. 1, the extracorporeal throat visual auxiliary device 100 can further include at least one connecting piece 160. The at least one connecting piece 160 is detachably arranged on the support part 110 and fixedly connected with the support end 1211 of the first support arm 120 and the support end 1311 of the second support arm 130. It should be understood that the at least one connecting piece 160 can include a single connecting piece or multiple connecting pieces.Figure 2 As shown, the first working arm 122 can include a connecting end 1223 and a working end 1224. The working end of the first support arm 120 can refer to the working end of the first working arm 122. The connecting end 1223 of the first working arm 122 is connected with the connecting end 1212 of the first connecting arm 121 through the spherical hinge joint 123, and the working end 1224 of the first working arm 122 is connected with the imaging assembly 140. It should be understood that the spherical hinge joint of the present disclosure is a broad definition, which can include any joint structure capable of multi-angle (e.g., 360-degree full-angle) rotation. For example, the spherical hinge joint can be formed by a matching spherical groove and a spherical protrusion, or by a hooke joint, or by a universal joint structure, etc. Through the spherical hinge joint 123, the first working arm 122 can rotate in any direction relative to the first connecting arm 121, so as to drive the imaging assembly 140 to rotate through the first working arm 122, so as to realize the direction adjustment of the imaging assembly 140, and facilitate the assistant to adjust the imaging assembly 140 to the best angle and position.

[0097] Figure 3 A structural schematic diagram of the second support arm 130 according to some embodiments of the present disclosure is shown. As shown, the second support arm 130 can include a second connecting arm 131 and a second working arm 132. The support end 1311 of the second support arm 130 is located on the second connecting arm 131. It should be understood that, as shown, the second connecting arm 131 can include a support end 1311 and a connecting end 1312, and the support end of the second support arm 130 can refer to the support end of the second connecting arm 131. Figure 3 Figure 3 As shown, the second connecting arm 131 can include a support end 1311 and a connecting end 1312, and the support end of the second support arm 130 can refer to the support end of the second connecting arm 131. The support end 1311 of the second connecting arm 131 is fixedly arranged on the connecting piece 160. For example, the support end 1311 can be arranged on the same connecting piece 160 as the support end 1211 or on two connecting pieces 160. The working end 1324 of the second support arm 130 is located on the second working arm 132. It should be understood that, as shown, the second working arm 132 can include a connecting end 1323 and a working end 1324, and the working end of the second support arm 130 can refer to the working end of the second working arm 132. Figure 3 As shown, the second working arm 132 can include a connecting end 1323 and a working end 1324, and the working end of the second support arm 130 can refer to the working end of the second working arm 132. The connecting end 1323 of the second working arm 132 is connected with the connecting end 1312 of the second connecting arm 131 through the spherical hinge joint 133, and the working end 1324 of the second working arm 132 is connected with the auxiliary display 150. Through the spherical hinge joint 133, the second working arm 132 can rotate in any direction relative to the second connecting arm 131, so as to drive the auxiliary display 150 to rotate through the second working arm 132, so as to realize the direction adjustment of the auxiliary display 150, and facilitate the assistant to adjust the auxiliary display 150 to the best observation angle and position.

[0098] Figure 4 A structural schematic diagram of the connecting piece 160 according to some embodiments of the present disclosure is shown. In some embodiments, as shown,​Figure 4 As shown, the at least one connecting member can include a single connecting member 160. The single connecting member 160 can include a ring-shaped clamp 161, two extension arms 162, and a locking member 163. The ring-shaped clamp 161 is configured to be clamped on the support portion 110. The ring-shaped clamp 161 includes an opening 1611, and a first connecting platform 1612a and a second connecting platform 1612b disposed opposite to the opening 1611, the first connecting platform 1612a is connected with the support end 1211 of the first connecting arm 121 of the first support arm 120, and the second connecting platform 1612b is connected with the support end 1311 of the second connecting arm 131 of the second support arm 130. In some embodiments, the first connecting arm 121 and the second connecting arm 131 extend away from each other from the support end to the connecting end.

[0099] As shown, the two extension arms 162 are symmetrically disposed on both sides of the opening 1611 and extend outward, for example, the two extension arms 162 can extend outward in a direction away from the first connecting platform 1612a and the second connecting platform 1612b. The two extension arms 162 can include oppositely disposed threaded holes. The locking member 163 can include a threaded segment 1631. The threaded segment 1631 of the locking member 163 is configured to pass through the threaded holes of the two extension arms 162 to lock the ring-shaped clamp 161 on the support portion 110. Figure 4 In some embodiments, as shown, the locking member 163 can further include a handle 1632 disposed at the end of the threaded segment 1631. In some embodiments, the handle 1632 can include a connecting boss 1633 and extension portions 1634 symmetrically disposed on both sides of the connecting boss 1633. The extension portions 1634 can be held by the fingers of an assistant, and the cross-sectional area of the connecting boss 1633 is greater than that of the threaded segment 1631, so as to abut against the extension arms 162 for limiting.

[0100] Figure 4 In actual operation, an assistant or auxiliary personnel can hold the handle 1632 of the locking member 163 (for example, the extension portions 1634 of the handle 1632), and extend the threaded segment 1631 into the corresponding threaded holes of the two extension arms 162, and rotate the threaded segment 1631 until the extension arms 162 abut against the connecting boss 1633, so as to complete the locking of the ring-shaped clamp 161 on the support portion 110.

[0101] A side view structural schematic diagram of the in-vivo laryngopharynx visual auxiliary device 100 according to some embodiments of the present disclosure is shown. In some embodiments, the support portion 110 can include a sheath assembly. As shown,

[0102] Figure 5 A side view structural schematic diagram of the in-vivo laryngopharynx visual auxiliary device 100 according to some embodiments of the present disclosure is shown. In some embodiments, the support portion 110 can include a sheath assembly. As shown, Figure 5 ​As shown, the sheath assembly may include a distal sheath 111 and multiple proximal sheaths 112. The distal sheath 111 includes multiple channels 1113 arranged axially, and a connector 160 is detachably disposed on the outer periphery of the distal sheath 111. The multiple proximal sheaths 112 are connected to the distal sheath 111, and each of the multiple proximal sheaths 112 communicates with multiple channels 1113, extending outwardly away from each other.

[0103] In some embodiments, such as Figure 1 and Figure 5 As shown, the distal sheath 111 is tubular and may include a proximal port 1111 (e.g., a flared opening) and a distal port 1112 (e.g., a constricted opening). The distal sheath 111 may be rigid, and a plurality of channels 1113 may extend along the length of the distal sheath 111 and be spaced apart. In some embodiments, at least a portion of the proximal sheath 112 is deformable, and the deformation includes radial and / or axial deformation (e.g., bending, stretching, etc.) along the proximal sheath 112.

[0104] It should be understood that the sheath assembly (e.g., proximal sheath 112) can be connected to the robotic arm of a surgical robot system. (See robotic arm 620). Figure 11 For example, the sheath assembly (e.g., the channel 1113 of the sheath assembly) can be used for surgical instruments (e.g., surgical tools 630 or endoscopic tools 650) mounted on the robotic arm 620 to pass through and enter the predetermined surgical site (e.g., the deep region of the oropharynx). For instance, multiple proximal sheaths 112 are connected to multiple robotic arms or a single robotic arm 620 via connection structures. To ensure that the multiple surgical instruments mounted on the robotic arm 620 are aligned with the multiple channels 1113 of the multiple proximal sheaths 112, the positioning accuracy of the robotic arm 620 is required to be high. For example, during preoperative preparation, the robotic arm 620 needs to move to an appropriate position and automatically or manually connect with the multiple proximal sheaths 112. Or, during surgery, it may be necessary to adjust the robotic arm 620 as a whole along a certain point to adjust the surgical field of view or the position of the surgical instruments, and the positional relationship between the robotic arm 620 and the sheath assembly may shift. Alternatively, limitations imposed by the relative relationships of multiple surgical instruments (e.g., the distribution of multiple proximal sheaths 112 in the sheath assembly, interference between surgical instruments, or the joint limits of the robotic arm) may prevent the surgical instruments from reaching the target pose as instructed by the system. Since the proximal sheaths 112 can deform radially and / or axially, this deformation can compensate for positioning errors or offsets of the robotic arm 620 caused by machine control precision or other reasons (including but not limited to the aforementioned situations). This allows the surgical instrument tip to still smoothly pass through the channel 1113 of the sheath assembly and enter the predetermined surgical site even with certain positioning errors or offsets.

[0105] In some embodiments, the proximal sheath 112 can include multiple segments of different materials distributed along the length of the proximal sheath 112. For example, at least a portion of the proximal sheath 112 can be made of a flexible material. The flexible material can allow the proximal sheath 112 to deform. It should be appreciated that the flexible material can be a thermoplastic elastomer (e.g., thermoplastic polyurethane, etc.), silicone, or rubber, etc. in any embodiment of the present disclosure. The non-flexible material can include plastic (e.g., polycarbonate, polypropylene, etc.) and metallic material, etc.

[0106] For example, the multiple proximal sheaths 112 can include, but are not limited to, two sheaths, three sheaths, or more sheaths, and the specific number of proximal sheaths 112 can be adjusted according to actual needs. At least one of the multiple proximal sheaths 112 can deform. It should be appreciated that one, several, or all of the multiple proximal sheaths 112 can deform. In some embodiments, as shown in FIG. 1, the multiple proximal sheaths 112 can include a proximal sheath 112a, a proximal sheath 112b, a proximal sheath 112c, and a proximal sheath 112d. Figure 5 Figure 5 As shown in FIG. 1, the proximal sheaths 112a, 112b, and 112d can be flexible and deformable. The proximal sheath 112c can be non-flexible. In some embodiments, the proximal sheath 112c can be used for passing a surgical instrument (e.g., an endoscope).

[0107] Figure 6 Another side view schematic diagram of the extracorporeal laryngopharyngeal visualization assist device 100 according to some embodiments of the present disclosure is shown. As shown in FIG. 1, the multiple proximal sheaths 112 can include a proximal sheath 112a, a proximal sheath 112b, a proximal sheath 112c, and a proximal sheath 112d. Figure 5 Figure 6 As shown in FIG. 1, the multiple channels 1113 can be arranged adjacent to each other at one end near the distal port 1112 of the distal sheath 111 and can be arranged away from each other at one end near the proximal port 1111 of the distal sheath 111. Thus, the multiple mechanical arms can be better prevented from interfering with each other when passing through the multiple proximal sheaths 112. In some embodiments, the proximal sheaths 112a-d can have different lengths. As shown in FIG. 1, the proximal sheath 112c can have a length smaller than the proximal sheaths 112a, 112b, and 112d, so as to facilitate the surgical instrument (e.g., the endoscope tool 630) to extend into the surgical site. It should be appreciated that the proximal sheaths 112a-d can also have the same length, or some of the proximal sheaths can have the same length. In some embodiments, the multiple channels 1113 can also be spaced apart and arranged in parallel along the length of the distal sheath 111. In some embodiments, as shown in FIG. 1, the multiple proximal sheaths 112 can also extend away from each other gradually outwardly. Figure 5 Figure 6 As shown in FIG. 1, the proximal sheaths 112a, 112b, and 112d can be flexible and deformable. The proximal sheath 112c can be non-flexible. In some embodiments, the proximal sheath 112c can be used for passing a surgical instrument (e.g., an endoscope). Figure 5 Figure 6 As shown in FIG. 1, the proximal sheaths 112a, 112b, and 112d can be flexible and deformable. The proximal sheath 112c can be non-flexible. In some embodiments, the proximal sheath 112c can be used for passing a surgical instrument (e.g., an endoscope).

[0108] ​​​​For example, a plurality of surgical tools 630 and an endoscope tool 650 can be respectively inserted into a plurality of proximal sheath tubes 112 and extended from the proximal sheath tubes 112 to the distal sheath tube 111 until the distal end portions of the surgical tools 630 and the endoscope tool 650 are extended from the plurality of passages 1113 of the distal port 1112 and enter the deep region of the patient's oropharynx.

[0109] In some embodiments, a telescopic tube 113 can be included on the proximal sheath tube 112, as shown in Figure 5 The telescopic tube 113 can be axially telescoped along the proximal sheath tube 112 to provide axial deformation of the proximal sheath tube 112 and increase the flexibility of the proximal sheath tube 112 in the axial direction. In some embodiments, as shown in Figure 5 and Figure 6 The telescopic tube 113 can be tubular and can include an upper tube 1131 and a lower tube 1132 that can be relatively slid along the axial direction of the proximal sheath tube 112. The upper tube 1131 and the lower tube 1132 can have different diameters and can be movably sleeved together to achieve axial telescoping of the telescopic tube 113. It should be understood that the telescopic tube 113 can be provided at any position on the proximal sheath tube 112. For example, as shown in Figure 5 and Figure 6 The telescopic tube 113 can be provided at the proximal end of the proximal sheath tube 112. The lower end portion of the lower tube 1132 is fixedly connected to the end portion of the proximal sheath tube 112, and the diameter of the upper tube 1131 is greater than the diameter of the upper end portion of the lower tube 1132, so that the upper tube 1131 can be movably sleeved on the upper end portion of the lower tube 1132 to achieve relative sliding of the two tubes along the axial direction of the proximal sheath tube 112. In some embodiments, a reverse buckle (not shown in the figure) can be provided on the upper tube 1131 and / or the lower tube 1132 to prevent the upper tube 1131 and the lower tube 1132 from slipping off during relative sliding.

[0110] In some embodiments, as shown in Figure 5 and Figure 6 The sheath tube assembly can be connected to the mechanical arm through a connecting structure 114 provided on the proximal sheath tube 112 and a complementary structure on the mechanical arm to connect the sheath tube assembly to the mechanical arm, so that the surgical instruments provided on the mechanical arm can smoothly pass through the sheath tube at a predetermined angle and can move along the passage 1113 of the sheath tube assembly. It should be understood that the connecting structure 114 on the proximal sheath tube 112 can include a protrusion, a clamp, a latching structure, an adhesive structure, a plug-in structure, a suction structure, or any other appropriate connecting structure. The complementary structure on the mechanical arm can include a complementary structure that cooperates with the connecting structure 114.

[0111] In some embodiments, the connecting structure 114 can also be arranged on the telescopic tube 113 (e.g. the upper tube 1131), and the connecting structure 114 can move along with the telescopic tube 113 in the axial telescopic movement of the proximal sheath tube 112, so that the flexibility of the position of the connecting structure 114 on the proximal sheath tube 112 can be improved to facilitate the connection of the connecting structure 114 with the mechanical arm. It should be understood that the connecting structure 114 can also be arranged at other positions of the proximal sheath tube 112. For example, as shown in Figure 6 the connecting structure 114 on the proximal sheath tube 112c can be arranged on the distal end of the proximal sheath tube 112c or the proximal end of the distal sheath tube 111, and the connecting structure 114 on the proximal sheath tubes 112a, 112b and 112d can be arranged on the telescopic tube 113 of the corresponding sheath tube. The specific arrangement position of the connecting structure 114 is not limited herein.

[0112] Figure 7 a structure schematic diagram of the extracorporeal laryngeal visualization auxiliary device 200 according to some other embodiments of the present disclosure is shown. In some embodiments, as shown in Figure 7 the at least one connecting piece 260 of the extracorporeal laryngeal visualization auxiliary device 200 can include a first connecting piece 260a and a second connecting piece 260b. The first connecting piece 260a and the second connecting piece 260b are arranged at intervals on the support part 210 (or the support part 110).

[0113] Figure 8 a structure schematic diagram of the connecting piece (e.g. the first connecting piece 260a) according to some embodiments of the present disclosure is shown. The first connecting piece 260a and the second connecting piece 260b can have similar structures. Hereinafter, the first connecting piece 260a is taken as an example. As shown in Figure 7 and Figure 8 the first connecting piece 260a (or the second connecting piece 260b) can include a ring-shaped clamp 261, two extension arms 262 and a locking piece 263. The ring-shaped clamp 261 is arranged on the support part 210, and the ring-shaped clamp 261 includes an opening 2611 and a connecting table 2612 opposite to the opening 2611. The connecting table 2612 is connected with the support end 2211 of the first connecting arm 221 of the first support arm 220 or the support end 2311 of the second connecting arm 231 of the second support arm 230. The two extension arms 262 are arranged symmetrically on both sides of the opening 2611 and extend outward, and the two extension arms 262 include oppositely arranged threaded holes. The locking piece 263 can include a threaded segment 2631. The threaded segment 2631 of the locking piece 263 is arranged to pass through the threaded holes of the two extension arms 262 to lock the ring-shaped clamp 261 on the support part 210. It should be understood that the locking piece 263 can have similar structures as the locking piece 163, and will not be described herein.

[0114] In some embodiments, as shown in Figure 7As shown, the support 210 may include an arc-shaped bracket, with a first connector 260a and a second connector 260b spaced apart along the arc-shaped bracket. For example, the first connector 260a may be positioned closer to the middle portion of the arc-shaped bracket to allow the imaging component 240 mounted on the first support arm 220 to acquire images of the oropharyngeal region 310 outside the patient's oral cavity (e.g., above the oral cavity). The second connector 260b may be positioned closer to the edge of the arc-shaped bracket to position the auxiliary display 250 mounted on the second support arm 230 in a more convenient location for the assistant to observe. It should be understood that the support 210 may be mounted on the hospital bed, for example, above the hospital bed. The two ends of the arc-shaped bracket are connected to the sides of the hospital bed, and the middle arc-shaped portion is spaced a certain distance from the hospital bed to allow the patient 300 to lie comfortably on the bed. The curvature center of the support portion 210 can approximately correspond to the oropharyngeal region 310 of the patient 300, so that devices mounted on the support portion 210 (such as the first support arm 220) can more easily be pointed towards the oropharyngeal region 310, so that the imaging component 240 can acquire images of the oropharyngeal region 310. Those skilled in the art will understand that the support portion 210 can also be used to mount other auxiliary tools, such as oral retractors. The above is merely an example, and it should be understood that the support portion 210 can also have other suitable shapes, which are not limited here.

[0115] In some embodiments, such as Figure 2 As shown, the first working arm 122 of the first support arm 120 (or the first support arm 220) may include a linear portion 1221 located on the connecting end side and a bent portion 1222 located on the working end side. The imaging assembly 140 is disposed at the working end (e.g., working end 1224) of the bent portion 1222. It should be understood that the bending angle formed between the bent portion 1222 and the linear portion 1221 can be greater than 90 degrees. For example, the bent portion 1222 can be bent downwards (e.g., as shown in the diagram). Figure 2 (as shown in the diagram). By forming a bend 1222 at the working end 1224 of the first working arm 122 of the first support arm 120 (or the first support arm 220), the imaging component 140 at the working end 1224 of the first working arm 122 can easily capture auxiliary images of the oropharyngeal region 310. By observing the auxiliary images displayed on the auxiliary display (auxiliary display 150 or auxiliary display 250), the assistant smoothly guides an auxiliary tool (e.g., a suction tube) through the oropharyngeal region 310 of the patient 300 to the pharynx for auxiliary operations, such as suctioning saliva and blood.

[0116] In some embodiments, the first working arm 122 of the first support arm 120 (or the first support arm 220) can further comprise a first axial telescopic joint (not shown in the figure). In some embodiments, the second working arm 132 of the second support arm 130 (or the second support arm 230) can further comprise a second axial telescopic joint (not shown in the figure). It should be understood that the first or second telescopic joint can comprise a telescopic rod, a movable link assembly, or other suitable telescopic structure. The specific telescopic joint structure is not limited here. The telescopic adjustment of the first working arm 122 or the second working arm 132 in the axial direction is achieved through the telescopic joint.

[0117] In actual operation, for example, when the patient is small or large in size, the length of the first support arm 120 (or the first support arm 220) can be adjusted through the first telescopic joint, so that the imaging assembly 140 (or the imaging assembly 240) of the working end 1224 of the first support arm 120 can take auxiliary images of the oropharyngeal region 310 of the patient 300 at the optimal position and angle. For example, when the assistant has different vision or different observation habits, the length of the second support arm 130 (or the second support arm 230) can be adjusted through the second telescopic joint, so that the auxiliary display 150 (or the auxiliary display 250) of the working end 1324 of the second support arm 130 is closer or farther away from the assistant to meet different operation needs.

[0118] Figure 9 A structural schematic diagram of the imaging assembly 140 (or the imaging assembly 240) according to some embodiments of the present disclosure is shown, Figure 10 A working scene schematic diagram of the imaging assembly 140 (or the imaging assembly 240) according to some embodiments of the present disclosure is shown. In some embodiments, as Figure 9 shown, the imaging assembly 140 (or the imaging assembly 240) can comprise a near-field imager 141. It should be understood that in the present disclosure, the near-field imager 141 is used for imaging in the normal mode and can provide high-definition quality images of the field of view area. The near-field imager 141 can comprise at least one near-field imaging lens and at least one near-field image sensor. In some embodiments, the near-field imaging lens can comprise an optical lens group composed of a plurality of lenses. Among them, the optical lens group comprises one or more convex lenses and concave lenses, and the plurality of convex lenses and concave lenses are arranged in a distributed manner to form an optical imaging system. The near-field image sensor can be arranged at the rear end of the optical lens group. The near-field image sensor takes images in the target area through the optical lens group. In some embodiments, the near-field image sensor can include but is not limited to a CCD, a COMS image sensor, etc. As Figure 10As shown, the target area 330 that the near-field imager 141 can capture is defined by the field of view A. It should be understood that the target area may include the oropharyngeal region, or other areas of interest to the assistant. The near-field imager 141 can convert the light reflected from the target area 330 into an electronic signal through an image sensor to form an electronic signal, which is then displayed on the auxiliary display 150 (or auxiliary display 250).

[0119] In some embodiments, such as Figure 9 As shown, imaging assembly 140 (or imaging assembly 240) may include a wide-angle imager 142. For example... Figure 10 As shown, the target area 330 that the wide-angle imager 142 can capture is defined by a field of view B. The field of view B of the wide-angle imager 142 is larger than the field of view A of the near-field imager 141. It should be understood that the wide-angle imager 142 is used for imaging in wide-angle mode, providing an image with a larger field of view. The wide-angle imager 142 may include a wide-angle lens and a wide-angle image sensor. It should be understood that the wide-angle lens may include multiple spherical or aspherical optical lenses. The wide-angle image sensor may be disposed at the rear end of the wide-angle lens. In some embodiments, the wide-angle image sensor may include, but is not limited to, a CCD, a CMOS image sensor, etc. By arranging and combining multiple optical lenses, a larger range of incident light can be projected onto a smaller area of ​​the wide-angle image sensor, thereby achieving wide-angle imaging. The wide-angle imager 142 can help the assistant find the corresponding target area or target location more quickly, and cooperate with the surgeon in a timely manner to complete the auxiliary operation.

[0120] In some embodiments, such as Figure 9 As shown, imaging assembly 140 (or imaging assembly 240) may include a near-field imager 141 and a wide-angle imager 142. By simultaneously setting the near-field imager 141 and the wide-angle imager 142, imaging can be performed in different modes to obtain images with different field of view ranges, meeting the usage requirements of different occasions. For example, when it is necessary to quickly locate the target position, the wide-angle imager 142 can be used to capture an image of the target area. When it is necessary to observe the target position more clearly, the near-field imager 141 can be used to capture an image of the target area. The above is only an example, and those skilled in the art should understand that the near-field imager 141 or the wide-angle imager 142, or both the near-field imager 141 and the wide-angle imager 142, may also be used depending on the actual situation or the assistant's habits, etc., and no limitation is made here.

[0121] In some embodiments, the auxiliary images captured by the imaging assembly 140 (or the imaging assembly 240) can include near-field images captured by the near-field imager 141 and / or wide-angle images captured by the wide-angle imager 142. It should be understood that the auxiliary display 150 (or the auxiliary display 250) can display the near-field images or the wide-angle images alone, or can display the near-field images and the wide-angle images superimposed.

[0122] In some embodiments, the extracorporeal laryngopharyngeal visualization aid 100 (or the extracorporeal laryngopharyngeal visualization aid 200) can further include a switching key (not shown in the figures). It should be understood that the switching key can include at least one of a button, a knob, a rotary knob, a touch key, a voice trigger, or other forms of switching buttons. In some embodiments, the switching key can be disposed on the auxiliary display 150 (or the auxiliary display 250). For example, the switching key can be disposed on the frame edge, or the screen edge, or other positions convenient for the assistant to operate, without being limited herein. The switching key is used to make the auxiliary display 150 display the near-field images captured by the near-field imager 141, or display the wide-angle images captured by the wide-angle imager 142, or display the near-field images captured by the near-field imager 141 and the wide-angle images captured by the wide-angle imager 142 superimposed. The assistant can trigger the switching key to select the near-field images and / or the wide-angle images to be displayed on the auxiliary display 150 according to the needs.

[0123] In some embodiments, the extracorporeal laryngopharyngeal visualization aid 100 (or the extracorporeal laryngopharyngeal visualization aid 200) can further include a heat-conducting structure (not shown in the figures) and a heating circuit. The heat-conducting structure can be disposed at the proximal end of the lens of the imaging assembly 140 (or the imaging assembly 240), and can be thermally coupled with the lens. For example, the heat-conducting structure can be disposed on the circumference of the proximal face of the lens. The heat-conducting structure is used to conduct the heat generated by the heating circuit. In some embodiments, the heat-conducting structure can include heat-conducting silicone, heat-conducting gel, heat-conducting silicone grease, heat-conducting phase change material, etc. By heating the lens of the imaging assembly through the heating circuit and the heat-conducting structure, the lens can be defrosted inside and outside, so as to make the surgical field more clear.

[0124] It should be understood that the heating circuit can include a heating resistor and a controllable switch. The heating resistor can be used to generate heat, and the heating resistor can be thermally coupled with the heat-conducting structure. Those skilled in the art can understand that the heating resistor can convert a part of electrical energy into heat energy, thereby generating heat. In some embodiments, the heating resistor can be in abutment with the heat-conducting structure, thereby improving the heat transfer efficiency. In some embodiments, the heating resistor can be in the form of a resistance wire, a resistance block, etc.

[0125] As can be appreciated by those skilled in the art, when the extracorporeal laryngeal visualization assisting device 100 (or the extracorporeal laryngeal visualization assisting device 200) is located outside the patient's body (e.g., above the patient's mouth or throat), the temperature of the lens of the imaging assembly 140 (or the imaging assembly 240) of the working end of the first support arm 120 (or the first support arm 220) is often lower than the temperature of the water vapor exhaled by the patient, which can condense on the lens surface of the imaging assembly 140, thereby blocking the surgical field. In the present embodiment, the heat generated by the heating resistor can be transmitted to the heat-conducting structure, and then transmitted to the lens through the heat-conducting structure, thereby increasing the temperature of the lens, and the water vapor on the lens surface can thus be dissipated.

[0126] A controllable switch (not shown in the figure) can be provided on the support arm (e.g., the first support arm 120 or 220), and the controllable switch is connected to the heating resistor for turning on or blocking the heating circuit. It should be understood that the controllable switch can be connected to the heating resistor provided in the imaging assembly 140 (or the imaging assembly 240) through a cable. The assistant can control the on-off of the heating circuit by controlling the controllable switch, thereby achieving heating or stopping heating of the lens of the imaging assembly 140 (or the imaging assembly 240).

[0127] In some embodiments, the extracorporeal laryngeal visualization assisting device 100 (or the extracorporeal laryngeal visualization assisting device 200) can further include a hydrophobic coating (not shown in the figure). The hydrophobic coating is coated on the distal surface of the lens of the imaging assembly 140 (or the imaging assembly 240). In some embodiments, the hydrophobic coating can include a nanomaterial, a fluorine-containing material (e.g., perfluoropolyether), or other suitable materials, etc., which are only examples and are not limited thereto. In some embodiments, the thickness of the hydrophobic material coated on the lens surface of the imaging assembly 140 can be between 2 microns and 10 microns to obtain a better hydrophobic effect. As can be appreciated by those skilled in the art, the thickness of the hydrophobic coating is not limited to the above range, but can also be other suitable thicknesses, for example, the thickness of the hydrophobic coating can be appropriately reduced to reduce the weight of the imaging assembly 140 (or the imaging assembly 240). By coating the hydrophobic coating on the lens surface of the imaging assembly 140 (or the imaging assembly 240), the lens can be prevented from being contaminated by liquid and dirt, which is conducive to maintaining a clear field of view during the surgical operation.

[0128] In some embodiments, as Figure 9As shown, the external pharyngeal visual assistive device 100 (or external pharyngeal visual assistive device 200) may further include an illumination unit 143. The output end of the illumination unit 143 is disposed at the working end 1224 of the first support arm 120 (or the first support arm 220). It should be understood that the number of illumination units 143 may be one or more. The illumination unit 143 helps to increase the illumination intensity of the imaging assembly 140 (or imaging assembly 240). For example, the output end of the illumination unit 143 may be disposed along the circumferential edge of the front (or distal) portion of the imaging assembly 140, or at the gap between the lenses of the imaging assembly 140. The output end of the illumination unit 143 can be formed into any suitable shape, such as crescent, ellipse, circle, etc. It should be understood that the illumination unit 143 may include optical fiber, LED light source, or other forms of illumination devices, etc., without limitation.

[0129] This disclosure also provides a surgical robot system. Figure 11 A schematic diagram of the structure of a surgical robot system 1000 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 11 As shown, the surgical robot system 1000 may include a main control carriage 500, a surgical carriage 600, and an external pharyngeal visual aid 100 (or an external pharyngeal visual aid 200) in any embodiment of this disclosure.

[0130] like Figure 11 As shown, the main control carriage 500 includes at least one main control display 520. The number of main control displays 520 can be one or more, used by the surgeon or assistant to observe target tissue within the surgical field during the surgical procedure. For example, the main control display 520 may include a liquid crystal display, a field emission display, an organic display, or other forms of display.

[0131] In some embodiments, the master control carriage 500 may include a carriage body 510 and at least one master operator 530. At least one master operator 530 (e.g., left and right master operators) may be symmetrically arranged on the carriage body 510 for operation by the operator's left and right hands respectively. In practical scenarios, the master operator 530 may be configured to receive input from the surgeon, who then remotely operates the master operator 530 to control the movement of surgical tools 630 or endoscopic tools 650 on the surgical carriage 600 within the operating area to perform medical procedures.

[0132] In some embodiments, one or more main control displays 520 may be disposed on the trolley body 510. The main control display 520 may include a two-dimensional display (e.g., Figure 11 The external display 521 shown is a main control display, and the stereo display (e.g., Figure 11The surgical field images acquired by the endoscopic tool 650 can be displayed on multiple main control displays 520 (e.g., main external display 521, stereo display 522) for viewing by the surgeon and other personnel. It should be understood that the two-dimensional display 521 may include liquid crystal displays, plasma displays, projection screens, etc. The stereo display 522 may also include head-mounted stereo display, glasses-type stereo display, etc. The above are merely examples and are not intended to limit the scope; it should be understood that the main control displays 520 may include other numbers and types.

[0133] like Figure 11 As shown, the operating table 600 may include at least one robotic arm 620 and at least one surgical tool 630 and an endoscope tool 650 disposed on the at least one robotic arm 620. Figure 11 Three surgical instruments 630 are shown. It should be understood that the number of surgical instruments 630 may also be other than those shown here. It should be understood that the operating table 600 is communicatively connected to the main control table 500, for example, via wired or wireless transmission, so that the operating table 600 and the main control table 500 can exchange data and display the surgical field images acquired by the endoscopic instrument 650 on the main control display 520.

[0134] Those skilled in the art will understand that the surgical field image includes images of the surgical field area captured by the endoscopic tool 650, used for the surgeon's reference during surgical procedures. The imaging component 140 (or imaging component 240) of the external pharyngeal visual aid is communicatively connected to at least one main display 520. Thus, during the surgical procedure, the main display 520 can also display auxiliary images acquired by the imaging component 140 (or imaging component 240), allowing the surgeon and assistant to share the field of view and achieve more precise coordination.

[0135] like Figure 11 As shown, the operating table 600 may include a single robotic arm 620, which carries multiple surgical tools 630 and endoscopic tools 650, enabling the integration and miniaturization of the operating table 600. It should be understood that the operating table 600 may also include multiple robotic arms 620, each carrying multiple surgical tools 630 and endoscopic tools 650. The robotic arm 620 may include multiple motion joints (e.g., rotational, telescopic joints) and an arm body, possessing multiple degrees of freedom. The position of the surgical tools 630 and endoscopic tools 650 can be adjusted using the robotic arm 620.

[0136] In some embodiments, the surgical robot system 1000 may further include a controller (not shown). The controller may be located on the main control carriage 500, the operating carriage 600, or other equipment. The controller is communicatively connected to at least one main control display 520, the endoscopic tool 650, and the imaging assembly 140 (or imaging assembly 240). The controller is used to control the at least one main control display 520 to display surgical field images acquired by the endoscopic tool 650 and / or auxiliary images acquired by the imaging assembly 140 (or imaging assembly 240). For example, the controller may control the display of auxiliary images overlaid on the surgical field images displayed on the main control display 520, or control the display of surgical field images and auxiliary images side by side on the main control display 520, or control the display of only the surgical field images on the main control display 520 without displaying auxiliary images.

[0137] Figure 12 A schematic diagram of the display window of a main control display 520 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 12 As shown, at least one main display 520 may include a first display window 525 and a second display window 526. The first display window 525 is used to display the surgical field image acquired by the endoscopic tool 650, and the second display window 526 is used to display auxiliary images acquired by the imaging component 140 (or imaging component 240). It should be understood that the second display window 526 may be overlapped with the first display window 525, for example, it may be located at a corner or edge of the first display window 525 to avoid the auxiliary image obscuring the surgical field image. The above is only an example, and it should be understood that the second display window 526 may also be arranged side by side with the first display window 525 or in other forms. In some embodiments, the second display window 526 may be smaller than the first display window 525. It should be understood that the second display window 526 may also be equal to or larger than the first display window 525.

[0138] During surgery, the surgeon can control the surgical tools 630 and / or endoscopic tools 650 mounted on the operating table 600 to perform surgical operations based on the surgical field image displayed on the main control display 520 by operating the main manipulator 530 included in the main control cart 500. The operating table 600 is typically located on the patient side and performs surgical operations on the patient in response to control commands from the main control cart 500. In some embodiments, the surgeon can also control the opening and closing of the end effector (e.g., forceps head) of the surgical tool 630, or control the rotation of the arm or wrist joint assembly of the surgical tool 630 to drive the end effector movement of the surgical tool 630, based on the surgical field image displayed on the main control display 520.

[0139] In the case where an assistant is needed to assist in the operation (e.g. blood suction), the assistant can take an auxiliary image of the oropharyngeal region above the patient's oral cavity using the imaging assembly 140 (or the imaging assembly 240) of the extra-cervical visual auxiliary device 100 (or the extra-cervical visual auxiliary device 200) according to the instructions of the main surgeon. The assistant controls the auxiliary tool (e.g. suction tube) to reach the target position designated by the main surgeon for suction operation by observing the auxiliary image displayed on the auxiliary display 150 (or the auxiliary display 250) of the extra-cervical visual auxiliary device 100 (or the extra-cervical visual auxiliary device 200). The main surgeon can select the field of view sharing mode, in which the main control display 520 can display the surgical field image and the auxiliary image. The main surgeon can further coordinate with the assistant according to the surgical field image and the auxiliary image displayed on the main control display 520 to shorten the time of the assistant's assistance operation, thereby shortening the overall operation time.

[0140] It is noted that the above merely illustrates the exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments only, and can include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the appended claims.

Claims

1. An external visual assistive device for the throat, characterized in that, include: The support structure is located outside the patient's body; A first support arm, wherein the support end of the first support arm is detachably mounted on the support portion; The second support arm has its support end detachably mounted on the support portion; An imaging component is disposed on the working end of the first support arm; An auxiliary display is disposed on the working end of the second support arm. The auxiliary display is communicatively connected to the imaging component and is used to display auxiliary images acquired by the imaging component.

2. The external pharyngeal visual auxiliary device according to claim 1, characterized in that, Also includes: At least one connector is detachably disposed on the support portion, and the at least one connector is fixedly connected to the support end of the first support arm and the support end of the second support arm.

3. The external pharyngeal visual auxiliary device according to claim 2, characterized in that, The first support arm includes: A first connecting arm, wherein the supporting end of the first supporting arm is located on the first connecting arm, and the supporting end of the first connecting arm is fixedly disposed on the at least one connecting member; and The first working arm has a working end located on the first working arm, and the connecting end of the first working arm is connected to the connecting end of the first connecting arm through a ball joint. The working end of the first working arm is connected to the imaging component. The second support arm includes: The second connecting arm, wherein the supporting end of the second supporting arm is located on the second connecting arm, and the supporting end of the second connecting arm is fixedly disposed on the at least one connecting member; and The second working arm has its working end located on the second supporting arm. The connecting end of the second working arm is connected to the connecting end of the second connecting arm via a ball joint. The working end of the second working arm is connected to the auxiliary display.

4. The external pharyngeal visual auxiliary device according to claim 3, characterized in that, The at least one connector includes a single connector, the single connector comprising: A ring clamp is used to clamp onto the support portion. The ring clamp includes an opening and a first connecting platform and a second connecting platform disposed opposite to the opening. The first connecting platform is connected to the support end of the first connecting arm, and the second connecting platform is connected to the support end of the second connecting arm. The first connecting arm and the second connecting arm extend away from each other from the support end toward the connecting end. Two extension arms, symmetrically arranged on both sides of the opening and extending outward, each extension arm including an opposing threaded hole; and A locking element, including a threaded section, is used to pass through the threaded holes of the two extension arms to lock the annular clamp onto the support.

5. The external pharyngeal visual auxiliary device according to claim 4, characterized in that, The support portion includes a sheath assembly, the sheath assembly comprising: The distal sheath includes a plurality of channels extending through the axial direction, and the connector is detachably disposed on the outer periphery of the distal sheath; Multiple proximal sheaths are connected to the distal sheath, and the multiple proximal sheaths are respectively connected to the multiple channels, and the multiple proximal sheaths extend outwards away from each other.

6. The external pharyngeal visual auxiliary device according to claim 3, characterized in that, The at least one connector includes a first connector and a second connector, the first connector and the second connector being disposed at an interval on the support portion; The first connector or the second connector includes: A ring clamp is used to clamp onto the support portion. The ring clamp includes an opening and a connecting platform opposite to the direction of the opening. The connecting platform is connected to the support end of the first connecting arm or the support end of the second connecting arm. Two extension arms, symmetrically arranged on both sides of the opening and extending outward, each extension arm including an opposing threaded hole; and A locking element, including a threaded section, is used to pass through the threaded holes of the two extension arms to lock the annular clamp onto the support.

7. The external pharyngeal visual auxiliary device according to claim 6, characterized in that, The support includes an arc-shaped bracket, and the first connector and the second connector are respectively arranged at intervals along the arc-shaped bracket.

8. The external pharyngeal visual auxiliary device according to claim 3, characterized in that, The first working arm includes a linear portion located on one side of the connecting end and a bent portion located on one side of the working end, wherein the imaging component is disposed at the working end of the bent portion; and / or The first working arm further includes a first telescopic joint along the axial direction; and / or The second working arm also includes a second telescopic joint along the axial direction.

9. The external pharyngeal visual auxiliary device according to claim 1, characterized in that, The imaging component includes: Near-field imager, including at least one near-field imaging lens and at least one near-field image sensor; and / or A wide-angle imager, comprising a wide-angle lens and a wide-angle image sensor, wherein the field of view of the wide-angle imager is larger than the field of view of the near-field imager. The auxiliary images include near-field images acquired by the near-field imager and / or wide-angle images acquired by the wide-angle imager.

10. The external pharyngeal visual auxiliary device according to claim 9, characterized in that, Also includes: A switching key is provided on the auxiliary display. The switching key is used to enable the auxiliary display to display the near-field image acquired by the near-field imager, display the wide-angle image acquired by the wide-angle imager, or display the near-field image acquired by the near-field imager and the wide-angle image acquired by the wide-angle imager in superimposed form.

11. The external pharyngeal visual auxiliary device according to claim 1, characterized in that, Also includes: A heat-conducting structure is disposed near the lens of the imaging assembly and is thermally coupled to the lens; as well as Heating circuit, the heating circuit comprising: A heating resistor, which generates heat and is thermally coupled to the thermally conductive structure; as well as A controllable switch is mounted on the support arm and is connected to the heating resistor to turn the heating circuit on or off.

12. The external pharyngeal visual auxiliary device according to claim 1, characterized in that, Also includes: A hydrophobic coating is applied to the distal surface of the lens of the imaging assembly. and / or A lighting unit, the output end of which is located at the working end of the first support arm.

13. A surgical robot system, characterized in that, include: The main control carriage includes at least one main control display; The operating cart includes at least one robotic arm and at least one surgical tool and endoscopic tool mounted on the at least one robotic arm, and the operating cart is communicatively connected to the main control cart. as well as The external pharyngeal visual aid device according to any one of claims 1-12, wherein the imaging component of the external pharyngeal visual aid device is communicatively connected to the at least one main control display; A controller is communicatively connected to the at least one main control display, the endoscopic tool, and the imaging component. The controller is used to control the at least one main control display to display surgical field images acquired by the endoscopic tool and / or auxiliary images acquired by the imaging component.

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