Visual auxiliary aspirator and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a visual auxiliary aspirator and a surgical robot system.The aspirator comprises a suction tube, an imaging assembly, a handle and an auxiliary displayer, the suction tube comprises a suction channel arranged in the axial direction in a penetrating mode, and the imaging assembly and the handle are arranged at the far end and the near end of the suction tube respectively; the handle comprises a suction connector used for being connected with a negative pressure device, the suction channel penetrates through the handle and is communicated with the suction connector, and the auxiliary displayer is movably arranged on the handle, is in communication connection with the imaging assembly and is used for displaying auxiliary images collected by the imaging assembly. By arranging the imaging assembly and the auxiliary display on the aspirator, an assistant can observe an auxiliary image displayed by the auxiliary display and can see an operation view for auxiliary operation without lowering the head in a narrow operation view space, so that the operation is easier, and the aspirator can be accurately matched with a surgeon; and operation tool pollution caused by assistant head lowering can be avoided.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a visual aid suction device and surgical robot system. Background Technology

[0002] Laparoscopic surgery is a surgical procedure that has gradually developed and been widely used in recent years. It has advantages such as smaller incisions, which greatly reduces patients' recovery time, discomfort, and postoperative side effects. During laparoscopic surgery performed by a surgical robot system, the endoscope provides the surgeon with a surgical field of vision, and the surgeon controls the surgical instruments to perform the surgical operations.

[0003] When performing throat surgery using a surgical robot system, the endoscope and surgical instruments are inserted deep into the patient's oropharynx, preventing the surgeon and assistant from sharing a field of vision. Due to the narrow surgical field, the assistant cannot provide precise assistance when needed during the procedure. Furthermore, the assistant must tilt their head down to see the surgical field and perform auxiliary operations, which is not only difficult but also carries the risk of contaminating surgical instruments. Utility Model Content

[0004] In view of the above problems, the purpose of this disclosure is to provide a visual auxiliary aspirator, comprising:

[0005] The suction tube includes a suction channel that extends through the tube along the axial direction.

[0006] An imaging component is disposed at the distal end of the suction tube;

[0007] A handle, disposed at the proximal end of the suction tube and fixedly connected to the suction tube, the handle including a suction port for connecting to a negative pressure device, the suction channel passing through the handle and communicating with the suction port; and

[0008] An auxiliary display is movably mounted on the handle and is communicatively connected to the imaging component for displaying auxiliary images acquired by the imaging component.

[0009] In some embodiments, the suction tube includes a linear portion at the proximal end and a bent portion at the distal end.

[0010] In some embodiments, the imaging component is fixedly disposed at the distal end of the suction tube and aligned with the distal surface of the suction tube; or

[0011] The imaging component is detachably disposed at the distal end of the suction tube and is offset from the distal end surface of the suction tube along the axial direction of the suction tube.

[0012] In some embodiments, it also includes:

[0013] A control switch is provided on the handle, and the control switch is used to control the connection or disconnection between the negative pressure device and the suction tube.

[0014] In some embodiments, it also includes:

[0015] A ball joint is provided on the handle;

[0016] A support arm, one end of which is connected to the ball joint, and the other end of which is connected to the auxiliary display.

[0017] In some embodiments, the support arm further includes an axial telescopic joint.

[0018] In some embodiments, the imaging component includes:

[0019] Near-field imager, including at least one near-field imaging lens and at least one near-field image sensor; and / or

[0020] 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.

[0021] The auxiliary images include near-field images acquired by the near-field imager and / or wide-angle images acquired by the wide-angle imager.

[0022] In some embodiments, it also includes:

[0023] 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.

[0024] In some embodiments, it also includes:

[0025] A heat-conducting structure is disposed near the lens of the imaging assembly and is thermally coupled to the lens; and

[0026] Heating circuit, the heating circuit comprising:

[0027] A heating resistor, wherein the heating resistor is used to generate heat, and the heating resistor is thermally coupled to the thermally conductive structure; and

[0028] A controllable switch is provided on the handle, and the controllable switch is connected to the heating resistor to conduct or block the heating circuit.

[0029] In some embodiments, it also includes:

[0030] A hydrophobic coating covering the distal surface of the lens of the imaging assembly; and / or

[0031] An illumination unit, the output end of which is located at the distal end of the suction tube.

[0032] This disclosure also provides a surgical robot system, including:

[0033] The main control carriage includes at least one main control display;

[0034] An operating table, comprising at least one robotic arm and at least one surgical instrument and endoscopic instrument mounted on the at least one robotic arm, the operating table being communicatively connected to a main control table; and

[0035] As described in any embodiment of this disclosure, the imaging component of the visual auxiliary aspirator is communicatively connected to the at least one main control display.

[0036] In some embodiments, it also includes:

[0037] 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.

[0038] In some embodiments, the at least one master display includes:

[0039] A first display window is used to display surgical field images acquired by the endoscopic tool; and

[0040] The second display window is used to display auxiliary images acquired by the imaging component.

[0041] Some embodiments of this disclosure have one or more of the following beneficial effects: 1. By setting an imaging component and an auxiliary display on the suction device, the assistant can observe the auxiliary image acquired by the imaging component displayed on the auxiliary display. In a narrow surgical field of view, the assistant can see the surgical field of view without looking down to perform auxiliary operations, making the operation easier, enabling precise coordination with the surgeon, and avoiding contamination of surgical instruments caused by the assistant looking down; 2. The position of the auxiliary display is adjustable, making it easy for the assistant to adjust the auxiliary display to the optimal observation angle and position; 3. A wide-angle imager can provide a larger field of view, allowing the assistant to find the corresponding target area more quickly and coordinate with the surgeon to complete auxiliary operations in a timely manner, thereby shortening the operation time; 4. The lens of the imaging component can be heated through a heating circuit and a heat-conducting structure, thereby defogging the inner and outer sides of the lens to make the surgical field of view clearer; 5. Covering the lens surface of the imaging component with a hydrophobic coating can prevent liquid and stains from adhering to the lens, which is beneficial for maintaining a clear field of view during surgery. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0043] Figure 1 A schematic diagram of the structure of a visual aided suction device according to some embodiments of the present disclosure is shown;

[0044] Figure 2 A schematic diagram of the structure of a visual aid attractor according to some embodiments of the present disclosure is shown from another angle;

[0045] Figure 3 A schematic diagram of the distal structure of a visual aided suction device according to some embodiments of the present disclosure is shown;

[0046] Figure 4 A schematic diagram of the structure of a visual aided suction device according to other embodiments of the present disclosure is shown;

[0047] Figure 5 Show Figure 4 A schematic diagram of the distal structure of the visual auxiliary suction device in the image;

[0048] Figure 6 A schematic diagram of the structure of an imaging assembly according to some embodiments of the present disclosure is shown;

[0049] Figure 7 This diagram illustrates a working scenario of an imaging component according to some embodiments of the present disclosure;

[0050] Figure 8 This diagram illustrates the structure of a surgical robot system according to some embodiments of the present disclosure;

[0051] Figure 9 A schematic diagram of the display window of the master display according to some embodiments of the present disclosure is shown.

[0052] List of reference numerals in the attached diagram:

[0053] 100, 200, Visual Aid Suction Device;

[0054] 110, 210, suction tube; 111, 211, suction channel; 212, imaging channel; 112, linear section; 113, bending section;

[0055] 120, 220, Imaging assembly; 121, Near-field imager; 122, Wide-angle imager; A, Near-field imager view.

[0056] Field angle; B, wide-angle imager field of view; 123, illumination unit;

[0057] 130, 230, Handle; 131, Connecting body; 132, Grip part; 1321, Suction interface; 133, Protrusion

[0058] Exit section;

[0059] 140, 240, auxiliary display;

[0060] 150. Control switch; 160. Ball joint; 170. Support arm; 180. Conduit; 190. Connector;

[0061] 300. Target area;

[0062] 1000. Surgical robot system; 500. Main control carriage; 510. Carriage body; 520. Main control display;

[0063] 521. Two-dimensional display; 522. Stereoscopic display; 525. First display window; 526. Second display window;

[0064] 530. Main manipulator; 600. Operating table; 620. Robotic arm; 630. Surgical instruments; 650. Endoscopic instruments. Detailed Implementation

[0065] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0066] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0067] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal portion, or rear end, or rear portion, and the end opposite to the proximal end, proximal portion, or rear end, or rear portion is defined as the distal end, distal portion, or front end, or front portion. Alternatively, the end closer to the person being operated on (e.g., a surgical patient) is defined as the distal end, distal portion, or front end, or front portion, and the end opposite to the distal end, distal portion, or front end, or front portion is defined as the proximal end, proximal portion, or rear end, or rear portion. Those skilled in the art will understand that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0068] This disclosure provides a visual aid to attract 100. Figure 1 This diagram illustrates the structure of a visual auxiliary suction device 100 according to some embodiments of the present disclosure. Figure 2 A schematic diagram of the structure of a visual aid to attractor 100 according to some embodiments of the present disclosure is shown at another angle. In some embodiments, such as Figure 1 and Figure 2 As shown, the visual auxiliary suction device 100 may include a suction tube 110, an imaging component 120, a handle 130, and an auxiliary display 140.

[0069] like Figure 1 and Figure 2As shown, the suction tube 110 may include a suction channel 111 that extends through the tube along its axial direction. It should be understood that the suction tube 110 may be a rigid tubular structure as a whole, or the proximal portion of the suction tube 110 may be rigid, while the distal portion may be a flexible or flexible tubular structure. Those skilled in the art will understand that the cross-sectional area of ​​the suction tube 110 may be circular, elliptical, polygonal, irregular, or other shapes. The imaging component 120 may be disposed at the distal end of the suction tube 110. For example, the imaging component 120 may include, but is not limited to, a camera, an infrared camera, etc. The imaging component 120 may include one or more imaging lenses and an image sensor, which can be used to capture images of the target area.

[0070] like Figure 1 and Figure 2 As shown, the handle 130 is located at the proximal end of the suction tube 110 (e.g., Figure 1 (As indicated by the middle arrow), and is fixedly connected to the suction tube 110. The handle 130 may include a suction port 1321 for connecting a negative pressure device (not shown), and the suction channel 111 passes through the handle 130 and communicates with the suction port 1321. In some embodiments, the suction port 1321 may be located on the lower end face of the handle 130 (e.g., ...). Figure 1 (As indicated by the middle arrow below) or on the side, so as to facilitate communication with the conduit 180 of the negative pressure device. The negative pressure device creates a negative pressure to draw liquid from the distal end of the suction tube 110 into the suction channel 111.

[0071] In some embodiments, such as Figure 1 and Figure 2 As shown, the handle 130 may include a connecting body 131 and an arcuate gripping portion 132 disposed at the distal end of the connecting body 131. The connecting body 131 and the arcuate gripping portion 132 may be fixedly connected or integrally formed. The arcuate gripping portion 132 is used for joint gripping to move the suction tube 110. Figure 1 and Figure 2 As shown, the suction interface 1321 can be located at the lower end of the arc-shaped gripping portion 132. The proximal end of the suction tube 110 can be connected to the distal end of the connecting body 131, and the suction channel 111 can pass through the connecting body 131, communicate with the arc-shaped gripping portion 132 and the suction interface 1321. It should be understood that the above is only an example, and the handle 130 may also include similar "L-shaped", "J-shaped", "I-shaped", corrugated, cylindrical, or other suitable shapes that are easy for the human hand to grip, etc. The specific shape of the handle is not limited here.

[0072] like Figure 1 and Figure 2As shown, an auxiliary display 140 is movably mounted on a handle 130. The auxiliary display 140 is communicatively connected to the imaging assembly 120, for example, wirelessly or via a wired connection. The auxiliary display 140 is used to display auxiliary images acquired by the imaging assembly 120. Those skilled in the art will understand that the auxiliary display 140 can be an organic display, a liquid crystal display (LCD), a cathode ray tube display (CRT), a plasma display panel (PDP), or other suitable visual display device. It should be understood that the auxiliary display 140 can be mounted on the handle 130 via a movable joint, a movable linkage assembly, or other suitable movable structure, allowing the auxiliary display 140 to rotate and / or extend relative to the handle 130, facilitating adjustment of the auxiliary display 140 to the optimal viewing angle and position by an assistant (e.g., a physician). It should be understood that the auxiliary display 140 can be positioned above the handle 130 (e.g., above the handle 130). Figure 1 Above (as indicated by the middle arrow), for example, positioned above the connecting body 131, so that the assistant can observe the auxiliary image displayed on the auxiliary display 140 while gripping the handle 130. It should be understood that the auxiliary image may be a visual field image of a non-surgical or surgical area acquired by the assistant through the imaging component 120 during the assisted operation.

[0073] When an assistant is needed during surgery, the assistant can quickly and accurately move the suction tube 110 within the narrow surgical field by observing the auxiliary image displayed on the auxiliary monitor 140, for example, to reach the target area deep in the throat through the mouth for blood or saliva suction. The assistant can adjust the auxiliary monitor 140 to the optimal viewing angle, allowing them to see the surgical field without looking down, making the operation easier and enabling precise coordination with the surgeon. This avoids the risk of surgical instrument contamination caused by the assistant needing to look down or approach the patient's mouth or head area to perform auxiliary operations due to the narrow surgical field. Those skilled in the art will understand that the visual auxiliary suction device 100 can also be used in other surgical scenarios, such as the abdominal cavity.

[0074] In some embodiments, such as Figure 1 and Figure 2 As shown, the visual auxiliary suction device 100 may also include a control switch 150. The control switch 150 may be located on the handle 130, and is used to control the connection or disconnection between the negative pressure device and the suction tube 110. It should be understood that the control switch 150 may include a button, toggle, knob, or other form of switch, etc., and is not limited thereto. For example, the control switch 150 may be located on the side of the handle 130 or in other easily accessible positions for an assistant to trigger. Figure 2As shown, the handle 130 may also include a protrusion 133 that is connected to the connecting body 131 and extends downward, and the control switch 150 may be disposed on the side of the protrusion 133.

[0075] In some embodiments, such as Figure 1 and Figure 2 As shown, the suction tube 110 may include a linear portion 112 at the proximal end and a bent portion 113 at the distal end. It should be understood that the bending angle formed between the bent portion 113 and the linear portion 112 may be greater than 90 degrees. For example, the bent portion 113 may be bent downwards (e.g., ...). Figure 1 (In the direction indicated by the middle arrow). By forming a bend 113 at the distal end of the suction tube 110, the distal end of the suction tube 110 can be easily passed through the patient's mouth to reach the pharynx for auxiliary operations, such as suctioning saliva and blood.

[0076] During actual operation, the assistant grasps the handle 130 and triggers the control switch 150 to connect the suction tube 110 to the negative pressure device. Based on the auxiliary image acquired by the imaging component 120 displayed on the auxiliary display 140, the assistant moves the suction tube 110 to the position required by the surgeon for suction. After suction is completed, the assistant triggers the control switch 150 to disconnect the suction tube 110 from the negative pressure device to stop the suction operation.

[0077] In some embodiments, the imaging component 120 is detachably disposed at the distal end of the suction tube 110 and is offset from the distal end surface of the suction tube 110 along the axial direction of the suction tube 110. Figure 3 A schematic diagram of the distal structure of a visual assistive suction device 100 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figures 1-3 As shown, the imaging assembly 120 can be detachably disposed outside the distal end of the suction tube 110 (e.g., the bend 113 of the suction tube 110) via a connector 190, such as a clamp or a sleeve. It should be understood that the imaging assembly 120 can also be detachably disposed outside the distal end of the suction tube 110 via a connection structure or other suitable means, which is not limited here.

[0078] like Figures 1-3As shown, the distal end of the suction tube 110 is located further forward or further away than the imaging component 120. For example, the imaging component 120 may be located near the distal end of the bend 113, but not beyond the distal end or tip of the bend 113. This prevents the distal end of the suction tube 110 from contaminating the lens of the imaging component 120 during suction operations, thus avoiding obstruction of the surgical field of view. In some embodiments, the cable of the imaging component 120 may extend from outside the suction tube 110 (e.g., along the outer circumferential surface of the suction tube 110) to communicate with the auxiliary display 140, or the acquired image signal may be wirelessly transmitted to the auxiliary display 140. By detachably mounting the imaging component 120 at the distal end of the suction tube 110, it facilitates cleaning and disinfection of the distal end of the visual auxiliary suction device 100.

[0079] Figure 4 This diagram illustrates the structure of a visual auxiliary suction device 200 according to other embodiments of the present disclosure. Figure 5 Show Figure 4 A schematic diagram of the distal structure of the visual auxiliary suction device 200. In some embodiments, such as Figure 4 and Figure 5 As shown, the imaging component 220 of the visual auxiliary aspirator 200 is fixedly disposed at the distal end of the suction tube 210 and aligned with the distal surface of the suction tube 210. For example, the imaging component 220 may be disposed outside the suction tube 210 and aligned with the distal surface of the suction tube 210, or the imaging component 220 may be disposed inside the suction tube 210 and aligned with the distal surface of the suction tube 210. It should be understood that the visual auxiliary aspirator 200 may be structurally similar to the visual auxiliary aspirator 100.

[0080] In some embodiments, such as Figure 5 As shown, the suction tube 210 may further include an imaging channel 212. For example, the imaging channel 212 may extend along the axial direction of the suction tube 210 and be spaced apart from the suction channel 211. The imaging component 220 is fixedly disposed within the imaging channel 212 and located at the distal end of the imaging channel 212. Alignment of the distal end face of the imaging component 220 with the distal end face of the suction tube 210 can mean that the lens of the imaging component 220 and the distal end face of the suction tube 210 are approximately in the same plane. In some embodiments, the cable of the imaging component 220 may pass through the imaging channel 212 and be communicatively connected to the auxiliary display 240 to transmit the image signal acquired by the imaging component 220 to the auxiliary display 240. It should be understood that the imaging component 220 may also wirelessly transmit the acquired image signal to the auxiliary display 240.

[0081] In some embodiments, such as Figure 2As shown, a visual auxiliary suction device (e.g., visual auxiliary suction device 100 or 200) may also include a ball joint 160 and a support arm 170. The following description uses visual auxiliary suction device 100 as an example. The ball joint 160 is disposed on the handle 130, for example, fixedly disposed above the connecting body 131 of the handle 130. One end of the support arm 170 is connected to the ball joint 160, and the other end of the support arm 170 is fixedly connected to the auxiliary display 140. It should be understood that the ball joint 160 of this disclosure is a broad definition and may include any joint structure capable of multi-angle (e.g., 360-degree full-angle) rotation. For example, the ball joint 160 may be formed by mutually mating spherical grooves and spherical protrusions, or by a Hooke's joint, or by a universal joint, etc. The ball joint 160 allows the support arm 170 to rotate in any direction relative to the handle 130, thereby driving the auxiliary display 140 to rotate and adjust its orientation. This makes it easier for the assistant to adjust the auxiliary display 140 to the optimal viewing angle and position.

[0082] In some embodiments, the support arm 170 may further include an axial telescopic joint (not shown). It should be understood that the telescopic joint may include any suitable structure capable of telescopic movement, such as a telescopic rod, a telescopic linkage assembly, or other telescopic structures. The telescopic joint is used to adjust the position of the auxiliary display 140 (or auxiliary display 240) relative to the handle 130 (or handle 230), allowing the auxiliary display 140 to be closer to or further away from the assistant to meet the different usage needs of various assistants.

[0083] Figure 6 This diagram illustrates the structure of an imaging assembly 120 (or imaging assembly 220) according to some embodiments of the present disclosure. Figure 7 A schematic diagram illustrating an imaging assembly 120 (or imaging assembly 220) in operation according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 6 As shown, imaging assembly 120 (or imaging assembly 220) may include a near-field imager 121. It should be understood that in this disclosure, the near-field imager 121 is used for imaging in normal mode and can provide high-resolution quality images of the field of view. The near-field imager 121 may include at least one near-field imaging lens. In some embodiments, the near-field imaging lens may include an optical lens group consisting of multiple lenses. The optical lens group includes one or more convex lenses and concave lenses, which are distributed to form an optical imaging system. The near-field imager 121 may also include a near-field image sensor disposed at the rear end of the optical lens group. The near-field image sensor captures images of the target area through the optical lens group. In some embodiments, the near-field image sensor may include, but is not limited to, a CCD, a CMOS image sensor, etc. Figure 7As shown, the target area 300 that the near-field imager 121 can capture is within the field of view A. The near-field imager 121 can convert the light reflected from the target area 300 into an electronic signal through an image sensor, and use it to display on the auxiliary display 140 (or auxiliary display 240).

[0084] In some embodiments, such as Figure 6 As shown, imaging assembly 120 (or imaging assembly 220) may include a wide-angle imager 122. For example... Figure 7 As shown, the target area 300 that the wide-angle imager 122 can capture is defined by a field of view B. The field of view B of the wide-angle imager 122 is larger than the field of view A of the near-field imager 121. It should be understood that the wide-angle imager 122 is used for imaging in wide-angle mode, providing an image with a larger field of view. The wide-angle imager 122 may include a wide-angle lens. It should be understood that the wide-angle lens may include multiple spherical or aspherical optical lenses. The wide-angle imager 122 may also include a wide-angle image sensor 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 122 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.

[0085] In some embodiments, such as Figure 6 As shown, the imaging component 120 (or imaging component 220) may include a near-field imager 121 and a wide-angle imager 122. By simultaneously setting the near-field imager 121 and the wide-angle imager 122, 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 122 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 121 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 121 or the wide-angle imager 122, or both the near-field imager 121 and the wide-angle imager 122, may also be used depending on the actual situation or the assistant's habits, etc., and no limitation is made here.

[0086] In some embodiments, the auxiliary images acquired by the imaging component 120 (or imaging component 220) may include the near-field image acquired by the near-field imager 121 and / or the wide-angle image acquired by the wide-angle imager 122. It should be understood that the auxiliary display 140 (or auxiliary display 240) may display the near-field image or the wide-angle image separately, or may display the near-field image and the wide-angle image superimposed.

[0087] In some embodiments, the visual assistive attractor 100 (or visual assistive attractor 200) may also include a toggle key (not shown). It should be understood that the toggle key may include at least one of a button, toggle switch, knob, touch button, voice trigger, or other form of toggle button. In some embodiments, the toggle key may be located on the auxiliary display 140 (or auxiliary display 240). For example, the toggle key may be located on the perimeter of the frame of the auxiliary display 140, the edge of the screen, or other locations convenient for the assistant to operate, without limitation. The toggle key is used to cause the auxiliary display 140 to display a near-field image acquired by the near-field imager 121, or a wide-angle image acquired by the wide-angle imager 122, or to display the near-field image acquired by the near-field imager 121 and the wide-angle image acquired by the wide-angle imager 122 superimposed. The assistant can trigger the toggle key to select whether to display a near-field image and / or a wide-angle image on the auxiliary display 140 as needed.

[0088] In some embodiments, the visual auxiliary aspirator 100 (or visual auxiliary aspirator 200) may further include a heat-conducting structure (not shown) and a heating circuit. The heat-conducting structure may be disposed near the proximal end of the lens of the imaging assembly 120 (or imaging assembly 220) and may be thermally coupled to the lens. For example, the heat-conducting structure may be disposed circumferentially on the proximal surface of the lens. The heat-conducting structure is used to conduct heat generated by the heating circuit. In some embodiments, the heat-conducting structure may include thermally conductive silicone, thermally conductive gel, thermally conductive grease, thermally conductive phase change material, etc. Heating the lens of the imaging assembly through the heating circuit and the heat-conducting structure can defog the inner and outer sides of the lens, thereby improving the clarity of the surgical field.

[0089] It should be understood that the heating circuit may 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 to a thermally conductive structure. Those skilled in the art will understand that the heating resistor can convert a portion of electrical energy into heat energy, thereby generating heat. In some embodiments, the heating resistor can be in contact with a thermally conductive structure, thereby improving heat transfer efficiency. In some embodiments, the heating resistor can be in different forms such as a resistance wire or a resistance block.

[0090] Those skilled in the art will understand that when the visual auxiliary suction device 100 (or visual auxiliary suction device 200) enters the patient's body (e.g., the mouth or throat), the temperature of the lens of the imaging component 120 (or imaging component 220) at the distal end of the suction tube 110 (or suction tube 210) is often lower than the temperature inside the patient's body. Moisture and other vapors inside the patient's body will condense on the lens surface of the imaging component 120, obstructing the surgical field of view. In this embodiment, however, the heat generated by the heating resistor can be transferred to the heat-conducting structure, and then to the lens, thereby raising the lens temperature and allowing the water vapor on the lens surface to dissipate.

[0091] A controllable switch can be located on handle 130 (or handle 230). This controllable switch is connected to a heating resistor and is used to turn the heating circuit on or off. It should be understood that the controllable switch can be connected via a cable to a heating resistor located within imaging assembly 120 (or imaging assembly 220). An assistant can control the on / off state of the heating circuit by controlling the controllable switch, thereby heating or stopping the lens of imaging assembly 120 (or imaging assembly 220).

[0092] In some embodiments, the visual aid aspirator 100 (or visual aid aspirator 200) may further include a hydrophobic coating (not shown). The hydrophobic coating covers the distal surface of the lens of the imaging assembly 120 (or imaging assembly 220). In some embodiments, the hydrophobic coating may include nanomaterials, fluorinated materials (e.g., perfluoropolyether), or other suitable materials, etc., as examples only and not as limiting. In some embodiments, the thickness of the hydrophobic material covering the lens surface of the imaging assembly 120 may be between 2 micrometers and 10 micrometers to obtain a better hydrophobic effect. Those skilled in the art will understand that the thickness of the hydrophobic coating is not limited to the above range and may be other suitable thicknesses, for example, the thickness of the hydrophobic coating may be appropriately reduced to reduce the weight of the imaging assembly 120 (or imaging assembly 220). By covering the lens surface of the imaging assembly 120 (or imaging assembly 220) with a hydrophobic coating, liquid and stain adhesion to the lens can be avoided, which is beneficial for maintaining a clear field of vision during surgical procedures.

[0093] In some embodiments, such as Figure 6As shown, the visual auxiliary suction device 100 (or visual auxiliary suction device 200) may also include an illumination unit 123. The output end of the illumination unit 123 is disposed at the distal end of the suction tube 110. It should be understood that the number of illumination units 123 may be one or more. The illumination unit 123 helps to increase the illumination intensity of the imaging assembly 120 (or imaging assembly 220). For example, the output end of the illumination unit 123 may be disposed along the circumferential edge of the front (or distal) portion of the imaging assembly 120, or in the gap between the lenses of the imaging assembly 120. The output end of the illumination unit 123 may be formed into any suitable shape, such as crescent, ellipse, circle, etc. It should be understood that the illumination unit 123 may include optical fibers, LED light sources, or other forms of lighting devices, etc., and is not limited thereto.

[0094] This disclosure also provides a surgical robot system. Figure 8 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 8 As shown, the surgical robot system 1000 may include a main control carriage 500, a surgical carriage 600, and a visual auxiliary suction device (e.g., a visual auxiliary suction device 100 or 200) in any embodiment of this disclosure.

[0095] like Figure 8 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.

[0096] 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.

[0097] 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 8 The external display 521 shown is a main control display, and the stereo display (e.g., Figure 8The 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.

[0098] like Figure 8 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 8 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.

[0099] 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 120 (or imaging component 220) of the visual auxiliary aspirator 100 (or visual auxiliary aspirator 200) 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 120 (or imaging component 220), allowing the surgeon and assistant to share the field of view and achieve more precise coordination.

[0100] like Figure 8 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.

[0101] 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, an endoscopic tool 650, and an imaging assembly 120 (or imaging assembly 220). The controller is used to control 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 120 (or imaging assembly 220). 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.

[0102] Figure 9 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 9 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 120 (or imaging component 220). 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.

[0103] 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.

[0104] When intraoperative assistance is required (e.g., blood aspiration), the assistant can use the visual aspirator 100 (or visual aspirator 200) according to the surgeon's instructions. By observing the auxiliary images displayed on the auxiliary display 140 (or auxiliary display 240) of the visual aspirator 100 (or visual aspirator 200), the assistant controls the suction tube 110 (or suction tube 210) to reach the target location specified by the surgeon for aspiration. The surgeon can choose to enter a shared field of view mode, in which the main display 520 can display the surgical field image and auxiliary images. The surgeon can further coordinate with the assistant based on the surgical field image and auxiliary images displayed on the main display 520 to shorten the assistant's assisted operation time, thereby shortening the overall surgical time.

[0105] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A visual auxiliary suction device, characterized in that, include: The suction tube includes a suction channel that extends through the tube along the axial direction. An imaging component is disposed at the distal end of the suction tube; A handle is disposed at the proximal end of the suction tube and is fixedly connected to the suction tube. The handle includes a suction port for connecting a negative pressure device. The suction channel passes through the handle and communicates with the suction port. as well as An auxiliary display is movably mounted on the handle and is communicatively connected to the imaging component for displaying auxiliary images acquired by the imaging component.

2. The visual auxiliary suction device according to claim 1, characterized in that, The suction tube includes a linear portion at the proximal end and a bent portion at the distal end.

3. The visual auxiliary suction device according to claim 1, characterized in that, The imaging component is fixedly disposed at the distal end of the suction tube and aligned with the distal surface of the suction tube; or The imaging component is detachably disposed at the distal end of the suction tube and is offset from the distal end surface of the suction tube along the axial direction of the suction tube.

4. The visual auxiliary suction device according to claim 1, characterized in that, Also includes: A control switch is provided on the handle, and the control switch is used to control the connection or disconnection between the negative pressure device and the suction tube.

5. The visual auxiliary suction device according to claim 4, characterized in that, Also includes: A ball joint is provided on the handle; A support arm, one end of which is connected to the ball joint, and the other end of which is connected to the auxiliary display.

6. The visual auxiliary suction device according to claim 5, characterized in that, The support arm also includes a telescopic joint along the axial direction.

7. The visual auxiliary suction 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.

8. The visual auxiliary suction device according to claim 7, 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.

9. The visual auxiliary suction 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 provided on the handle, and the controllable switch is connected to the heating resistor to conduct or block the heating circuit.

10. The visual auxiliary suction 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 An illumination unit, the output end of which is located at the distal end of the suction tube.

11. 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 visual auxiliary aspirator as described in any one of claims 1-10, wherein the imaging component of the visual auxiliary aspirator is communicatively connected to the at least one main control display.

12. The surgical robot system according to claim 11, characterized in that, Also includes: 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.

13. The surgical robot system according to claim 12, characterized in that, The at least one main control display includes: A first display window is used to display surgical field images acquired by the endoscopic tool; and The second display window is used to display auxiliary images acquired by the imaging component.

Images