Cleaning rack for medical procedure robotic arms

Abstract

The utility model discloses a kind of cleaning frame of medical operation mechanical arm, in particular to be used for cleaning da Vinci mechanical arm's medical instrument cleaning equipment.The device includes frame, and is equipped with fixed frame on frame, and is equipped with nozzle on fixed frame;Nozzle is equipped with spout;The spout is open, and is equipped with the cleaning station of the end effector of da Vinci mechanical arm on frame, and the spout is located the position above the cleaning station.The open structure of the nozzle of the utility model can more evenly distribute the pressure of high-pressure water in the open angle range, and the force of cleaning water hitting on effector is uniform, and the range is also relatively large.The nozzle shape can guide water pressure and water flow distribution, and then better cleaning effect is realized, and the time and water volume used are also less.

Description

Technical Field

[0001] This utility model relates to the field of medical device cleaning technology, and in particular to a medical device cleaning device for cleaning the da Vinci surgical robotic arm. Background Technology

[0002] The da Vinci Surgical Arm, part of the da Vinci Surgical System, is the actuator of many high-end medical robots and its use is becoming increasingly widespread. The da Vinci Arm's end effector has 360° flexible rotation and grasping capabilities, allowing it to penetrate deep into human tissue for surgery. After surgery, the da Vinci Arm retains a significant amount of human blood, bodily fluids, and debris, especially from the end effector. These fluids and deposits can penetrate deep into the da Vinci Arm, making it difficult to clean. Incomplete cleaning can increase the risk of infection in subsequent surgeries.

[0003] Currently, the common technique for cleaning the da Vinci robotic arm involves placing it flat on a cleaning table, connecting a high-pressure system to the head base of the arm for internal water flushing, and then directly spraying water through a long nozzle above the end effector. This technique attempts to clean the da Vinci robotic arm from both the outside and inside. However, in practice, achieving a satisfactory cleaning result requires a long time and a large amount of water. Even when cleaning a large number of individual arms, a small number of defective units still exist, posing a risk to the surgery. If a defective unit is detected, rework is required, affecting the subsequent drying process. Due to the advancement of surgical techniques and the increasing use of the da Vinci robot, more and more da Vinci robotic arms require cleaning. To achieve a higher success rate, the existing cleaning methods and efficiency are no longer suitable for current needs. Better cleaning results and efficiency await technological breakthroughs. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a cleaning rack for a medical surgical robotic arm, so as to improve the cleaning effect of the da Vinci robotic arm and make the cleaning more thorough and cleaner.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A cleaning rack for a medical surgical robotic arm includes a frame, a fixed frame on the frame, and a nozzle on the fixed frame. The nozzle has an open nozzle port. A cleaning station for the end effector of the da Vinci robotic arm is located on the frame, with the nozzle positioned above the cleaning station. The nozzle is close to the cleaning station, and the spray range of the nozzle is generally the portion of the long tube extending beyond the lower fixed bracket. Therefore, when the long tube is mounted on the lower fixed bracket, the nozzle should be positioned near the portion of the long tube extending beyond the fixed bracket; if it is too far away, the cleaning effect will be affected.

[0007] Preferably, the opening angle of the opening is 60° to 120°. In some embodiments, the opening angle is preferably 60°, 90°, and 120°. The range of the opening determines the cleaning effect. In practical applications, it is necessary to fully cover the end effector while ensuring that the water pressure is more evenly distributed on the end effector. The optimal range in practice is the aforementioned range. When the opening angle is 90°, the water pressure across the sprayed water cross-section is more uniform, resulting in a more ideal effect.

[0008] Preferably, the device further includes an arm fixing bracket for fixing the head base of the da Vinci robotic arm, and a lower fixing bracket for fixing the end effector of the da Vinci robotic arm; the arm fixing bracket is located on the upper part of the frame, and the lower fixing bracket is located on the lower part of the frame and on the side of the arm fixing bracket; when the head base of the da Vinci robotic arm is fixed on the arm fixing bracket and the end effector of the da Vinci robotic arm is fixed on the lower fixing bracket, the da Vinci robotic arm is placed at an angle.

[0009] Preferably, the frame is further provided with an intermediate fixing bracket to support the middle section of the da Vinci robotic arm. The intermediate fixing bracket can prevent vibration of the long tube and maintain a stable and controllable cleaning process.

[0010] Preferably, the frame includes a water inlet connected to an external high-pressure water source. The water inlet includes a flow-through component located below the arm mounting bracket. The flow-through component has an interface that connects to the water inlet of the da Vinci robotic arm via a flexible hose. Since the da Vinci robotic arm has two water inlets, the flow-through component also has two inlets. Using the arm mounting bracket on the flow-through component effectively utilizes space and simplifies the structure, enabling irrigation cleaning of the da Vinci robotic arm.

[0011] Preferably, the frame is provided with a limiter for abutting against the bottom of the da Vinci robotic arm. The limiter is located below the arm fixing bracket and extends out of the arm fixing bracket, abutting precisely at the connection between the head base of the da Vinci robotic arm and the long tube, thus limiting the position of the head base. Due to the forward force of the irrigation, the da Vinci robotic arm is prone to moving forward and vibrating during the cleaning process, potentially detaching from the arm fixing bracket. Therefore, the limiter can restrict the forward movement of the da Vinci robotic arm and also limit its downward rotation, controlling its vibration amplitude.

[0012] Preferably, the arm fixing bracket and the lower fixing bracket constitute a pair of Da Vinci robotic arm fixing assemblies. The frame is equipped with Da Vinci robotic arm fixing assemblies that can be cross-mounted; that is, a second arm fixing bracket is positioned opposite the first arm fixing bracket, a second lower fixing bracket is positioned below the first arm fixing bracket, and a first lower fixing bracket is positioned below the second arm fixing bracket. Both the arm fixing bracket and the lower fixing bracket have holes for fixing the Da Vinci robotic arms. The first arm fixing bracket and the second arm fixing bracket are opposite each other, but their holes are staggered; the first lower fixing bracket and the second fixing bracket are opposite each other, but their holes are staggered. This cross-mounted design improves cleaning efficiency.

[0013] Preferably, the nozzle is tilted inward at an angle α, ranging from 10° to 20°. In a preferred embodiment, α is preferably 15°. This tilted nozzle design allows the sprayed water to exert a scraping force on the end effector. In practice, the optimal cleaning effect is achieved when the nozzle is tilted inward at 15° and the end effector forms a 30° angle with the horizontal plane. In one embodiment, the nozzle is rotatably connected to the frame.

[0014] Preferably, the water flow component includes a longitudinal pipe frame and a transverse pipe frame; a water connection port is provided on the longitudinal pipe frame, and the transverse pipe frame is connected to the water flow component; when the high-pressure water flows into the longitudinal pipe frame through the water connection port, it will enter the water flow component along the transverse pipe frame, and then enter the head base of the Da Vinci robotic arm through the interface, the hose, and the water interface, and then be ejected from the long pipe of the Da Vinci robotic arm.

[0015] Preferably, the water supply component includes a longitudinal pipe frame and a transverse pipe frame; a water connection port is provided on the longitudinal pipe frame, and the transverse pipe frame is connected to the nozzle; when the high-pressure water flows into the longitudinal pipe frame through the water connection port, it will enter the nozzle along the transverse pipe frame and then be sprayed out from the nozzle nozzle to perform focused external cleaning on the end effector of the Da Vinci robotic arm.

[0016] Compared to existing technologies, the advantages of this invention are as follows: A specialized nozzle device is installed above the end effector of the Da Vinci robotic arm, and the nozzle adopts an open structure. Since the water sprayed from the nozzle is high-pressure water, the open structure can distribute the pressure of the high-pressure water more evenly within the open angle range. The force of the cleaning water hitting the actuator is uniform, and the range is also relatively large. Compared to the existing technology of setting spray holes on water pipes, if the water pipe and spray holes are set too high, the force hitting the actuator is insufficient; if the water pipe and spray holes are set too low, the cleaning range is very narrow, and the force of the water hitting the actuator is uneven, causing the actuator to shake, which further affects the cleaning effect. This invention overcomes these problems. This invention uses a specialized nozzle device with a nozzle, and the shape of the nozzle can be designed to guide the water pressure and water flow distribution, thereby achieving a better cleaning effect, and reducing the time and amount of water used. Attached Figure Description

[0017] Figure 1 This is a side view of the present invention, showing two opposing sets of cleaning structures.

[0018] Figure 2 This is a front structural view of the present invention; for ease of observation, only one cleaning structure is shown in the figure.

[0019] Figure 3 This is a side view of the frame structure; the frame includes water supply components.

[0020] Figure 4 This is a front structural diagram of the frame.

[0021] Figure 5 A schematic diagram of the arm fixing bracket.

[0022] Figure 6 A side view of the arm fixing bracket.

[0023] Figure 7 This is a schematic diagram of the structure of the lower fixed code.

[0024] Figure 8 This is a schematic diagram of the structure of the intermediate fixed code.

[0025] Figure 9 This is a schematic diagram of the nozzle structure.

[0026] Figure 10 This is a schematic diagram of the Da Vinci robotic arm.

[0027] 1. 100. Water inlet; 101. Head base; 102. Long pipe; 103. End effector; 1000. 2. Hose; 3. Water connection port; 4. Frame; 400. Longitudinal pipe rack; 401. Horizontal pipe rack; 4010. Interface; 5. Arm fixing bracket; 500. Head base fixing port; 6. Nozzle; 60. Spray nozzle; 600. Opening; 7. Fixing bracket; 700. Lower pipe clamp; 8. Wheel; 9. Limiter; 10. Intermediate fixing bracket; 1000. Intermediate pipe clamp; 11. Flow-through component; 12. Fixing frame; 19. Cleaning station. Detailed Implementation

[0028] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments:

[0029] In the description of this utility model, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0031] Before describing the technology of this utility model, please refer to Figure 10 The Da Vinci robotic arm structure includes an upper head base 101 with a water inlet, a long pipe 102 in the middle, and an end effector (moving clamps) 103 at the bottom. Our equipment is used for cleaning it.

[0032] like Figure 1 and Figure 9 The medical robotic arm cleaning device shown is a device for cleaning da Vinci robotic arms. The figure is a side view showing two intersecting da Vinci robotic arms positioned on a bracket within a frame 4. The device includes a frame 4, a mounting bracket 12 on the frame 4, and nozzles 6 on the mounting bracket 12. The nozzles 6 have spray nozzles 60, see... Figure 9 The nozzle is an open 600. A cleaning station 19 with the end effector of the Da Vinci robotic arm is provided on the frame. The nozzle 60 is located above the cleaning station 19 and near the part of the long tube of the Da Vinci robotic arm that extends out to fix the lower code. Figure 1In this system, the cleaning station is where the end effector is located. The height of the nozzle is the same as or approximately the same as the height of the lower fixing block 7. The opening angle β of the nozzle can be 60° to 120°. In a preferred embodiment, the opening angle is preferably 60°, 90°, or 120°. The range of the opening determines the cleaning effect. In practical applications, it is necessary to fully cover the end effector while ensuring that the water pressure is more evenly distributed on it. The optimal range in practice is the range described above. When the opening angle is 90°, the water pressure across the sprayed water cross-section is more uniform, resulting in a more ideal effect. The medical device cleaning device is designed as a trolley structure with wheels 8 underneath.

[0033] exist Figure 1 The device also includes an arm fixing bracket 5 for securing the head base of the da Vinci robotic arm, and a lower fixing bracket 7 for securing the end effector of the da Vinci robotic arm. The arm fixing bracket 5 is located on the upper part of the frame 4, and the lower fixing bracket 7 is located on the lower part of the frame and on the side of the arm fixing bracket. The arm fixing bracket and the lower fixing bracket form a set. When the head base of the da Vinci robotic arm is fixed to the arm fixing bracket and the end effector of the da Vinci robotic arm is fixed to the lower fixing bracket, the da Vinci robotic arm is tilted. The structure of the arm fixing bracket 5 is described in [reference needed]. Figure 5 It has a head base fixing port 500 on top, and a filling and flow-through component 11 at the bottom, with a water inlet 4010 on the filling and flow-through component. See the structure of the lower fixing code 7. Figure 7 It is equipped with a 700mm lower pipe clamp.

[0034] The frame also includes a central fixing bracket 10 to support the middle section of the da Vinci robotic arm. The middle portion of the long tube of the da Vinci robotic arm is fixed to the central fixing bracket 10. Both intersecting long tubes of the da Vinci robotic arms can be supported by the central fixing bracket 10. See also... Figure 8 The middle fixing code 10 shown has a middle tube clamp 1000 on its upper part.

[0035] See Figure 1 The frame 4 includes a water inlet that connects to an external high-pressure water source. The water inlet includes an inlet 11 located below the arm's fixed support. An interface 4010 is provided on the inlet 11. The interface 4010 is connected to the water inlet 100 of the Da Vinci robotic arm via a hose 2.

[0036] See Figure 1 , Figure 3 and Figure 4 The frame 4 is provided with a limiter 9 for holding the bottom of the da Vinci robotic arm. The limiter 9 is located below the arm fixing bracket 5. The extension of the limiter to the arm fixing bracket can hold the head base of the da Vinci robotic arm at the connection between the head base and the long tube to limit the head base.

[0037] See Figure 1 and Figure 2 The arm fixing bracket and the lower fixing bracket constitute a pair of Da Vinci robotic arm fixing assemblies. The frame is provided with Da Vinci robotic arm fixing assemblies that can be cross-mounted, that is, a second arm fixing bracket is set opposite to the first arm fixing bracket, a second lower fixing bracket is set below the first arm fixing bracket, and a first lower fixing bracket is set below the second arm fixing bracket. Both the arm fixing bracket and the lower fixing bracket are provided with holes for fixing the Da Vinci robotic arm. The first arm fixing bracket and the second arm fixing bracket are opposite to each other, but the holes are staggered. The first lower fixing bracket and the second fixing bracket are opposite to each other, but the holes are staggered.

[0038] See Figure 1 and Figure 9 The nozzle 6 is tilted, with an inward tilt angle of α, preferably 15°. This tilt allows the sprayed water to exert a scraping force on the end effector. In practice, the optimal cleaning effect is achieved when the nozzle is tilted inward at 15° and the angle γ between the end effector and the horizontal plane is 30°. In one embodiment, the nozzle is rotatably connected to the frame.

[0039] See Figure 1 and Figure 2 The water supply component includes a longitudinal pipe frame 400 and a transverse pipe frame 401. A water connection port 3 is provided on the longitudinal pipe frame 400, and the transverse pipe frame 401 is connected to the irrigation flow component 11. When the high-pressure water flow A flows into the longitudinal pipe frame through the water connection port, it will enter the irrigation flow component along the transverse pipe frame, and then enter the head base of the Da Vinci robotic arm through the interface, the hose, and the water interface, and then be ejected from the long pipe of the Da Vinci robotic arm. Figure 1 All three water inlets can be connected to high-pressure water.

[0040] The horizontal tube frame 401 is connected to the nozzle 6; when the high-pressure water flow B flows into the vertical tube frame from the water connection port, it will enter the nozzle along the horizontal tube frame and then be sprayed out from the nozzle nozzle to perform key external cleaning on the end effector of the Da Vinci robotic arm.

[0041] Because the nozzle has an open structure with a certain angle and is located directly above the end effector, the water pressure sprayed from the nozzle is evenly and obliquely projected onto the end effector, preventing it from shaking. The entire end effector receives relatively uniform water pressure for cleaning, leaving no dead angles. This invention employs an irrigation structure, where high-pressure water is supplied from the horizontal pipe frame through interface 4010 and nozzle 6 to clean the inside and outside of the robotic arm. The water pressure at the two nodes is roughly the same, thus avoiding two separate water supply systems, simplifying the equipment structure, and eliminating cleaning differences caused by varying water pressures. This achieves 360° cleaning of the end effector without dead angles and with uniform force. This technology offers high cleaning efficiency and excellent results, meeting cleaning requirements and achieving both speed and quality, satisfying the growing cleaning demands of the Da Vinci robotic arm.

[0042] For those skilled in the art, various other corresponding changes and modifications can be made based on the technical solutions and concepts described above, and all such changes and modifications should fall within the protection scope of the claims of this utility model.

Claims

1. A cleaning frame for a medical surgical robotic arm, comprising a frame, characterized in that: A fixed frame is provided on the frame, and a nozzle is provided on the fixed frame; the nozzle is provided with a spray port; the spray port is open, and a cleaning station for the end effector of the da Vinci robotic arm is provided on the frame, with the spray port located above the cleaning station.

2. The cleaning rack for the medical surgical robotic arm according to claim 1, characterized in that: The opening angle of the opening is 60°~120°.

3. The cleaning rack for the medical surgical robotic arm according to claim 2, characterized in that: The opening angles are 60°, 90°, and 120°.

4. The cleaning rack for the medical surgical robotic arm according to claim 1, characterized in that... The cleaning frame of the medical surgical robotic arm also includes an arm fixing bracket for fixing the head base of the da Vinci robotic arm, and a lower fixing bracket for fixing the end effector of the da Vinci robotic arm; the arm fixing bracket is located on the upper part of the frame, and the lower fixing bracket is located on the lower part of the frame and on the side of the arm fixing bracket; when the head base of the da Vinci robotic arm is fixed on the arm fixing bracket and the end effector of the da Vinci robotic arm is fixed on the lower fixing bracket, the da Vinci robotic arm is placed at an angle.

5. The cleaning rack for the medical surgical robotic arm according to claim 1, characterized in that: The frame is also equipped with a central fixing bracket that supports the middle section of the da Vinci robotic arm.

6. The cleaning rack for the medical surgical robotic arm according to claim 4, characterized in that: The frame includes a water inlet that connects to an external high-pressure water source. The water inlet includes a flow-through component located below the arm's fixed support. The flow-through component has an interface that connects to the water inlet of the da Vinci robotic arm via a hose.

7. The cleaning rack for the medical surgical robotic arm according to claim 4, characterized in that: The frame is provided with a limiter for abutting against the bottom of the da Vinci robotic arm. The limiter is located below the arm fixing bracket and extends out of the arm fixing bracket. It can abut against the connection between the head base and the long tube of the da Vinci robotic arm to limit the head base.

8. The cleaning rack for the medical surgical robotic arm according to claim 4, characterized in that: The arm fixing bracket and the lower fixing bracket constitute a pair of Da Vinci robotic arm fixing assemblies. The frame is provided with Da Vinci robotic arm fixing assemblies that can be cross-mounted, that is, a second arm fixing bracket is set opposite to the first arm fixing bracket, a second lower fixing bracket is set below the first arm fixing bracket, and a first lower fixing bracket is set below the second arm fixing bracket. Both the arm fixing bracket and the lower fixing bracket are provided with holes for fixing the Da Vinci robotic arm. The first arm fixing bracket and the second arm fixing bracket are opposite to each other, but the holes are staggered. The first lower fixing bracket and the second fixing bracket are opposite to each other, but the holes are staggered.

9. The cleaning rack for the medical surgical robotic arm according to claim 1, characterized in that: The nozzle is tilted, with an inward tilt angle of α, ranging from 10° to 20°.

10. The cleaning rack for the medical surgical robotic arm according to claim 6, characterized in that: The water supply component includes a longitudinal pipe frame and a transverse pipe frame; a water connection port is provided on the longitudinal pipe frame, and the transverse pipe frame is connected to the water supply component; when the high-pressure water flows into the longitudinal pipe frame through the water connection port, it will enter the water supply component along the transverse pipe frame, and then enter the head base of the Da Vinci robotic arm through the interface, the hose, and the water interface, and then be ejected through the long pipe of the Da Vinci robotic arm.

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