Robotic Surgical Equipment and Delivery Systems

Abstract

A robotic surgical device (1) and a supply system are provided, the robotic surgical device (1) being in communication with a supply device (2) of a tubular part (3) and including a synchronous rotation means (11) including a bracket (111), a rotation stage (112), a rotation motor (113) and a rotation transmission member (114), the rotation stage (112) being rotatably disposed on the bracket (111), the tubular part (3) being pulled out from the supply device (2) and connected to the rotation stage (112) and the tubular part (3) being fed to the supply device (2). and a synchronous rotation means (11) for driving the rotation motor (113) to rotate the rotation stage (112) synchronously via the rotation transmission member (114) when the tubular part (3) rotates when driven by the supply device (2), and a synchronous translation means (12) connected to the synchronous rotation means (11), the synchronous translation means (12) moving in conjunction with the tubular part (3) when the tubular part (3) moves back and forth when driven by the supply device (2). Compared with the prior art, the robotic surgery device (1) of the present application can free the operator's hands and reduce the usage cost.

Description

[Technical field]

[0001] The present application relates to the technical field of transporting tubular objects, and more particularly to a robotic surgical system and a robotic surgical device applied to the system. [Background technology]

[0002] In various applications, it is often necessary to inspect the inside of a tubular object (also called a "pipe"), not only to look inside the pipe for defects or flaws, but also in some cases to repair those defects or flaws.

[0003] In order to avoid additional damage to the pipe and some surface structures attached to the pipe during the process of flaw detection or repair, various tools (e.g. cameras) are usually installed on the tubular part. The tubular part can be inserted from one end into the pipe to investigate and repair the internal structure of the pipe. In this case, the insertion of the tubular part usually relies on a feeding mechanism of the tubular part in addition to the usual manual operation.

[0004] In addition to industrial pipes, the present application is useful for various pipes, such as the inner lumens of the human body. Examples of tubular parts applicable to the inner lumens of the human body include endoscopes and single-port surgical manipulators. For straight pipes, it is very convenient to supply tubular parts. However, for pipes with many bends and branches or pipes with flexible walls, it is necessary to provide the tubular parts with bendability and flexibility, and it is not so easy to supply such tubular parts. Summary of the Invention

[0005] In order to solve or at least partially solve the above mentioned technical problems, the present application provides: A tubular part is provided at the front of the tubular part. Tubular parts To transport and supply Communicate with the supply device , installed at the rear of the tubular partA robotic surgery device is provided, comprising: synchronous rotation means including a bracket, a rotation stage, a rotation motor, and a rotation transmission member, the rotation stage being rotatably disposed on the bracket, the tubular part being drawn out from the supply device and connected to the rotation stage, the rotation motor driving the rotation stage via the rotation transmission member to rotate the rotation stage synchronously when the tubular part rotates when driven by the supply device, and a synchronous translation means connected to the synchronous rotation means, the synchronous translation means moving in conjunction with the tubular part when the tubular part moves back and forth when driven by the supply device.

[0006] The present application also provides a robotic surgery system, comprising a tubular part feeding device and the above-mentioned robotic surgery device, the feeding device being in communication with the robotic surgery device, and the robotic surgery device driving the tubular part to move synchronously with the movement of the tubular part when driven by the feeding device.

[0007] Compared with the prior art, the robotic surgery device of the present application can rotate and translate the tubular part by providing a synchronous rotation means and a synchronous translation means, thereby ensuring the freedom of movement of the tubular part. With the robotic surgery device communicating with the supply device of the tubular part, the robotic surgery device and the supply device can be synchronized and coordinated. As a result, the entire supply process only requires automatic operation of the mechanical device, which can free the operator's hands and reduce the usage cost. [Brief description of the drawings]

[0008] In order to better describe the embodiments of the present application, the relevant drawings are briefly described below. It is understood that the drawings described below are only used to illustrate certain embodiments of the present application, and that those skilled in the art can recognize many other technical features and connections not mentioned herein based on these drawings. [Figure 1]FIG. 1 is a schematic diagram of a robotic surgical system. [Diagram 2] FIG. 1 is a schematic structural diagram of a robotic surgical device. [Diagram 3] FIG. 2 is a partial structural diagram of the robotic surgery apparatus in the vicinity of a synchronous rotation means. [Figure 4] FIG. 13 is a partial structural view of the robotic surgical device near the extended platform. [Diagram 5] FIG. 13 is a partial structural view of another robotic surgical device near the base. [Figure 6] FIG. 13 is a partial structural view of another robotic surgical device near a rotating stage. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The present application will now be described in detail with reference to the drawings.

[0010] The robotic surgery system according to the present application comprises a tubular part supplying device 2 and a robotic surgery device 1, as shown diagrammatically in FIG.

[0011] As shown in the figure, the front of the tubular part 3 is clamped by the feeding device 2 and moves back and forth or rotates about its own axis when driven by the feeding device 2. The rear of the tubular part 3 is connected to the robotic surgery device 1 located behind the feeding device 2. Through communication between the feeding device 2 and the robotic surgery device 1, the robotic surgery device 1 enables coordinated movement of the tubular part 3 as it moves when driven by the feeding device 2.

[0012] The tubular part supply device 2 may be any device well known in the art as long as it can supply the tubular part 3. The robotic surgery device 1 serves to enable synchronous movement of the rear part of the tubular part 3. As an auxiliary running device for the tubular part 3, the robotic surgery device 1 is usually used in combination with the supply device 2 when the tubular part 3 is a flexible hose, and can also be used alone when the tubular part 3 is a rigid tube.

[0013] Specifically, the robotic surgery device 1 may be in communication with the supply device 2, and with reference to Figs. 2 to 6, includes a synchronous rotation means 11 and a synchronous translation means 12 connected to the synchronous rotation means 11. The synchronous rotation means 11 includes a bracket 111, a rotation stage 112, a rotation motor 113, and a rotation transmission member 114. The rotation stage 112 is rotatably disposed on the bracket 111. The tubular part 3 is drawn out from the supply device 2 and connected to the rotation stage 112. The tubular part 3 is driven to rotate by the supply device 2, while the rotation motor 113 drives the rotation stage 112 by the rotation transmission member 114 to rotate synchronously on the bracket 111. When the tubular part 3 moves back and forth when driven by the supply device 2, the synchronous translation means 12 can move in conjunction with the tubular part 3.

[0014] The rotation transmission member 114 may be a belt transmission structure as shown in FIG. 2, or may be a gear or sprocket transmission structure as long as it can drive the rotation stage 112 to rotate it stably.

[0015] Due to its elongated shape, the tubular part 3 usually has a center of gravity far away from the end, and therefore has insufficient rigidity. As a result, when the tubular part 3 is supported at the midpoint, the unsupported end of the tubular part 3 is prone to sagging and deformation. To ensure the accuracy of feeding, the feeding device 2 is usually installed at the entrance of the entering pipe. In this case, as shown in FIG. 1, one end of the tubular part 3 is clamped by the feeding device 2. If there is no support at the other end, it becomes difficult to perform an accurate feeding operation while maintaining the original shape of the tubular part 3. Furthermore, when the tubular part 3 is made of a flexible material, this problem becomes more prominent. In particular, in the case of a feeding mechanism required to rotate the tubular part 3, when the feeding mechanism drives and rotates the tubular part 3, the flexible part is prone to twisting, making the feeding operation difficult. As a result of this problem, the feeding of tubular parts in the prior art usually requires auxiliary manual operations, which are rather complicated and costly.

[0016] In contrast, by providing the synchronous rotation means 11 and the synchronous translation means 12 as in the present application, the robotic surgery device 1 can rotate the tubular part 3 and translate it back and forth, thereby ensuring the freedom of movement of the tubular part 3. With the robotic surgery device 1 in communication with the supplying device 2, the robotic surgery device 1 and the supplying device 2 can be synchronized and moved in a coordinated manner. Therefore, the entire supplying process only requires automatic operation of the mechanical devices, which can free the operator's hands and reduce the usage cost.

[0017] In the embodiment of the synchronous rotation means 11 as shown in Figs. 2 and 3, the bracket 111 may include a support base 1111 and a support ring 1112 fixed to the support base 1111. The rotation stage 112 is fitted in the support ring 1112 and is rotatable relative to the support ring 1112. The rotation motor 113 may be mounted on the bracket 111 to make the rotational movement of the synchronous rotation means 11 more stable. The support ring 1112 may be configured in a sleeve-like shape, and a bearing may be provided on the inner wall of the support ring 1112 to better support the rotation stage 112 and facilitate the rotation of the rotation stage 112 with low resistance. Optionally, the support ring 1112 may further be formed with a transmission opening 1113. The rotation transmission member 114 passes through the support ring 1112 through the transmission opening 1113 and is then drivingly connected to the rotation stage 112. The rotation transmission member 114 drives the rotation stage 112 to rotate through a transmission opening 1113 formed in the support ring 1112, so that the force driving the rotation of the rotation stage 112 acts more evenly on the rotation stage 112, improving the stability of the force.

[0018] In an embodiment as shown in FIG. 4, the synchronous translation means 12 may include a first slide 121, a first power source 122, and a first guide rail 123. The first slide 121 is disposed on the first guide rail 123. The first guide rail 123 is mounted on the rotary stage 112 and extends along the extension direction of the tubular part 3. The tubular part 3 is pulled out from the rotary stage 112 and then connected to the first slide 121. When the tubular part 3 moves back and forth when driven by the feeding device 2, the first power source 122 can drive the first slide 121 to move synchronously along the first guide rail 123. Thus, since the first guide rail 123 is mounted on the rotary stage 112, when the rotary stage 112 rotates, the first power source 122 associated with the first slide 121 and the first guide rail 123 also rotates. On the other hand, when the supplying device 2 drives the tubular part 3 to move back and forth, the first power supply 122 can also use the synchronization signal to drive the tubular part 3 to follow this back and forth movement.

[0019] The rotating stage 112 may include a rotating drum 1121 supported by and rotatable relative to the bracket 111, and an extended platform 1122 connected to an end of the rotating drum 1121 remote from the feed device 2. The first guide rail 123 is mounted on the extended platform 1122. When the first rail 123 is mounted on the extended platform 1122, the extended platform 1122 can provide sufficient installation space for the first rail 123, and the rotations of the rotating drum 1121, the extended platform 1122, and even the first slide 121 are all synchronized, making the stability of the feed system very excellent.

[0020] 4, the first power source 122 may be a motor, and the first guide rail 123 may be a motor shaft of the first power source 122. In this case, a very simple and reliable lead screw structure is formed between the first guide rail 123 and the first slide 121. Of course, the first power source 122 may instead express the linear movement of the first slide 121 by a rack and pinion structure or a worm gear structure.

[0021] Optionally, if the tubular part 3 is an endoscope, the robotic surgery device 1 may further include a first traction means 13 for driving a cable of the endoscope mounted on the first slide 121. Conventional endoscopes usually have multiple drive cables for controlling the bending of the multi-stage sheath of the endoscope with multiple degrees of freedom. Correspondingly, the first traction means 13 may include multiple motors for tracking these drive cables respectively. By mounting the drive means of the endoscope on the first slide 121, the movement of the tubular part 3 does not affect the operation of the drive cable of the endoscope, and the working stability of the endoscope is improved.

[0022] In addition to the above-mentioned synchronous translation means 12, another synchronous translation means 12 is provided in the present application. In an embodiment as shown in FIG. 5, the synchronous translation means 12 may include a second slide 125, a second power source 126, and a second guide rail 127. The second slide 125 is disposed on the second guide rail 127. The bracket 111 is attached to the second slide 125, and the second guide rail 127 extends in the extension direction of the tubular part 3. When the tubular part 3 moves back and forth when driven by the supply device 2, the second power source 126 can drive the second slide 125 to move synchronously along the second guide rail 127. Since the bracket 111 is attached to the second slide 125, the bracket 111 can be driven to move back and forth together with the entire synchronous rotation means 11 provided on the bracket 111. In this case, when the feeding device 2 drives the tubular part 3 to move back and forth, the second power source 126 can also use a synchronization signal to drive the tubular part 3 to follow this back and forth movement. It is understood that the second power source 126 may adopt various mechanical transmission structures for converting rotational motion into translational motion, such as a lead screw, a rack and pinion, a worm gear, etc., so that the second slide 125 can move back and forth synchronously.

[0023] Optionally, referring to FIG. 5, the synchronous translation means 12 may include a base 128 on which the second guide rail 127 and the second slide 125 are disposed, and a swivel belt 129 disposed around the base 128. An opening is provided in the swivel belt 129, through which the bracket 111 passes and is then connected to the second slide 125. While the second slide 125 moves along the second guide rail 127, the swivel belt 129 is driven to rotate. Since the second guide rail 127 and the second slide 125 are disposed in the base 128, it is necessary to form an elongated slot in the base 128 to allow the bracket 111 to move back and forth. The swivel belt 129 covers the elongated slot and serves to prevent the intrusion of dust, water, and the like. That is, when the bracket 111 moves back and forth along the elongated slot in the base 128, the swivel belt 129 moves synchronously. The bracket 111 always passes through a portion of the elongated slot and through the opening in the swivel belt 129, which covers the remaining portion of the elongated slot.

[0024] In the present application, the two types of synchronous translation means 12 described can be used independently or simultaneously. Compared with the solution in which the first rail 123 and the first slide 121 arrive at the rotary stage 112, the solution in which the second rail 127 and the second slide 125 are arranged in the base 128 has an installation space that is not affected by the shape of the rotary stage 112. Therefore, the latter is more suitable for use in positioning the tubular part 3, since it can have a longer stroke. In contrast, compared with the solution in which the second guide rail 127 and the second slide 125 are arranged in the base 128, the solution in which the first guide rail 123 and the first slide 121 are mounted on the rotary stage 112 does not require the rotary stage 112 to be moved during adjustment, and has fewer link structures. Therefore, the latter can perform a more precise positioning operation, and is more suitable for cases in which the tubular part 3 is intended for precision operation. When the two synchronization means are combined, the advantages of both are overlapped, so that the robotic surgical device 1 can enable the coordinated movement of the feeding device 2 in a more coordinated and adaptive manner.

[0025] Furthermore, certain tubular parts 3 in the endoscope do not require precise manipulation, such as a negative pressure pipe used only for extracting gas or liquid, or a lamp pipe used only for illumination. In the case of such tubular parts 3, the robotic surgical device 1 may have a second traction means 14 for driving the cable of the endoscope mounted on the rotating stage 112, as shown in Fig. 6. In this case, by directly connecting the driving cable to the rotating stage 112, the structure can be greatly simplified and the cost of the supply system can be reduced.

[0026] Although the present application has been described in detail with reference to only a limited number of embodiments, it is understood that the present application is not limited to such disclosed embodiments. Rather, the application can be modified to incorporate any number of variations, alterations, substitutions, or equivalent arrangements not heretofore described, but which are commensurate with the spirit and scope of the present application. Moreover, although various embodiments of the present application have been described, it is understood that each aspect of the present application may include only some of the described embodiments. In general, the present application is not limited by the foregoing description, but only by the appended claims. [Explanation of symbols]

[0027] 1. Robotic surgery device; 11. Synchronous rotation means; 111. Bracket; 1111. Support sheet; 1112. Support ring; 1113. Transmission opening; 112. Rotation stage; 1121. Rotation drum; 1122. Extended platform; 113. Rotation motor; 114. Rotation transmission member; 12. Synchronous translation means; 121. First slide; 122. First power source; 123. First guide rail; 125. Second slide; 126. Second power source; 127. Second guide rail; 128. Base; 129. Swivel belt; 13. First traction means; 14. Second traction means; 2. Feeding device; 3. Tubular part

Claims

1. A robotic surgical device mounted to a rear portion of a tubular part and in communication with a feeder device mounted to a front portion of the tubular part for transporting and feeding the tubular part, comprising: a synchronous rotation means including a bracket, a rotation stage, a rotation motor, and a rotation transmission member, the rotation stage being rotatably disposed on the bracket, the tubular part being drawn out from the supply device and connected to the rotation stage, and when the tubular part is rotated by being driven by the supply device, the synchronous rotation means drives the rotation stage via the rotation transmission member by the rotation motor to rotate the rotation stage in synchronous with the tubular part; a synchronous translation means connected to the synchronous rotation means, the synchronous translation means moving in conjunction with the tubular part as the tubular part moves back and forth when driven by the supply device.

2. The robotic surgical device of claim 1, wherein the bracket comprises a support sheet and a support ring fixed to the support sheet, and the rotating stage is fitted within the support ring and is rotatable relative to the support ring.

3. The robotic surgical device according to claim 2 , wherein a transmission opening is formed in the support ring, and the rotation transmission member passes through the transmission opening and is drivably connected to the rotation stage.

4. The synchronous translation means includes a first slide, a first power source, and a first guide rail on which the first slide is disposed; the first guide rail is attached to the rotation stage along an extension direction of the tubular part; the tubular component is extended from the rotary stage and connected to the first slide; 2. The robotic surgical device of claim 1, wherein as the tubular part moves back and forth when driven by the feeder, the first power source drives the first slide to move synchronously along the first guide rail.

5. 5. The robotic surgical device of claim 4, wherein the tubular part is an endoscope, and the robotic surgical device further comprises a first traction means for driving a cable of the endoscope mounted on the first slide.

6. The rotation stage is a rotating drum supported by the bracket and rotatable relative to the bracket; 5. The robotic surgical device of claim 4, further comprising: an extended platform connected to an end of the rotating drum remote from the feeder, the extended platform having a first guide rail mounted thereon.

7. the synchronous translation means includes a second slide, a second power source, and a second guide rail on which the second slide is disposed; The bracket is attached to the second slide, and the second guide rail extends along an extension direction of the tubular part, 2. The robotic surgical device of claim 1, wherein as the tubular part moves back and forth when driven by the feeder, the second power source drives the second slide to move synchronously along the second guide rail.

8. The synchronous translation means includes: a base in which the second guide rail and the second slide are disposed; a swivel belt disposed around the base, the swivel belt defining an opening, the bracket passing through the opening, and the swivel belt connected to the second slide; The robotic surgical device of claim 7 , wherein the swivel belt is driven to swivel while the second slide moves.

9. 2. The robotic surgical device of claim 1, wherein the tubular part is an endoscope, and the robotic surgical device further comprises a second traction means for driving a cable of the endoscope mounted on the rotation stage.

10. A robotic surgery system comprising: a tubular part supplying device; and the robotic surgery device according to any one of claims 1 to 9, wherein the supplying device is in communication with the robotic surgery device, and when the tubular part moves as driven by the supplying device, the robotic surgery device drives the tubular part to move in sync.

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