Operating system and method for ERCP surgical robots

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 operating system and method for an ERCP surgery 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. ERCP surgery has the advantages of small trauma, short surgical time, few complications, and high safety. Such 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. 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, surgical radiation can cause serious radiation damage to the operator.

[0004] Conventional ERCP surgery requires many operators and collaborators, and the already limited operating room becomes somewhat crowded. Doctors and operators must stand for the entire day, resulting in high work intensity, fatigue, and ultimately affecting surgical accuracy and leading to errors. During the surgical process, after inserting the duodenal endoscope into the body, it is necessary to adjust the angle of the guidewire catheter inside the body using a lifting platform. It is difficult for doctors and operators to ensure that their hands do not shake, and sometimes the device inserted into the body may shift after being positioned, making it impossible to accurately adjust the lifting platform. Furthermore, if the lifting platform is adjusted directly, the operator is exposed to X-rays, which can cause injury to the operator.

[0005] A Chinese patent with the previous publication number CN213075919U discloses a novel ERCP surgical instrument table, which belongs to the field of medical technology, and includes a support base, on each of the four corners of the top of the support base several connecting rods are fixedly mounted vertically, a housing is supported and positioned between the several connecting rods, several grooves are formed on the front of the housing, a drawer slide groove is fixedly mounted on the inner wall surface of the several grooves, several storage drawers are slidably mounted on the surface of the drawer slide groove, and universal wheels are fixedly mounted on each of the four corners of the bottom of the support base.

[0006] The inventors believe that conventional tables need to be positioned in the operating room for the doctor to pick up the equipment, making it difficult to reduce the risk of radiation damage to the operator during long-term surgery, and that the problem of the doctor's hands shaking during operation needs to be addressed. [Overview of the project] [Problems that the invention aims to solve]

[0007] In response to the shortcomings of the prior art, the object of the present invention is to provide an operating system and method for an ERCP surgical robot. [Means for solving the problem]

[0008] An operating system for an ERCP surgical robot according to one or more embodiments of the present invention includes an operating table on which a patient is placed, an endoscope operating device including an endoscope operating platform having a lifting platform control module, a knob control module, a catheter drive module and a steam aspiration control module, and an auxiliary structure that can adjust the position and orientation of the endoscope, an endoscope auxiliary device operating platform including an auxiliary device operating platform having a guidewire drive module and driving the guidewire to perform forward / backward or locking movements, an operating handle for controlling the lifting platform control module, the knob control module and the steam aspiration control module, a foot switch for switching the drive functions of the catheter drive module and the guidewire drive module, and a 3D handle for feeding back the tensile force of the catheter drive module or the guidewire drive module, and a display for human-computer interaction.

[0009] Furthermore, the auxiliary structure includes a towing arm and a U-shaped arm, the towing arm being a multi-degree-of-freedom robotic arm, and the U-shaped arm being suspended and attached to the operational end of the towing arm.

[0010] Furthermore, the endoscope auxiliary device operating end unit further includes a cooperating arm, and the auxiliary device operating platform is provided at the operating end of the cooperating arm.

[0011] Furthermore, both the endoscope operating device and the endoscope auxiliary device operating device include a trolley.

[0012] Furthermore, the structure of the operating handle is a simulated structure of the endoscope's operating section.

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

[0014] Furthermore, the control panel is equipped with a touch panel for controlling the endoscope operating device and the endoscope auxiliary device operating device.

[0015] Furthermore, the operating table, the endoscope execution device, and the endoscope auxiliary device operation device are all located within the operating room, while the control table is located outside the operating room.

[0016] Furthermore, the control panel controls the endoscope operating device and the endoscope auxiliary device operating device via an EtherCAT bus.

[0017] The operating method for the ERCP surgical robot according to the present invention includes the steps of: S1 placing the patient on the operating table in a lateral position; S2 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 towards the patient's head, attaching the endoscope control unit handle to the endoscope base, and then fixing the U-shaped arm; S3 inserting the guidewire into the catheter and then inserting it into the duodenum, and attaching the catheter body to the catheter drive module; S4 adjusting the auxiliary device operating platform to an appropriate position using the cooperating arm and fixing the auxiliary device operating platform; S5 placing the catheter operating handle on the auxiliary device's control stand, inserting the hose on the control stand into the guidewire, and connecting it to the guidewire exit of the catheter to fix the catheter; S6 attaching the guidewire to the guidewire drive module to complete the preparation for surgery; and S7 having a physician sit on the control stand and remotely controlling the insertion and transport of the guidewire or the catheter using the operating handle, foot switch, 3D handle, and touch panel. [Brief explanation of the drawing]

[0018] Other features, purposes, and advantages of the present invention will become more apparent by referring to the following drawings and reading the detailed description given to non-limiting embodiments.

[0019] [Figure 1]This is a schematic diagram mainly showing the overall configuration of a surgical robot operating device according to one embodiment of the present invention. [Figure 2] This is a logic block diagram mainly showing an operating station control system according to one embodiment of the present invention. [Modes for carrying out the invention]

[0020] The present invention will be described in detail below with reference to specific examples. The following examples will be helpful to those skilled in the art in further understanding the present invention, but will not limit the present invention in any way. Those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. All of these fall within the scope of protection of the present invention.

[0021] (Example 1) As shown in Figure 1, an operating system for an ERCP surgical robot according to one embodiment of the present invention includes an operating table 1, an endoscope operating end device 2, an endoscope auxiliary device operating end device 3, a control table 4, and a display 5 for human-computer interaction. The endoscope operating end device 2 includes an endoscope operating platform having a lifting table control module 21, a knob control module 22, a catheter drive module 23, and a steam aspiration control module 24, and an auxiliary structure that can adjust the position and orientation of the endoscope. The endoscope auxiliary device operating end device 3 includes an auxiliary device operating platform having a guidewire drive module 31, which drives the guidewire to perform forward / backward or locking movements.

[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 table 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 tensile 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 tensile 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. The traction arm 25 is attached to the trolley 6, enabling the endoscope execution end device 2 to 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 operating console 4 controls the endoscopic execution end device 2 and the endoscopic assistant operation terminal device 3 via an 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 operating console 4. During 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 operating console 4 is provided outside the operating room. Thereby, the doctor can perform remote operation outside the operating room, which is difficult to reduce the damage to the operator caused by long-term radiation during the operation, and can avoid the shaking of the doctor's hand during operation.

[0028] (Embodiment 2) Based on Embodiment 1, an operation method for an ERCP surgery robot executed using the operation system for an ERCP surgery 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 section of the duodenal endoscope is inserted into the duodenum through the patient's oral cavity, esophagus, and stomach. The U-shaped arm 26 is then pulled towards the patient's head, the endoscope control handle is attached to the endoscope base, and the U-shaped arm 26 is then fixed in place. The insertion section of the duodenal endoscope is the hose portion. By pressing the control handle to unlock the traction arm 25, pulling the U-shaped arm 26 towards the patient's head, adjusting its position, and then releasing the switch on the control handle, the U-shaped arm 26 can be fixed in place.

[0031] In step S3, the guidewire is inserted into the catheter, then inserted into the duodenum through the forceps channel, and after it is inserted into the predetermined position, the catheter is placed in the guide groove of the U-shaped arm 26 and covered with the guide groove cover, and the catheter body is attached to the catheter drive module 23.

[0032] In step S4, the assisting arm 32 adjusts the auxiliary machine operating platform to the appropriate position and then fixes it in place. By pressing the adjustment button on the assisting arm 32, the auxiliary machine operating platform is adjusted to the appropriate position, and then released, thereby fixing the platform in place.

[0033] In step S5, the catheter's operating handle 41 is placed on the auxiliary device's control stand 4, the hose on the control stand 4 is inserted into the guidewire, and the catheter is secured by connecting it to the guidewire exit of the catheter.

[0034] In step S6, the guidewire is attached to the guidewire drive module 31, the guidewire is grasped and transported, and the preparation for surgery is completed.

[0035] In step S7, the physician sits on the control table 4 and remotely controls the insertion and transport of the guidewire or catheter using the control handle 41, foot switch 42, 3D handle 43, and touch panel 44. They then complete a series of procedures, such as balloon dilation, stone removal, stent placement, and drainage.

[0036] As shown in Figure 2, the control system for the control table 4 is a Linux system, and specifically includes an IPC module, a control table 4 control module, an endoscope handle operating unit, and a guidewire operating unit.

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

[0038] The control panel 4 includes an I / O module and a control panel 4 lifting motor. The IPC module is connected to the IN terminal of the I / O module of the control panel 4 via an EtherCAT bus, and the OUT terminal of the I / O module of the control panel 4 is connected to the IN terminal of the control panel 4 lifting motor.

[0039] The endoscope handle operating unit includes an I / O module, a robot arm lifting motor, a large handle knob control motor, a small handle knob control motor, and an instrument feed control motor. The I / O module of the endoscope handle operating unit is connected to the OUT end of the operating table 4 lifting motor, the OUT end of the I / O module of the endoscope handle operating 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 large handle knob control motor, the OUT end of the large handle knob control motor is connected to the IN end of the small handle knob control motor, and the OUT end of the small handle knob control motor is connected to the IN end of the instrument feed control motor.

[0040] The guidewire operating unit includes an I / O module and a guidewire feed control motor. The IN terminal of the I / O module of the guidewire operating unit is connected to the OUT terminal of the equipment feed control motor, and the OUT terminal of the I / O module of the guidewire operating unit is connected to the IN terminal of the guidewire feed control motor.

[0041] Operating principle During surgery, 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 mouth, esophagus, and stomach to the duodenum, the U-shaped arm 26 is pulled towards the patient's head, the endoscope control unit handle is attached to the endoscope base, the U-shaped arm 26 is fixed, the guidewire is inserted into the catheter and then into the duodenum, the catheter body is attached to the catheter drive module 23, the auxiliary device operating platform is adjusted to an appropriate position using the cooperating arm 32 and fixed in place, the catheter operating handle 41 is placed on the auxiliary device's control stand 4, the hose on the control stand 4 is inserted into the guidewire, the catheter is fixed by connecting it to the guidewire exit of the catheter, the guidewire is attached to the guidewire drive module 31, and the preparation for surgery is completed. Finally, the physician sits on the control stand 4 and remotely controls the insertion and transport of the guidewire or catheter using the operating handle 41, foot switch 42, 3D handle 43, and touch panel 44.

[0042] Those skilled in the art will understand that, in addition to implementing the system and its devices, modules, and units according to the present invention in the form of pure computer-readable program code, the same functions can be implemented in the system and its devices, modules, and units according to the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like by logically programming the steps of the method. Accordingly, the system and its devices, modules, and units according to the present invention may be considered as hardware components, and the devices, modules, and units for implementing the various functions contained therein may also be considered as structures within the hardware components, and the devices, modules, and units for implementing the various functions may be considered as software modules for implementing the method, or as structures within the hardware components.

[0043] In the description of this application, the directions or positional relationships indicated by terms such as "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," and "outside" are based on the directions or positional relationships shown in the drawings and are merely for the purpose of easily explaining and simplifying the description of this application. They do not indicate or suggest that the shown device or component has a specific direction, or that it must be configured and operated in a specific direction, and therefore should not be understood as limiting this application.

[0044] Compared to 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 aspiration control module of the endoscope operating device using the operating handle, foot switch, 3D handle, and touch panel of the operating table, and remotely controls the insertion and transport of the guidewire or catheter using the guidewire drive module of the endoscope auxiliary operating device to complete a series of surgeries such as balloon dilation, stone removal, stent placement, and drainage, thereby reducing operator injury from long-term radiation during surgery and helping to avoid hand tremors during operation by the physician.

[0046] 2. By shaping the operating handle to resemble the structure of an endoscope operating unit, the present invention enables physicians to adapt to the handle's operation control method with a minimal learning process, thereby improving the convenience of using the operating system of the surgical robot.

[0047] 3. The present invention helps improve the accuracy of surgeries performed by physicians by synchronizing the scanning results of an X-ray device with a display, and further helps improve the success rate of surgeries.

[0048] The specific embodiments of the present invention have been described in detail above. It should be noted that the present invention is not limited to the above-described 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 invention. The embodiments and features described herein can be combined with each other, as long as they do not contradict each other. [Explanation of symbols]

[0049] 1 Operating table 32 Cooperative Arm 2 Endoscope Operating Device 4 Control console 21. Lifting platform control module 41 Operating handle 22 Knob control module 42 Foot switch 23 Catheter drive module 43 3D handles 24. Water vapor suction control module 44 Touch Panel 25 Towing Arm 5 displays 26 U-shaped arms 6 carts 3. Endoscope auxiliary device operating end unit 7 X-ray equipment 31 Guidewire drive module

Claims

1. An operating table (1) on which the patient is placed, An endoscope operating platform (2) includes an endoscope operating platform having a lifting platform control module (21), a knob control module (22) that controls the knob of the endoscope operating section handle by a motor, a catheter drive module (23), and a steam aspiration control module (24), and an auxiliary structure that can adjust the position and orientation of the endoscope, The endoscopic auxiliary device operating end device (3) includes an auxiliary device operating platform having a guidewire drive module (31), which drives the guidewire to perform forward and backward movements or a locking operation to grip and fix the guidewire, An operating platform (4) includes an operating handle (41) for controlling the lifting platform control module (21), the knob control module (22), and the steam aspiration control module (24), a foot switch (42) for switching between driving the catheter drive module (23) and the guidewire drive module (31), and a 3D handle (43) having a force feedback function that transmits the tensile force of the catheter drive module (23) or the guidewire drive module (31) to the operator, Includes a display (5) for interactive communication between a human and a computer, where information is displayed and operations are input. An operating system for an ERCP surgical robot, characterized by the following features.

2. The auxiliary structure includes a traction arm (25) and a U-shaped arm (26) that support the endoscope. The aforementioned traction arm (25) is a multi-degree-of-freedom robot arm, The U-shaped arm (26) is for fixing the endoscope and is attached to the running end of the traction arm (25) by being connected to a cantilever via a connecting rod, and is configured to be switchable between a fixed state relative to the running end and an unlocked state in which the position and orientation can be adjusted. The operating system for an ERCP surgical robot according to feature 1.

3. The endoscope auxiliary device operating end unit (3) further includes a cooperating arm (32) that moves and holds the auxiliary device operating platform to an appropriate position, The cooperative arm (32) adjusts the position of the auxiliary machine operating platform provided at its execution end by moving it, and then fixes and holds the auxiliary machine operating platform in the adjusted position. The auxiliary machine operating platform is supported at the operating end of the cooperative arm (32). The operating system for an ERCP surgical robot according to feature 1.

4. The endoscope operating device (2) and the endoscope auxiliary device operating device (3) both include a trolley (6). The operating system for an ERCP surgical robot according to feature 1.

5. The structure of the aforementioned operating handle (41) is a simulation structure that mimics the shape and feel of the manual endoscope operating section. The operating system for an ERCP surgical robot according to feature 1.

6. An X-ray device (7) is provided on one side of the operating table (1). The X-ray apparatus (7) scans the patient located on the operating table (1) and synchronizes the scanning results with the display (5). The operating system for an ERCP surgical robot according to feature 1.

7. The control panel (4) is provided with a touch panel (44) for controlling the endoscope operating device (2) and the endoscope auxiliary device operating device (3). The operating system for an ERCP surgical robot according to feature 1.

8. The operating table (1), the endoscope operating device (2), and the endoscope auxiliary device operating device (3) are all located within the operating room. The aforementioned operating table (4) is located outside the operating room. The operating system for an ERCP surgical robot according to feature 1.

9. The control console (4) controls the endoscope operating device (2) and the endoscope auxiliary device operating device (3) via the Ethernet bus. The operating system for an ERCP surgical robot according to feature 1.

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