CN110833456A - Surgical robot and terminal surgical instrument, registration method, system and storage medium - Google Patents

Abstract

The invention discloses a surgical robot and its terminal surgical instrument, a registration method, a system and a storage medium. The terminal surgical instrument comprises a connecting flange, a channel connecting rod and a channel. The connecting flange is fixedly connected with the end flange of a mechanical arm, and the channel is connected One end of the rod is fixedly connected with the connecting flange, the other end of the channel connecting rod is fixedly connected with the channel in a detachable manner, and a laser head is fixedly installed on the channel connecting rod. The technical solution facilitates the disinfection of the channel, and at the same time, after the positioning is completed, the doctor can easily and intuitively judge the positioning accuracy through the laser, and then switch to the channel to complete the operation quickly and safely.

Description

Surgical robot and terminal surgical instrument, registration method, system and storage medium

technical field

The invention relates to the field of medical instruments, in particular to a surgical robot and its terminal surgical instruments, a registration method, a system and a storage medium.

Background technique

With the continuous development of medical science and technology, the application of surgical robots is becoming more and more extensive. Take orthopedic surgical robots as an example. Generally speaking, the end of the surgical robot will be equipped with surgical instruments, and the end of the operation will be replaced according to the needs of the operation during the operation. Instruments, especially for the disinfection and sterilization of surgical instruments, the robot is wrapped with a layer of disinfection curtain during the operation, which is clinically acceptable for orthopedic surgery in which the surgical tool at the end of the robot needs to be replaced frequently according to the needs of the operation. Sexuality is a major challenge, and it will also limit the clinical promotion of orthopedic surgical robots. In the process of using the surgical robot, the structure of the end surgical instruments should be more likely to be smaller to prevent too much occupation of the doctor's surgical operation space. At the same time, the structure of the surgical instrument should also be more flexible, and the flexibility of the surgical robot should be used as much as possible. Operation requirements, on the basis of achieving precise positioning, save the operation space occupied by surgical instruments and shorten the operation time.

Orthopedic surgical robots are one of the earliest surgical robots to be researched and applied in the medical field, and they are also the most studied surgical robots at home and abroad. At present, robots such as ROBODOC, ACROBOT, MAKO, RIO, Renaissance, and Tianzhihang have been approved by the US Food and Drug Administration. FDA (FDA) clinical approval. For example, the patent document with the publication number of CN205083637U discloses a quick-installation and quick-release mechanism for a surgical robot end tool.

However, in the prior art, the surgical instrument at the end of the robot only contains one surgical channel. After the surgical robot is positioned, the surgical channel is established. In this process, there is no pre-judgment method for doctors (currently, the technology of orthopedic surgical robots has not reached the It is only a tool to assist the doctor to fully trust the doctor. Moreover, the surgical robot is interfered by various factors in the clinic, which may affect the positioning accuracy of the surgical robot. Therefore, after the positioning is completed, the doctor needs to pre-judg whether the current positioning accuracy is satisfactory. surgery requirements). Furthermore, the channel of the terminal surgical instrument is not designed as a detachable structure, which is not convenient for sterilization, and is also affected by the limitation of the channel (if the channel is replaced, it may be completely replaced with the structure together with the channel).

SUMMARY OF THE INVENTION

In order to solve the above technical problems, one of the purposes of the present invention is to provide a simple and flexible terminal surgical instrument structure, which is convenient for the disinfection of the channel, and at the same time, the doctor can easily and intuitively judge the positioning accuracy after the positioning is completed by the laser, and then further Switching to the channel finally completes the surgery quickly and safely.

The second objective of the present invention is to provide a surgical robot with the structure of the above-mentioned terminal surgical instrument and a registration method, system and storage medium thereof.

In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme:

An end surgical instrument of a surgical robot, comprising a connecting flange (3), a channel link (8) and a channel (9), the connecting flange (3) is fixedly connected with the end flange (10) of a robotic arm, and the channel link (8) One end is fixedly connected with the connecting flange (3), the other end of the channel link (8) is fixedly connected with the channel (9) in a detachable manner, and a laser head (7) is fixedly installed on the channel link (8).

Preferably, the channel (9) and the channel connecting rod (8) are coaxially matched through the arc surface (91), and then positioned through the positioning surface on the channel (9). locked and fixed.

Preferably, a laser seat (82) is provided on the channel connecting rod (8), a mounting hole (821) is provided on the laser seat (82), and a laser head (7) is installed in the mounting hole (821). The outer peripheral surface of (7) is provided with a ring of annular projections (71), the annular projections (71) on the laser head (7) are tangent to the cylindrical surface of the inner wall of the mounting hole (821), and the laser seat (82) is located in the mounting hole (821). The lower part of (821) is evenly distributed with a plurality of threaded holes (822), and the threaded holes (822) are provided with set screws for adjusting the coaxiality of the laser head (7) and fixing the laser head (7).

Preferably, the annular protrusion (71) is in the shape of an annular shape as a whole, and the cross section of the annular protrusion (71) is in a semicircle.

Preferably, the connecting wire of the laser head (7) passes through the middle hole of the flange connecting part (83) of the channel connecting rod (8), and is connected with the aviation plug (4) on the connecting flange (3), The aviation plug (4) is connected with the plug on the end (10) of the mechanical arm through the connector.

Preferably, the connecting flange (3) is positioned with the adapter flange (2) through positioning pins, the adapter flange (2) is positioned with the robot arm end flange (10) through the positioning pins, and The firmware locks and fixes the adapter flange (2), the connection flange (3) and the end flange (10) of the robotic arm.

Preferably, the registration plate (5) is positioned through a groove reserved on the channel link (8), and is locked and fixed with the channel link (8) by a fastener.

Preferably, the two wings of the registration plate (5) are respectively provided with a plurality of holes for pressing the steel balls in an array.

Preferably, the channel connecting portion (81) of the channel connecting rod (8) is positioned in cooperation with the connecting flange (4) through a rectangular connecting end, and is locked and fixed by a fastener.

A surgical robot includes the above-mentioned end surgical instrument of the surgical robot.

A method for registering a surgical robot. The end flange (10) of the mechanical arm of the surgical robot is mounted with the end surgical instrument of the surgical robot as described above, and includes the following steps: Press the steel balls into the plurality of holes respectively, and move the terminal surgical instrument under the image intensifier of the X-ray machine, so that the upper surface of the registration plate is parallel to the plane of the image intensifier of the X-ray machine. The X-ray film is obtained through the downward perspective; according to the spatial position relationship of the plurality of steel balls, the position information of the registration plate under the image intensifier of the X-ray machine is solved; According to the spatial position relationship, the position information of the laser head (7) and the channel (9) under the X-ray machine is obtained.

A surgical robot system includes a surgical robot and an X-ray machine, and the end surgical instrument of the surgical robot as described above is mounted on the end flange (10) of the mechanical arm of the surgical robot.

A storage medium having computer-readable instructions stored thereon, the instructions, when executed by a processor, implement the steps of the registration method as described above.

Due to the adoption of the above technical solutions, the present invention has an integrated structure of the laser channel registration plate, the channels are individually detachable, convenient for disassembly and assembly and disinfection of instruments, simple and flexible structure, accurate positioning, and suitable for positioning with various attitude angles. Through the laser, the doctor can easily and intuitively judge the accuracy of the positioning after the positioning is completed, and then switch to the channel to complete the operation quickly and safely.

Description of drawings

1 is an exploded view of a terminal surgical instrument of the present invention;

Fig. 2 is the structural representation of the terminal surgical instrument of the present invention;

Figure 3 is a partial cross-sectional view of the terminal surgical instrument of the present invention;

Fig. 4 is the assembly schematic diagram of the terminal surgical instrument of the present invention;

Fig. 5 is the assembly structure schematic diagram of the laser head;

Fig. 6 is the outline structure schematic diagram of the laser head;

FIG. 7 is a schematic diagram of the registration of the present invention and the X-ray machine.

Among them, 1. positioning pin; 2. adapter flange; 3. connecting flange; 4. aviation plug; 5. registration plate; 6. locking cover; 7. laser head; 71. annular protrusion; 8. Channel connecting rod; 81, Channel connecting part; 82, Laser seat; 821, Mounting hole; 83, Flange connecting part; 9, Channel; 10, Robot arm end flange; 11, Image intensifier of X-ray machine.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise", etc. The orientation or positional relationship shown in the figures is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a reference to the present invention. Invention limitations.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise expressly defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

As shown in Figures 1 to 3, an end surgical instrument of a surgical robot includes a connecting flange 3, a channel link 8 and a channel 9. The connecting flange 3 is fixedly connected with the end flange 10 of the robotic arm, and one end of the channel link 8 is fixedly connected. It is fixedly connected with the connecting flange 3 , the other end of the channel connecting rod 8 is fixedly connected with the channel 9 in a detachable manner, and the laser head 7 is fixedly installed on the channel connecting rod 8 .

In this embodiment, the channel 9 and the channel connecting rod 8 are coaxially matched through the arc surface 91, and then positioned by the positioning surface on the channel 9. After the positioning is completed, the two are locked and fixed by a locking member. In this way, it is convenient and detachable for sterilization during the operation.

In this embodiment, the channel connecting rod 8 is provided with a laser seat 82 , the laser seat 82 is provided with a mounting hole 821 , the laser head 7 is installed in the mounting hole 821 , and a ring-shaped protrusion is provided on the outer peripheral surface of the laser head 7 From 71, the annular protrusion 71 on the laser head 7 is tangent to the cylindrical surface of the inner wall of the installation hole 821, and the laser seat 82 evenly distributes a plurality of threaded holes 822 in the lower part of the installation hole 821. Coaxiality and fix the set screw of the laser head 7.

In this embodiment, the annular protrusion 71 is in the shape of a circular ring as a whole, and the cross section of the annular protrusion 71 is in a semicircle. As shown in Figures 5 and 6, a small semicircular boss as shown in the figure is machined on the outer cylindrical surface of the laser head 7, and the laser head 7 is installed into the installation hole of the laser seat 82. The accuracy guarantees the assembly requirements of the two. The cylindrical surface of the installation hole is tangent to the small semicircular boss of the laser head 7, and it is ensured that after the assembly is completed, the laser head 7 can use the semicircular small boss as a fulcrum in the installation hole. Swing freely, adjust the coaxiality of the laser head 7 through the set screws installed in the four evenly distributed threaded holes at the bottom of the installation hole, and fix the laser head 7 . Through this method of laser assembly adjustment, the coaxiality of the laser and the installation hole can be adjusted conveniently and quickly, and at the same time, adding a laser to the end device enables the doctor to judge the positioning accuracy more intuitively and clearly during the operation. It can also be used by doctors to mark on the patient's body surface and plan surgical paths.

In this embodiment, the connecting wire of the laser head 7 passes through the middle hole of the flange connecting part 83 of the channel link 8 and is connected to the aviation plug 4 on the connecting flange 3. The aviation plug 4 is connected to the mechanical Plug connection on arm end 10. In this way, the connecting wire of the laser head 7 is passed through the middle hole of the channel link 8 and welded with the aviation plug 4. The aviation plug 4 is connected to the plug at the end of the mechanical arm through the connector, and the laser is controlled through the robot operating software interface. switch, install the end of the laser head 7 in the installation hole of the channel link 8, and tighten the locking cover 6 at the same time.

In this embodiment, the connecting flange 3 is positioned with the adapter flange 2 through positioning pins, and the adapter flange 2 is positioned with the flange 10 at the end of the robot arm through the positioning pins. The flange 2, the connecting flange 3 and the flange 10 at the end of the robot arm are locked and fixed. The channel connecting portion 81 of the channel connecting rod 8 is positioned with the connecting flange 4 through the rectangular connecting end, and is locked and fixed by a fastener. In this way, the precision of the assembly is ensured by machining, and after the connection is completed, it is locked by the set screw, which is convenient for disassembly during use.

In this embodiment, the registration plate 5 is positioned with the groove 831 reserved on the channel link 8 , and is locked and fixed with the channel link 8 by fasteners. The two wings of the registration plate 5 are respectively provided with a plurality of holes for pressing steel balls in an array.

In this embodiment, the adapter flange 2 and the registration plate 5 are made of POM engineering plastic material, and the other structural components are made of 316 medical stainless steel.

A surgical robot includes the above-mentioned end surgical instrument of the surgical robot.

A registration method of a surgical robot, the end flange 10 of the mechanical arm of the surgical robot is installed with the end surgical instrument of the surgical robot as described above, and includes the following steps: as shown in Figures 2 and 7, the matching The registration plate 5 is fixed on the reserved position of the channel link 8, and the material of the registration plate is POM engineering plastics mainly for the development of the registration plate under the X-ray machine; Press the steel balls respectively, move the terminal surgical instruments under the image intensifier of the X-ray machine, make the upper surface of the registration plate parallel to the plane of the image intensifier of the X-ray machine, and obtain X-rays by fluoroscopy under the X-ray machine. Optical film; according to the spatial position relationship of multiple steel balls, the position information of the registration plate under the image intensifier of the X-ray machine is solved; according to the spatial position relationship between the registration plate and the laser head 7 and channel 9, the laser head is solved 7 and the position information of channel 9 under the X-ray machine.

A surgical robot system includes a surgical robot and an X-ray machine, and a terminal surgical instrument of the surgical robot as described above is mounted on the end flange 10 of the mechanical arm of the surgical robot.

A storage medium having computer-readable instructions stored thereon, the instructions, when executed by a processor, implement the steps of the registration method as described above.

During the clinical operation, the invention can realize the dual positioning of the laser and the channel. The laser positioning is convenient for the doctor to check whether the current positioning accuracy meets the requirements of the operation and whether it is located at the position of the lesion point. All parts in front of the middle channel, including the robotic arm, can be isolated with a sterile hood, and only the channel and the matching sleeve can be sterilized, so as to better assist the doctor during the operation, and make the operation process safer and more convenient. convenient.

The invention has the following advantages: 1. The structure is simple; 2. The laser channel is integrated; 3. The channel is detachable, which is convenient for instrument sterilization;

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and those of ordinary skill in the art will not depart from the principles and spirit of the present invention Variations, modifications, substitutions, and alterations to the above-described embodiments are possible within the scope of the present invention without departing from the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. The utility model provides a terminal surgical instruments of surgical robot, its characterized in that, includes flange (3), passageway connecting rod (8) and passageway (9), flange (3) and terminal flange (10) fixed connection of arm, passageway connecting rod (8) one end and flange (3) fixed connection, and the mode fixed connection can be dismantled is adopted with passageway (9) to passageway connecting rod (8) the other end, and fixed mounting has laser head (7) on passageway connecting rod (8).

2. The distal end surgical instrument of a surgical robot according to claim 1, wherein the channel (9) and the channel connecting rod (8) are coaxially matched through a circular arc surface (91), and then are positioned through a positioning surface on the channel (9), and are locked and fixed through a locking member after the positioning is completed.

3. The tail end surgical instrument of the surgical robot as claimed in claim 1, wherein a laser seat (82) is arranged on the channel connecting rod (8), a mounting hole (821) is arranged on the laser seat (82), a laser head (7) is mounted in the mounting hole (821), a circle of annular protrusion (71) is arranged on the outer peripheral surface of the laser head (7), the annular protrusion (71) on the laser head (7) is tangent to the cylindrical surface of the inner wall of the mounting hole (821), a plurality of threaded holes (822) are uniformly distributed on the lower portion of the mounting hole (821) of the laser seat (82), and a set screw for adjusting the coaxiality of the laser head (7) and fixing the laser head (7) is mounted in each threaded hole (822); the annular bulge (71) is annular as a whole, and the cross section of the annular bulge (71) is semicircular.

4. The end surgical instrument of a surgical robot according to claim 1, characterized in that the connecting flange (3) is positioned with the adapter flange (2) by means of positioning pins, the adapter flange (2) is positioned with the end flange of the robot arm (10) by means of positioning pins, and the adapter flange (2), the connecting flange (3) and the end flange of the robot arm (10) are locked and fixed by means of fasteners.

5. The distal end surgical instrument of a surgical robot according to claim 1, wherein the registration plate (5) is positioned by a groove reserved on the channel link (8) and is locked and fixed by a fastener with the channel link (8), and a plurality of holes for pressing steel balls are distributed in an array on the registration plate (5).

6. An end surgical instrument of a surgical robot according to claim 1, characterized in that the channel connection (81) of the channel link (8) is positioned by a rectangular connection end in co-operation with the connection flange (4) and is secured by a fastening means.

7. A surgical robot comprising an end surgical instrument of a surgical robot as claimed in any one of claims 1 to 6.

8. A registration method of a surgical robot, characterized in that the end flange (10) of the arm of the surgical robot is equipped with an end surgical instrument of the surgical robot as claimed in claim 5, and comprising the steps of: pressing steel balls into a plurality of holes reserved on the registration plate respectively, moving the tail end surgical instrument to be under an image intensifier of an X-ray machine, enabling the upper surface of the registration plate to be parallel to the plane of the image intensifier of the X-ray machine, and obtaining an X-ray film through perspective under the X-ray machine; according to the spatial position relationship of the steel balls, the position information of the registration plate under the X-ray machine image intensifier is obtained through solution; and solving the position information of the laser head (7) and the channel (9) under the X-ray machine according to the spatial position relationship of the registration plate, the laser head (7) and the channel (9).

9. A surgical robot system comprising a surgical robot and an X-ray machine, characterized in that the end flange (10) of the arm of the surgical robot is provided with an end surgical instrument of the surgical robot as claimed in claim 5.

10. A storage medium having computer readable instructions stored thereon which, when executed by a processor, perform the steps of the registration method of claim 8.

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