Operating System and Method for an ERCP Surgery Robot

Abstract

Disclosed are an operating system and method for an ERCP surgical robot. The operating system includes an operating table (1) on which a patient is placed, an endoscopic execution end device (2), an endoscopic auxiliary machine operation end device (3), an operating console (4) including an operating handle (41), a foot switch (42) and a 3D handle (43), and a display (5) for human-computer interaction. By means of the operating handle (41), foot switch (42), 3D handle (43) and touch panel (44) of the operating console (4), the up / down table control module (21), knob control module (22), catheter drive module (23) and steam suction control module (24) of the endoscopic execution end device (2) are controlled, and the insertion and conveyance of a guide wire or catheter are remotely controlled by the guide wire drive module (31) of the endoscopic auxiliary machine operation end device (3) to complete the surgery, reduce the harm to the operator caused by long-term radiation during the surgery, and avoid hand shaking during the operation of the doctor. By making the operating handle (41) have the structure of an endoscopic operation part, doctors can adapt to the operation control method of the handle with less learning, improving the convenience of use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and specifically to an operation system and method for an ERCP surgical robot.

Background Art

[0002] ERCP is a very mature endoscopic minimally invasive surgery for treating pancreaticobiliary diseases, also known as endoscopic retrograde cholangiopancreatography. ERCP can be used for the diagnosis and treatment of diseases such as gallstones, biliary obstruction, cholangitis, bile duct tumors, and pancreatic tumors. During the surgical process, a single duodenal endoscope is inserted into the descending part of the patient's duodenum, a contrast catheter is inserted through the biopsy conduit to the location of the duodenal papilla opening, then a contrast agent is injected, and the specific situation of the pancreaticobiliary tract is observed through an X-ray film to determine whether there is a lesion, and then the corresponding surgery is performed. The ERCP surgery has the advantages of small trauma, short operation time, few complications, and high safety. Such a surgery belongs to minimally invasive surgery, with very small surgical trauma, not causing much pain to the patient, and rapid postoperative recovery.

[0003] Currently, all ERCP surgeries in China are completed manually by doctors and their teams. The ERCP surgery needs to be completed with the assistance of X-rays, and the surgeon needs to be exposed to X-rays for a long time. During the surgery, the operator needs to wear thick and heavy radiation protection clothing, and the arm part needs to be exposed for operation, so it cannot be protected from radiation. Over a long period, the surgical radiation will cause serious radiation damage to the operator.

[0004] The conventional ERCP surgery requires many operators and assistants, making the originally small operating room crowded. Doctors and operators have to stand for the whole day to perform the surgery, with high working intensity and easy fatigue, which further affects the accuracy of the surgery and may even cause errors. During the surgery process, after inserting the duodenal endoscope into the human body, it is necessary to adjust the angle of the guide wire catheter inside the human body by the lifting platform. It is difficult to ensure that the hands of doctors and operators do not shake. Sometimes, the equipment inserted into the human body may be displaced after being positioned, and the lifting platform cannot be accurately adjusted. Moreover, directly adjusting the lifting platform will expose the operator to X-rays and cause harm to the operator.

[0005] The Chinese patent with the conventional publication number CN213075919U discloses a novel ERCP surgical instrument table. The table belongs to the technical field of medical treatment and includes a support base. At the four corners of the top of the support base, several connecting rods are vertically fixedly attached. A housing is supported and arranged between several connecting rods. Several grooves are formed on the front of the housing. Drawer slide grooves are fixedly attached to the inner wall surfaces of several grooves. Several storage drawers are slidably attached to the surfaces of the drawer slide grooves. Universal wheels are fixedly attached to the four corners of the bottom of the support base.

[0006] The inventors believe that the table in the prior art needs to be arranged in the operating room for doctors to pick up the equipment, which is difficult to reduce the harm caused by long-term radiation to the operator during the surgery, and it is necessary to solve the problem of hand shaking during the doctor's operation.

Summary of the Invention

Problems to be Solved by the Invention

[0007] In view of the defects in the prior art, the purpose of the present invention is to provide an operation system and method for an ERCP surgical robot.

Means for Solving the Problems

[0008] The operating system for an ERCP surgery robot according to one or more embodiments of the present invention includes an operating table on which a patient is placed, an endoscopic execution end operation platform having a lift table control module, a knob control module, a catheter drive module, and a steam suction control module, and an auxiliary structure capable of adjusting the position and posture of the endoscope. The endoscopic execution end device includes an auxiliary machine operation platform having a guide wire drive module, an endoscopic auxiliary machine operation end device for driving the guide wire to perform a forward and backward movement or a locking operation, an operation handle for controlling the lift table control module, the knob control module, and the steam suction control module, a foot switch for switching the drive functions of the catheter drive module and the guide wire drive module, and a 3D handle for feedback of the pulling force of the catheter drive module or the guide wire drive module. The operating console includes a display for interaction between a human and a computer.

[0009] Furthermore, the auxiliary structure includes a traction arm and a U-shaped arm. The traction arm is a multi-degree-of-freedom robotic arm, and the U-shaped arm is suspended and attached to the execution end of the traction arm.

[0010] Furthermore, the endoscopic auxiliary machine operation end device further includes a cooperation arm, and the auxiliary machine operation platform is provided at the execution end of the cooperation arm.

[0011] Furthermore, both the endoscopic execution end device and the endoscopic auxiliary machine operation end device include a trolley.

[0012] Furthermore, the structure of the operation handle is a simulation structure of an endoscopic operation part.

[0013] Furthermore, an X-ray device is provided on one side of the operating table. The X-ray device scans the patient located on the operating table and synchronizes the scanning result with the display.

[0014] Furthermore, a touch panel for controlling the endoscopic execution end device and the endoscopic auxiliary machine operation end device is provided on the operation console.

[0015] Furthermore, the operating table, the endoscopic execution end device, and the endoscopic auxiliary machine operation end device are all provided in the operating room, and the operation console is provided outside the operating room.

[0016] Furthermore, the operation console controls the endoscopic execution end device and the endoscopic auxiliary machine operation end device via an EtherCAT bus.

[0017] The operation method for the ERCP surgical robot according to the present invention includes step S1 of placing the patient on the operating table so that the patient lies on the side, step S2 of inserting the insertion part of the duodenal endoscope through the patient's oral cavity, esophagus, and stomach to the duodenum, pulling the U-shaped arm to the patient's head, attaching the endoscope operation part handle to the endoscope base, and then fixing the U-shaped arm, step S3 of inserting a guide wire into the catheter and then inserting it into the duodenum and attaching the catheter body to the catheter drive module, step S4 of adjusting the auxiliary machine operation platform to an appropriate position by the cooperation arm and fixing the auxiliary machine operation platform, step S5 of placing the operation handle of the catheter on the operation console of the auxiliary machine, inserting the hose of the operation console into the guide wire, connecting it to the guide wire outlet of the catheter and fixing the catheter, step S6 of attaching the guide wire to the guide wire drive module to complete the preparation for the operation, and step S7 of the doctor sitting on the operation console and remotely controlling the insertion and conveyance of the guide wire or the catheter by operating the operation handle, foot pedal switch, 3D handle, and touch panel.

Brief Description of the Drawings

[0018] By reading the detailed description made for non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become clearer.

[0019]

Figure 1

Figure 2

Modes for Carrying Out the Invention

[0020] Hereinafter, the present invention will be described in detail with reference to specific embodiments. The following embodiments are helpful for those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make some modifications and improvements on the premise of not departing from the concept of the present invention. All of these belong to the protection scope of the present invention.

[0021] (Embodiment 1) As shown in FIG. 1, an operation system for an ERCP surgical robot according to an embodiment of the present invention includes an operating table 1, an endoscope execution end device 2, an endoscope auxiliary machine operation end device 3, an operating console 4, and a display 5 for human-computer interaction. The endoscope execution end device 2 includes an endoscope execution end operation platform having a lifting table control module 21, a knob control module 22, a catheter drive module 23, and a water vapor suction control module 24, and an auxiliary structure capable of adjusting the position and posture of the endoscope. The endoscope auxiliary machine operation end device 3 includes an auxiliary machine operation platform having a guide wire drive module 31, and drives the guide wire to perform a forward and backward movement or a locking operation.

[0022] The operation console 4 includes an operation handle 41, a foot switch 42, and a 3D handle 43. The operation handle 41 controls the lifting platform control module 21, the knob control module 22, and the steam suction control module 24. The structure of the operation handle 41 is a simulation structure of the endoscope operation part, which is easy for doctors to operate. The foot switch 42 switches the driving functions of the catheter driving module 32 and the guide wire driving module 31. The 3D handle 43 feedbacks the pulling force of the catheter driving module 23 or the guide wire driving module 31. Both the catheter driving module 23 and the guide wire driving module 31 have pulling force feedback and can feedback to the 3D handle 43, enabling doctors to make judgments and responses based on the force.

[0023] The auxiliary structure includes a traction arm 25 and a U-shaped arm 26. The traction arm 25 is a multi-degree-of-freedom robotic arm, and the U-shaped arm 26 is suspended and attached to the execution end of the traction arm 25. The U-shaped arm 26 is connected to the cantilever at the execution end of the traction arm 25 by a connecting rod, an exploder is connected to the cantilever at the execution end of the traction arm 25, a control handle is provided on the U-shaped arm 26, and a duodenal endoscope is fixedly attached to the U-shaped arm 26. In the normal state, the U-shaped arm 26 is fixed to the execution end of the traction arm 25. When it is necessary to adjust the position and posture of the U-shaped arm 26, by pressing the control handle, the photoelectric sensor of the control handle sends a release signal, the exploder of the cantilever is released, and the user can move the U-shaped arm 26 and the endoscope base within a certain range. The endoscope execution end device 2 includes a trolley 6, and the traction arm 25 is attached to the trolley 6 so that the endoscope execution end device 2 can move.

[0024] As shown in FIG. 1, the endoscopic assistant operation terminal device 3 further includes a cooperation arm 32, and the assistant operation platform is attached to the execution end of the cooperation arm 32. The guide wire driving module 31 is attached to the assistant operation platform. The endoscopic assistant operation terminal device 3 further includes a trolley 6, and the cooperation arm 32 is attached to the trolley 6, so that the endoscopic assistant operation terminal device 3 can move.

[0025] An X-ray device 7 is provided on one side of the operating table 1. The X-ray device 7 scans the patient located on the operating table 1 and synchronizes the scanning result with the display 5. The X-ray device 7 of the present application is preferably a C-arm X-ray device.

[0026] The operation console 4 controls the endoscopic execution end device 2 and the endoscopic assistant operation terminal device 3 via the EtherCAT bus. A touch panel 44 for controlling the endoscopic execution end device 2 and the endoscopic assistant operation terminal device 3 is provided on the operation console 4. During the operation, the doctor can control the endoscopic execution end device 2 and the endoscopic assistant operation terminal device 3 by means of the operation handle 41, the foot switch 42 and the 3D handle 43, and can also control the endoscopic execution end device 2 and the endoscopic assistant operation terminal device 3 by means of the touch panel 44.

[0027] The operating table 1, the endoscopic execution end device 2 and the endoscopic assistant operation terminal device 3 of the present application are all provided in the operating room, and the operation console 4 is provided outside the operating room. Thereby, the doctor can perform remote operation outside the operating room, reducing the damage to the operator caused by long-term radiation during the operation, and avoiding the shaking of the doctor's hand during the operation.

[0028] (Embodiment 2) Based on Embodiment 1, an operation method for an ERCP surgical robot executed using the operation system for an ERCP surgical robot according to an embodiment of the present invention includes the following steps S1 to S7.

[0029] In step S1, the patient is placed on the operating table 1 so as to be lying on the side.

[0030] In step S2, the insertion part of the duodenal endoscope is inserted through the patient's oral cavity, esophagus and stomach to the duodenum. Pull the U-shaped arm 26 towards the patient's head, attach the endoscope operation part handle to the endoscope base, and then fix the U-shaped arm 26. The insertion part of the duodenal endoscope is a hose part. By pressing the control handle to unlock the traction arm 25, pulling the U-shaped arm 26 towards the patient's head and adjusting the position, and then releasing the switch of the control handle, the U-shaped arm 26 can be fixed.

[0031] In step S3, after inserting the guide wire into the catheter, insert it into the duodenum through the forceps opening. After inserting it to a predetermined position, put the catheter into the guide groove of the U-shaped arm 26, cover it with the guide groove cover, and attach the catheter body to the catheter drive module 23.

[0032] In step S4, the cooperation arm 32 adjusts the auxiliary machine operation platform to an appropriate position and fixes the auxiliary machine operation platform. By pressing the adjustment button of the cooperation arm 32 to adjust the auxiliary machine operation platform to an appropriate position and then releasing it, the auxiliary machine operation platform can be fixed.

[0033] In step S5, place the operation handle 41 of the catheter on the operation table 4 of the auxiliary machine, insert the hose of the operation table 4 into the guide wire, connect it to the guide wire outlet of the catheter, and fix the catheter.

[0034] In step S6, attach the guide wire to the guide wire drive module 31, grip and transport the guide wire, and complete the preparation for the operation.

[0035] In step S7, the doctor sits on the operation table 4 and remotely controls the insertion and transportation of the guide wire or catheter through the operation handle 41, foot pedal switch 42, 3D handle 43 and touch panel 44. Then, complete a series of operations such as balloon dilation, stone removal, stent placement and drainage.

[0036] As shown in Fig. 2, the control system of the operation console 4 is a Linux system. Specifically, it includes an IPC module, an operation console 4 control module, an endoscope handle operation unit, and a guide wire operation unit.

[0037] The IPC module includes an EtherCAT master card, a 485 port 1, and a 485 port 2. The IPC module is connected to a handle up / down linear motor, a handle air / water supply button linear motor, and a handle suction button linear motor via a 485 bus 2. The IPC module is connected to a handle master handle large knob encoder, a handle master handle small knob encoder, and a handle master handle up / down encoder via a 485 bus 1.

[0038] The operation console 4 includes an IO module and an operation console 4 lifting motor. The IPC module is connected to the IN end of the IO module of the operation console 4 via an EtherCAT bus. The OUT end of the IO module of the operation console 4 is connected to the IN end of the operation console 4 lifting motor.

[0039] The endoscope handle operation unit includes an IO module, a robot arm lifting motor, a handle large knob control motor, a handle small knob control motor, and a device feed control motor. The IO module of the endoscope handle operation unit is connected to the OUT end of the operation console 4 lifting motor. The OUT end of the IO module of the endoscope handle operation unit is connected to the IN end of the robot arm lifting motor. The OUT end of the robot arm lifting motor is connected to the IN end of the handle large knob control motor. The OUT end of the handle large knob control motor is connected to the IN end of the handle small knob control motor. The OUT end of the handle small knob control motor is connected to the IN end of the device feed control motor.

[0040] The guide wire operation unit includes an IO module and a guide wire feed control motor. The IN terminal of the IO module of the guide wire operation unit is connected to the OUT terminal of the device feed control motor, and the OUT terminal of the IO module of the guide wire operation unit is connected to the IN terminal of the guide wire feed control motor.

[0041] Operating principle During the operation, the patient is placed on the operating table 1 in a lateral position. The insertion part of the duodenal endoscope is inserted through the patient's oral cavity, esophagus and stomach to the duodenum. The U-shaped arm 26 is pulled to the patient's head. After the endoscope operation unit handle is attached to the endoscope base, the U-shaped arm 26 is fixed. Then, after inserting the guide wire into the catheter and then inserting it into the duodenum, the catheter body is attached to the catheter drive module 23. The cooperation arm 32 is used to adjust the auxiliary machine operation platform to an appropriate position and fix the auxiliary machine operation platform. The operation handle 41 of the catheter is arranged on the operating platform 4 of the auxiliary machine. The hose of the operating platform 4 is inserted into the guide wire and connected to the guide wire outlet of the catheter to fix the catheter. The guide wire is attached to the guide wire drive module 31 to complete the preparation for the operation. Finally, the doctor sits on the operating platform 4 and remotely controls the insertion and transportation of the guide wire or catheter through the operation handle 41, foot pedal switch 42, 3D handle 43 and touch panel 44.

[0042] A person skilled in the art can, in addition to implementing the system according to the present invention and each of its devices, modules, and units in the form of pure computer-readable program code, logically program the steps of the method to implement the same functions in the system according to the present invention and each of its devices, modules, and units in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system according to the present invention and each of its devices, modules, and units may be regarded as hardware components, and the devices, modules, and units for realizing various functions included therein may also be regarded as structures within the hardware components. The devices, modules, and units for realizing various functions may be regarded as software modules for implementing the method or as structures within the hardware components.

[0043] In the description of the present application, the orientation or positional relationship indicated by terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for facilitating the description and simplifying the description of the present application, and does not indicate or imply that the indicated device or component must have a specific orientation and be configured and operated in a specific orientation. Therefore, it should not be understood as limiting the present application.

[0044] Compared with the prior art, the present invention has the following beneficial effects.

[0045] 1. The present invention controls the lifting platform control module, knob control module, catheter drive module, and steam suction control module of the endoscopic execution end device through the operation handle, foot switch, 3D handle, and touch panel of the operation console, and controls the insertion and conveyance of the guide wire or catheter remotely through the guide wire drive module of the endoscopic auxiliary machine operation end device to complete a series of surgeries such as balloon dilation, stone removal, stent placement, and drainage, reducing the harm to the operator caused by long-term radiation during the surgery and helping to avoid hand shaking during the operation of the doctor.

[0046] 2. By making the shape of the operation handle the structure of the endoscopic operation part, the present invention enables doctors to adapt to the operation control method of the handle in a short learning process, improving the convenience of using the operation system of the surgical robot.

[0047] 3. By synchronizing the scanning results of the X-ray device with the display, the present invention helps to improve the accuracy of the doctor's surgery and further helps to improve the success rate of the surgery.

[0048] The specific embodiments of the present invention have been specifically described above. It should be noted that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims without affecting the gist of the present invention. The embodiments and features in the present application can be combined with each other as long as they do not conflict.

Explanation of Reference Numerals

[0049] 1 Operating table 32 Cooperation arm 2 Endoscopic execution end device 4 Operation console 21 Lifting platform control module 41 Operation handle 22 Knob control module 42 Foot switch 23 Catheter drive module 43 3D handle 24 Steam suction control module 44 Touch panel 25 Towing arm 5 Display 26 U-shaped arm 6 Cart 3 Endoscope assisting machine operation terminal device 7 X-ray device 31 Guide wire drive module

Claims

1. An operating table (1) on which a patient is placed, an endoscopic execution end operation platform having a lifting table control module (21), a knob control module (22), a catheter driving module (23) and a steam suction control module (24), and an auxiliary structure capable of adjusting the position and posture of the endoscope, an endoscopic execution end device (2); an auxiliary machine operation platform having a guide wire driving module (31), and an endoscopic auxiliary machine operation end device (3) for driving a guide wire to perform a forward and backward movement or a locking operation; an operation handle (41) for controlling the lifting table control module (21), the knob control module (22) and the steam suction control module (24), a foot switch (42) for switching the driving functions of the catheter driving module (23) and the guide wire driving module (31), and a 3D handle (43) for feedback of the pulling force of the catheter driving module (23) or the guide wire driving module (31), an operation console (4); a display (5) for performing interaction between a human and a computer, An operation system for an ERCP surgical robot, characterized in that.

2. The auxiliary structure includes a traction arm (25) and a U-shaped arm (26), The traction arm (25) is a multi-degree-of-freedom robot arm, The U-shaped arm (26) is suspended and attached to the execution end of the traction arm (25), The operation system for an ERCP surgical robot according to claim 1, characterized in that.

3. The endoscopic auxiliary machine operation end device (3) further includes a cooperation arm (32), The auxiliary machine operation platform is provided at the execution end of the cooperation arm (32), The operation system for an ERCP surgical robot according to claim 1, characterized in that.

4. Both the endoscopic execution end device (2) and the endoscopic auxiliary machine operation end device (3) include a trolley (6), The operation system for an ERCP surgical robot according to claim 1, characterized in that.

5. The structure of the operation handle (41) is a simulation structure of an endoscopic operation part, The operation system for an ERCP surgical robot according to claim 1, characterized in that.

6. An X-ray device (7) is provided on one side of the operating table (1). The X-ray device (7) scans a patient positioned on the operating table (1) and synchronizes the scanning results with the display (5). The operating system for an ERCP surgical robot according to claim 1, characterized in that.

7. The operating console (4) is provided with a touch panel (44) for controlling the endoscope execution end device (2) and the endoscope auxiliary machine operation end device (3). The operating system for an ERCP surgical robot according to claim 1, characterized in that.

8. The operating table (1), the endoscope execution end device (2), and the endoscope auxiliary machine operation end device (3) are all provided in the operating room. The operating console (4) is provided outside the operating room. The operating system for an ERCP surgical robot according to claim 1, characterized in that.

9. The operating console (4) controls the endoscope execution end device (2) and the endoscope auxiliary machine operation end device (3) via an EtherCAT bus. The operating system for an ERCP surgical robot according to claim 1, characterized in that.

10. An operating method for an ERCP surgical robot executed using the operating system for an ERCP surgical robot according to any one of claims 1 to 6, comprising: Step S1 of placing the patient on the operating table (1) so that the patient lies on their side; Step S2 of inserting the insertion portion of the duodenal endoscope through the patient's oral cavity, esophagus, and stomach to the duodenum, pulling the U-shaped arm (26) to the patient's head, attaching the endoscope operation unit handle to the endoscope base, and then fixing the U-shaped arm (26); Step S3 of inserting a guide wire into the catheter and then inserting it into the duodenum, and attaching the catheter body to the catheter drive module (23); Step S4 of appropriately adjusting the auxiliary machine operation platform by the cooperation arm (32) and fixing the auxiliary machine operation platform; Step S5 of placing the operation handle (41) of the catheter on the operating console (4) of the auxiliary machine, inserting the hose of the operating console (4) into the guide wire, connecting it to the guide wire outlet of the catheter, and fixing the catheter; Step S6 of attaching the guide wire to the guide wire drive module (31) to complete the preparation for the surgery. Step S7 in which a doctor sits on the operation console (4) and remotely controls the insertion and conveyance of the guide wire or the catheter by means of the operation handle (41), the foot switch (42), the 3D handle (43), and the touch panel (44). An operation method for an ERCP surgical robot, characterized by the above.

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