CN112545651B - Transurethral resectoscope surgical robot actuator - Google Patents
Transurethral resectoscope surgical robot actuator Download PDFInfo
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- CN112545651B CN112545651B CN201910919569.0A CN201910919569A CN112545651B CN 112545651 B CN112545651 B CN 112545651B CN 201910919569 A CN201910919569 A CN 201910919569A CN 112545651 B CN112545651 B CN 112545651B
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000003825 pressing Methods 0.000 claims description 44
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000007789 sealing Methods 0.000 claims description 11
- 239000013307 optical fiber Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 210000001519 tissue Anatomy 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 210000003811 finger Anatomy 0.000 description 5
- 210000001124 body fluid Anatomy 0.000 description 4
- 239000010839 body fluid Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000011010 flushing procedure Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000007097 Urinary Bladder Neoplasms Diseases 0.000 description 2
- 239000003153 chemical reaction reagent Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000002307 prostate Anatomy 0.000 description 2
- 206010038063 Rectal haemorrhage Diseases 0.000 description 1
- 206010072587 Rectal injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010412 perfusion Effects 0.000 description 1
- 210000002640 perineum Anatomy 0.000 description 1
- 208000023958 prostate neoplasm Diseases 0.000 description 1
- 238000011471 prostatectomy Methods 0.000 description 1
- 125000003003 spiro group Chemical group 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 210000003708 urethra Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00505—Urinary tract
- A61B2018/00517—Urinary bladder or urethra
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Otolaryngology (AREA)
- Plasma & Fusion (AREA)
- Endoscopes (AREA)
- Surgical Instruments (AREA)
Abstract
The embodiment of the invention relates to a transurethral resectoscope surgical robot actuator which is used for connecting a surgical robot and a transurethral resectoscope, and comprises a shell, a driving system and a fixing system; the housing defines a receiving cavity; the driving system is used for driving a movable operating handle of an operator of the electric cutting mirror to move; the fixing system is used for fixing the resectoscope on the surgical robot actuator and comprises a first supporting and fixing mechanism and a second supporting and fixing mechanism, wherein the first supporting and fixing mechanism is used for supporting and fixing a fixed operation handle of an operator of the resectoscope, and the second supporting and fixing mechanism is used for supporting and fixing a body of the operator of the resectoscope. The surgical robot actuator can stably and firmly fix the resectoscope.
Description
Technical Field
The invention belongs to the technical field of medical appliances, and particularly relates to a transurethral resectoscope operation robot actuator.
Background
Transurethral resectoscope operation is typically performed by a surgeon holding a transurethral resectoscope directly on the human body. Referring to fig. 1, in general, a transurethral resectoscope in the prior art includes an endoscope, an operator 100 (or resectoscope as shown in fig. 1), an outer sheath, an inner sheath, a obturator, an resectoscope ring, and other main components, the operator 100 includes a fixed handle 1, a movable handle 2, an optical fiber connector 3, and a cable connector 4, the movable handle 2 is connected to the cable connector 4, the movable handle 2 is capable of reciprocating, and the cable connector 4 moves in synchronization with the movable handle 2. When the operation is carried out, the index finger and the middle finger hook the fixed operation handle 1, the thumb pushes the movable operation handle 2, the angle of the operator 100 is adjusted, the movable operation handle 2 is pushed to push the electric cutting ring, and meanwhile, the electrified pedal is stepped down to complete the excision of tissues such as prostate, bladder tumor and the like.
The implementation mode of the surgical operation has two important defects, namely, the surgical operation is greatly influenced by individuals of surgeons depending on the technical level and experience of the surgeons, the accuracy and safety of the surgical operation are difficult to ensure, the standardization and standardization of the surgical operation cannot be realized, the surgical operation process is time-consuming and labor-consuming often, the working strength is high, the pain is brought to the doctors and the patients, if the experience of the doctors is lack, the serious consequences such as rectal injury or hemorrhage and the like can be caused by unskilled technology of the doctors, meanwhile, the tissue excision is insufficient, and the curative effect is influenced; secondly, when the operation is carried out, doctors are close to the patient, the perineum and the front part of the urethra are easy to be polluted by body fluid of the patient, potential safety hazards exist, the operation environment of the doctors is poor, for example, transurethral prostatectomy is carried out, in order to obtain good operation vision field, cyclic perfusion flushing is needed, and flushing fluid pollution is serious.
Assisting a surgeon in performing an operation by a surgical robot is one solution to the above-described problem by creating a three-dimensional model of a site to be operated, performing an operation planning in advance, and then controlling the surgical robot by the doctor to perform an operation procedure. Therefore, even if the operation can be standardized and normalized, the burden of a doctor is reduced, and the doctor can operate the operation robot at a long distance without approaching a patient, and the pollution can be avoided.
However, there is a lack of surgical robotic actuators in the prior art that connect surgical robots to transurethral resectoscope.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a transurethral resectoscope operation robot actuator for connecting an operation robot and a transurethral resectoscope.
A transurethral resectoscope surgical robot actuator for connecting a surgical robot and a transurethral resectoscope, the surgical robot actuator comprising a housing, a drive system and a fixing system;
the housing defines a receiving cavity;
the driving system is used for driving a movable operating handle of an operator of the electric cutting mirror to move;
The fixing system is used for fixing the resectoscope on the surgical robot actuator and comprises a first supporting and fixing mechanism and a second supporting and fixing mechanism, wherein the first supporting and fixing mechanism is used for supporting and fixing a fixed operating handle of an operator of the resectoscope, and the second supporting and fixing mechanism is used for supporting and fixing a body of the resectoscope operator.
Further, the driving system comprises a motor, a transmission device and a push rod, and the motor drives the push rod to do reciprocating linear motion through the transmission device.
Further, the shell is provided with a shell opening, an opening cover is arranged on the shell opening, the opening cover is provided with a avoiding opening, the push rod is connected with the motor in a driving mode through the shell opening, and the push rod extends out of the avoiding opening.
Further, the transmission device comprises a screw rod, a screw rod nut, a sliding rail and a sliding block; the distal end of the push rod is connected with the screw nut through the opening of the shell, the proximal end of the push rod is provided with a push rod clamping part, the push rod clamping part is provided with a clamping structure, and the clamping structure is used for driving a cable connector of an operator of the resectoscope to move.
Further, an avoidance port sealing member is arranged at the avoidance port, and the push rod is in sliding sealing connection with the avoidance port sealing member.
Further, the proximal end of the surgical robot actuator is provided with a first mounting seat and a second mounting seat, two ends of the screw rod are respectively arranged on the first mounting seat and the second mounting seat, two ends of the sliding rail are respectively fixedly arranged on the first mounting seat and the second mounting seat, the sliding rail is parallel to the screw rod, the sliding block is in sliding connection with the sliding rail, and the sliding block is fixedly connected with the screw rod nut.
Further, a first travel switch and a second travel switch are arranged between the first mounting seat and the second mounting seat, and the travel switch is used for controlling the limit travel of the screw nut between the first mounting seat and the second mounting seat.
Further, the proximal end portion of the housing is further connected with a housing mounting seat, the first supporting and fixing mechanism is arranged on the housing mounting seat, the first supporting and fixing mechanism comprises a fixed operation handle supporting seat, a fixed operation handle limiting structure and a pressing plate assembly, the fixed operation handle limiting structure is used for limiting the movement of the manipulator of the resectoscope in the length direction of the manipulator, and the pressing plate assembly is used for propping against the fixed operation handle from the upper portion of the fixed operation handle.
Further, the platen assembly includes a platen and a platen fastener for applying pressure to the platen to urge the platen against the fixed handle.
Further, the clamp plate fastener is the knob, the knob has the threaded rod, set up the screw hole on the fixed handle supporting seat, the through-hole has been seted up to the clamp plate, the threaded rod passes the through-hole of clamp plate with screw hole spiro union cooperation, the clamp plate can be around the threaded rod rotates.
Further, the fixed operation handle limiting structure is a limiting groove.
Further, the fixing system further comprises a second supporting and fixing mechanism, wherein the second supporting and fixing mechanism is arranged on one side of the opening cover and is arranged side by side with the opening cover in the width direction of the surgical robot actuator; the second support fixing mechanism comprises a first clamping part and a first clamping part supporting seat, the first clamping part is arranged on the first clamping part supporting seat, and the first clamping part is used for clamping and fixing the body of the resectoscope manipulator.
Further, the fixing system further comprises a third supporting and fixing mechanism, the third supporting and fixing mechanism is used for supporting and fixing the optical fiber connector of the manipulator of the resectoscope, the third supporting and fixing mechanism comprises a second clamping part and a second clamping part supporting seat, the second clamping part is arranged on the second clamping part supporting seat, and the second clamping part is used for clamping and fixing the optical fiber connector.
The embodiment of the invention has the beneficial effects that: the surgical robot actuator provided by the embodiment of the invention has a reliable structure, can be stably and conveniently connected with a mechanical arm of a surgical robot, and can firmly fix the resectoscope. Other advantages of the surgical robotic actuators of embodiments of the present invention are described in detail below.
Drawings
Fig. 1 is a schematic structural view of a conventional resectoscope in the prior art.
Fig. 2 is an exploded view of a surgical robotic actuator according to an embodiment of the present invention.
Fig. 3 is a schematic perspective view of a driving system of a surgical robot actuator according to an embodiment of the present invention.
Fig. 4 is a top view of a drive system for a surgical robotic actuator according to an embodiment of the present invention.
Fig. 5 is a top view of a fixation system for a surgical robotic actuator according to an embodiment of the present invention.
Fig. 6 is a schematic perspective view of a fixing system of a surgical robot actuator according to an embodiment of the present invention.
Fig. 7 is a schematic perspective view of an embodiment of the present invention showing a surgical robot actuator equipped with an resectoscope.
Fig. 8 is a top view of a surgical robotic actuator assembly resectoscope according to an embodiment of the present invention.
Detailed Description
The present invention will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. Those skilled in the art will recognize that the present invention is not limited to the drawings and the following examples.
In the description of the present invention, it should be noted that, for the azimuth words such as "length", "width", "upper", "lower", "far", "near", etc., the azimuth or positional relationship is based on the azimuth or positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and should not be construed as limiting the specific protection scope of the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not intended to be limiting, but rather are not to be construed as indicating or implying a relative importance or an implicit designation of the number of technical features.
Referring to fig. 2-8, an embodiment of the present invention provides a transurethral resectoscope surgical robot actuator capable of connecting a mechanical arm of a surgical robot and a transurethral resectoscope to perform a transurethral resectoscope operation for resecting tissues such as prostate and bladder tumor, etc.
The surgical robot effector includes a housing, a drive system, and a fixation system.
The housing encloses a receiving cavity to receive components of the surgical robotic actuator, such as motors, gears, electrical components, and the like.
The drive system is used to drive the movable handle 2 of the manipulator 100 of the resectoscope in a reciprocating motion to push the resecting ring to resect the tissue to be resected.
The fixing system is used for fixing the resectoscope on the surgical robot actuator.
Therefore, the reciprocating motion of the electric cutting ring of the electric cutting mirror (namely, the action of cutting tissues) is driven by the surgical robot actuator, and other actions of the electric cutting mirror (such as position adjustment, posture adjustment, rotation and the like) are driven by the mechanical arm of the surgical robot to drive the surgical robot actuator so as to drive the electric cutting mirror to finish, and the rotation operation of the electric cutting ring can be realized by rotating the surgical robot actuator by taking rotation as an example.
Outer casing
In one embodiment, the housing includes an upper cover 11 and a lower shell 12, the upper cover 11 and the lower shell 12 enclosing a receiving cavity having a distal end opening at a distal end thereof. The distal opening of the housing may be closed by a connection system for connecting the robotic arm of the surgical robot, or in another embodiment the distal end of the upper cover 11 or the distal end of the lower shell 12 is provided with an integrally formed distal wall plate, i.e. the distal end of the housing is a closed structure. The advantage of the housing distal end being provided as an open structure is that it is simple to machine and low cost.
Preferably, the upper cover 11 is substantially flat, and the lower shell 12 is surrounded by a bottom plate, two opposite side plates and a proximal wall plate to form an upper and distal open channel structure.
The housing is provided with a housing opening, for example, a housing opening 111 is provided at the proximal end of the upper cover 11, and the push rod of the drive system is in driving connection with the motor of the drive system via the housing opening 111. The shell opening 111 is provided with an opening cover 112, the opening cover 112 is formed by enclosing a cover plate and a side plate, the proximal end of the opening cover 112 is provided with an avoidance opening 113, the side plate of the opening cover 112 is provided with a fixing part, and the opening cover 112 is connected with the upper cover 11 through the fixing part, preferably in detachable connection. The push rod extends out from the avoiding opening 113. The open cover 112 can prevent patient body fluids or medical agents from entering the interior of the housing.
The proximal end portion of the housing is further provided with a housing mounting seat 114, preferably, the housing mounting seat 114 is connected to the proximal end portion of the lower housing 12, more preferably, the housing mounting seat 114 is integrally formed with the lower housing 12, and the housing mounting seat 114 is formed by extending outwardly from the proximal end portion of the lower housing 12 along the length direction of the lower housing 12.
The upper cover 11 and the lower case 12 are fixedly connected, for example, screw-fastened. The upper cover 11 and the lower shell 12 are preferably connected in a sealing manner, for example, a housing seal, for example, a sealing ring, is provided at the junction of the upper cover 11 and the lower shell 12. The sealed connection of the housing can prevent body fluid, medical reagents (such as flushing fluid) and the like from splashing into the housing and damaging components mounted in the housing.
Driving system
The drive system is used to drive the movable handle 2 of the manipulator 100 of the resectoscope in a reciprocating motion to push the resecting ring to resect the tissue to be resected.
The drive system comprises a motor 21, a push rod 22 and a transmission. The motor 21 and the transmission are arranged in the housing.
The motor 21 is used for driving the push rod 22 to do reciprocating linear motion. Preferably, the motor 21 is a servo motor.
The transmission device comprises a screw 23, a screw nut 24, a slide rail 25 and a slide block 26. Preferably, the screw is a ball screw, the screw 23 can rotate in forward and reverse directions under the drive of the motor 21, and the screw nut 24 is driven to reciprocate along the axial direction of the screw 23 when the screw 23 rotates.
The proximal end of the surgical robot actuator is provided with a first mounting seat 27 and a second mounting seat 28, the first mounting seat 27 and the second mounting seat 28 being fixedly connected with the housing, for example with the upper cover 11 and/or the lower shell 12. Both ends of the screw rod 23 are respectively arranged on the first mounting seat 27 and the second mounting seat 28. The two ends of the sliding rail 25 are respectively and fixedly installed on the first installation seat 27 and the second installation seat 28, the sliding rail 25 is parallel to the screw rod 23, the sliding block 26 is in sliding connection with the sliding rail 25, and the sliding block 26 is fixedly connected with the screw rod nut 24.
The push rod 22 is connected to the lead screw nut 24, and in one embodiment, the push rod 22 is connected to the lead screw nut 24 via the slider 26. When the motor 21 rotates, the lead screw nut 24 can drive the push rod 22 to reciprocate.
More preferably, the sliding rail 25 includes a first sliding rail and a second sliding rail that are disposed in parallel, and the first sliding rail and the second sliding rail are disposed on two sides of the screw 23, respectively.
In one embodiment, the push rod 22 is L-shaped, the distal end of the push rod 22 is connected with the lead screw nut 24, the proximal end of the push rod 22 extends upwards to form a push rod clamping part 221, the top end of the push rod clamping part 221 is provided with a clamping structure, the clamping structure is used for driving the cable joint 4 to move, and in particular, the clamping structure is used for clamping an external electrode (the external electrode is not shown in the figure) electrically connected with the cable joint 4 of the resectoscope manipulator, and the clamping state of the proximal end of the push rod only indicates the position of the clamping structure); in another embodiment, the clamping structure is used to clamp the cable connector 4 (when an external electrode is inserted into the cable connector 4). The clamping structure is for example U-shaped. When the electric cutting mirror is used, the cable connector 4 is inserted into the external electrode (or the external electrode is inserted into the cable connector 4), therefore, when the push rod 22 is driven by the motor 21 to perform reciprocating linear motion, the cable connector 4 can be driven to perform reciprocating linear motion, and as the cable connector 4 and the movable operating handle 2 of the manipulator 100 of the electric cutting mirror synchronously move, the push rod 22 drives the cable connector 4 to move, the movable operating handle 2 can be driven to perform reciprocating motion, and then the electric cutting ring of the electric cutting mirror is driven to perform tissue cutting.
The distal end of the push rod 22 is connected with the screw nut 24 through the opening 111 of the shell, and the push rod 22 extends out through the clearance 113 at the proximal end of the opening cover 112. Preferably, an avoidance port 113 sealing member is further arranged at the avoidance port 113, and the push rod 22 is in sliding sealing connection with the avoidance port 113 sealing member, so as to prevent body fluid or medical reagent from splashing into the shell, and avoid damaging components mounted in the shell.
Preferably, a first travel switch and a second travel switch (not shown in the figure) are disposed between the first mounting seat 27 and the second mounting seat 28, and the travel switches are used for controlling the limit travel of the lead screw nut 24 between the first mounting seat 27 and the second mounting seat 28, so as to prevent the lead screw nut 24/sliding block 26 from striking the first mounting seat 27 and the second mounting seat 28. In one embodiment, the first travel switch is disposed on the first mount 27 and the second travel switch is disposed on the second mount 28.
Fixing system
The fixing system is used for fixing the resectoscope on the surgical robot actuator.
The fixation system includes a first support fixation mechanism and a second support fixation mechanism capable of supporting and fixing the manipulator 100 of the resectoscope in different directions.
The first support fixing mechanism is used for supporting and fixing the fixed operation handle 1 of the manipulator 100 of the resectoscope, and the second support fixing mechanism is used for supporting and fixing the body (the position shown in fig. 8) of the manipulator of the resectoscope.
Further preferably, the fixing system further comprises a third supporting and fixing mechanism for supporting and fixing the optical fiber connector 3 of the manipulator 100 of the resectoscope.
The first support fixing mechanism comprises a fixed operation handle supporting seat 31, a fixed operation handle limiting structure 32 and a pressing plate assembly. The first support fixture is disposed on the housing mount 114. The fixed handle limit structure 32 is used for limiting the movement of the manipulator of the resectoscope in the length direction, and the pressing plate assembly is used for pressing the fixed handle from the upper part of the fixed handle.
The shape of the fixed handle support seat 31 is adapted to the shape of the fixed handle 1 of the resectoscope, so that the fixed handle 1 can be stably supported on the fixed handle support seat.
In general, the fixed operating handle 1 of the resectoscope comprises a first pressing part 1a and a second pressing part 1b, which are respectively positioned at two sides of the main axis of the manipulator 100, and the middle finger and the ring finger of the doctor are pressed against the first pressing part 1a and the index finger is pressed against the second pressing part 1b.
The fixed handle limiting structure 32 is used for limiting the fixed handle, for example, a limiting groove, and preferably, the fixed handle protrudes out of the limiting groove. In one embodiment, the fixed handle limiting structure 32 is disposed on the upper surface of the fixed handle support seat 31, and includes a first pressing portion limiting groove 32 (as shown in fig. 6, the first pressing portion limiting groove is defined by two protruding portions disposed at intervals on the upper portion of the fixed handle support seat 31), and/or a second pressing portion limiting groove (not shown in the drawing). The first pressing portion 1a protrudes beyond the first pressing portion limiting groove in the thickness direction thereof (as shown in fig. 8), and/or the second pressing portion 1b protrudes beyond the second pressing portion limiting groove in the thickness direction thereof.
The pressing plate assembly is used for pressing and fixing the fixed operation handle 1 and comprises a pressing plate 33 and a pressing plate fastener 34, wherein the pressing plate fastener 34 is used for applying pressure to the pressing plate 33 so that the pressing plate 33 presses the fixed operation handle 1.
In one embodiment, the pressing plate fastener 34 is a knob, the knob has a threaded rod, the fixed handle support seat 31 is provided with a threaded hole, the pressing plate 33 is provided with a through hole, the threaded rod passes through the through hole of the pressing plate 34 and is in threaded engagement with the threaded hole, and the pressing plate 33 can rotate around the threaded rod. When the clamp is used, the fixed operation handle 1 of the electric cutting mirror is clamped into the fixed operation handle limiting structure 32, and then the pressing plate 33 is rotated to the upper side of the fixed operation handle 1, and the pressing plate 33 can be pressed on the upper surface of the fixed operation handle 1 due to the fact that the first pressing part and/or the second pressing part of the fixed operation handle 1 protrude out of the fixed operation handle limiting structure 32, so that when the knob is screwed, the knob is pressed against the pressing plate 33, and the fixed operation handle 1 can be pressed and fixed.
Preferably, the platen assembly comprises a first platen assembly and/or a second platen assembly, and the platen comprises a first platen and/or a second platen, and the platen fastener comprises a first platen fastener and/or a second platen fastener. When the platen fastener is a knob, the knob may include a first knob and/or a second knob. The first pressing plate component is used for pressing and fixing the first pressing part of the fixed operation handle, and the second pressing plate component is used for pressing and fixing the second pressing part of the fixed operation handle.
The second support fixing mechanism is provided on the upper cover 11, and in one embodiment, the second support fixing mechanism is provided on one side of the opening cover 112, and the second support fixing mechanism and the opening cover 112 are provided substantially side by side in the width direction of the surgical robot actuator.
The second support fixing mechanism includes a first clamping portion 41 and a first clamping portion support seat 42. The first clamping portion 41 is used for supporting and fixing the body of the resectoscope manipulator 100, and is, for example, a U-shaped elastic clamping member. The first clamping portion 41 is disposed on the first clamping portion supporting seat 42, the first clamping portion supporting seat 42 is disposed on the upper cover 11, and the first clamping portion 41 is used for clamping and fixing the body of the resectoscope manipulator 100.
Thus, the fixed handle limiting structure 32 and the second support fixing structure of the first support fixing mechanism support and fix the fixed handle 1 of the resectoscope manipulator and the body of the manipulator 100 in different directions (length direction and width direction) of the resectoscope manipulator respectively, so that the resectoscope manipulator is limited in the length direction and the width direction and cannot move, and when the first clamping part 41 adopts the structure shown in the attached drawing, the manipulator body can be held tightly, thereby limiting the movement of the manipulator in the direction of being separated from the surface of the shell of the surgical actuator. The two support fixing mechanisms fixedly support the resectoscope manipulator in two different directions, so that the resectoscope manipulator can be firmly fixed on the surgical robot actuator of the embodiment, and the technical problem of insufficient stability of the surgical instrument fixed in a single direction is solved. And moreover, the pressing plate assembly is convenient to operate, simple to process, low in cost and good in fixing effect.
The third supporting and fixing mechanism is used for supporting and fixing the optical fiber connector 3 of the resectoscope manipulator 100. In one embodiment, the third support fixing mechanism includes a second clamping portion 51 and a second clamping portion support seat 52. The second clamping portion 51 is used for supporting and fixing the optical fiber connector 3 of the resectoscope manipulator 100, and the second clamping portion 52 is, for example, a U-shaped elastic clamping member. The second clamping portion 51 is disposed on the second clamping portion supporting seat 52, the second clamping portion supporting seat 52 is disposed on the upper cover 11, and the second clamping portion 51 is used for clamping and fixing the optical fiber connector 3 of the manipulator 100. Preferably, the first clamping portion support seat 42 and the second clamping portion support seat 52 are integrally formed.
The optical fiber connector 3 of the resectoscope manipulator 100 extends from the manipulator body along the width direction of the manipulator, and when the third supporting and fixing mechanism is arranged, a supporting and fixing point is added, so that the supporting and fixing of the manipulator can be more stable.
Other electrical components, such as encoders, are also provided in the housing for registering the rotational speed, the number of turns to effect movement control, as well as, for example, an adapter plate for electrically connecting an internal circuit with an external control circuit, for example.
The surgical robot actuator is connected with a mechanical arm of the surgical robot through a connecting system. The mechanical arm of the surgical robot has a plurality of degrees of freedom, can complete the actions such as position adjustment, posture adjustment, rotation and the like of an actuator of the surgical robot, and controls the action of the resectoscope by controlling the action of the actuator of the surgical robot. The connection system may be connected to the detachable connection in various connection manners known in the art. The other electrical components and connection systems described above may all employ well-established schemes in the art. Irrespective of the innovative features of the present invention, no further description is necessary.
When the surgical robot actuator disclosed by the embodiment of the invention works, the mechanical arm of the surgical robot and surgical instruments such as the resectoscope can be stably and firmly connected, the linear movement of the resectoscope ring is controlled by the surgical robot actuator under the control of the control system, and the integral movement of the surgical robot actuator is controlled by the mechanical arm so as to control the position and the posture of the manipulator of the resectoscope, so that the surgical process is realized.
The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.
Claims (8)
1. A transurethral resectoscope surgical robot actuator for connecting a surgical robot and a transurethral resectoscope, characterized in that the surgical robot actuator comprises a housing, a driving system and a fixing system;
the housing defines a receiving cavity;
the driving system is used for driving a movable operating handle of an operator of the electric cutting mirror to move;
The fixing system is used for fixing the resectoscope on the surgical robot actuator and comprises a first supporting and fixing mechanism and a second supporting and fixing mechanism, wherein the first supporting and fixing mechanism is used for supporting and fixing a fixed operation handle of an operator of the resectoscope, and the second supporting and fixing mechanism is used for supporting and fixing a body of the resectoscope operator;
The driving system comprises a motor, a transmission device and a push rod, wherein the motor drives the push rod to do reciprocating linear motion through the transmission device;
The near end part of the shell is also connected with a shell mounting seat, the first supporting and fixing mechanism is arranged on the shell mounting seat and comprises a fixed operation handle supporting seat, a fixed operation handle limiting structure and a pressing plate assembly, the fixed operation handle limiting structure is used for limiting the movement of an operator of the resectoscope in the length direction of the operator, and the pressing plate assembly is used for propping against the fixed operation handle from the upper part of the fixed operation handle;
The shell is provided with a shell opening, an opening cover is arranged on the shell opening, the opening cover is provided with an avoidance opening, the push rod is in driving connection with the motor through the shell opening, and the push rod extends out of the avoidance opening;
The fixing system further comprises a second supporting and fixing mechanism, wherein the second supporting and fixing mechanism is arranged on one side of the opening cover and is arranged side by side with the opening cover in the width direction of the surgical robot actuator; the second support fixing mechanism comprises a first clamping part and a first clamping part supporting seat, the first clamping part is arranged on the first clamping part supporting seat, and the first clamping part is used for clamping and fixing the body of the resectoscope manipulator;
the avoidance port is provided with an avoidance port sealing member, and the push rod is in sliding sealing connection with the avoidance port sealing member.
2. The surgical robotic actuator of claim 1, wherein the transmission includes a lead screw, a lead screw nut, a slide rail, and a slide block; the distal end of the push rod is connected with the screw nut through the opening of the shell, the proximal end of the push rod is provided with a push rod clamping part, the push rod clamping part is provided with a clamping structure, and the clamping structure is used for driving a cable connector of an operator of the resectoscope to move.
3. The surgical robot actuator of claim 2, wherein a first mounting seat and a second mounting seat are arranged at the proximal end of the surgical robot actuator, two ends of the screw rod are respectively arranged on the first mounting seat and the second mounting seat, two ends of the slide rail are respectively fixedly arranged on the first mounting seat and the second mounting seat, the slide rail is arranged in parallel with the screw rod, the slide block is in sliding connection with the slide rail, and the slide block is fixedly connected with the screw nut.
4. The surgical robotic actuator of claim 3, wherein a first travel switch and a second travel switch are disposed between the first mount and the second mount, the travel switch being configured to control a limit travel of the lead screw nut between the first mount and the second mount.
5. The surgical robotic actuator of claim 4, wherein the platen assembly includes a platen and a platen fastener for applying pressure to the platen to urge the platen against the fixed handle.
6. The surgical robot actuator of claim 5, wherein the platen fastener is a knob, the knob has a threaded rod, the fixed handle support is provided with a threaded hole, the platen is provided with a through hole, the threaded rod passes through the through hole of the platen and is in threaded engagement with the threaded hole, and the platen can rotate around the threaded rod.
7. The surgical robotic actuator of claim 5 or 6, wherein the fixed handle stop feature is a stop slot.
8. The surgical robotic actuator of claim 1, wherein the fixation system further comprises a third support fixation mechanism for supporting and securing an optical fiber connection of the manipulator of the resectoscope, the third support fixation mechanism comprising a second clamping portion and a second clamping portion support seat, the second clamping portion being disposed on the second clamping portion support seat, the second clamping portion being for clamping and securing the optical fiber connection.
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| WO2007031990A2 (en) * | 2005-09-15 | 2007-03-22 | Roei Medical Technologies Ltd | Dual-action rotational and linear actuating mechanism |
| CN101744652B (en) * | 2010-01-13 | 2011-06-15 | 张家华 | Multifunctional prostate operation mirror |
| CN201930069U (en) * | 2011-01-17 | 2011-08-17 | 天津博朗科技发展有限公司 | Endoscopic electrocision laser surgery manipulator |
| US10869716B2 (en) * | 2015-08-28 | 2020-12-22 | Covidien Lp | Powered bipolar resectoscope |
| RU2636853C2 (en) * | 2016-04-29 | 2017-11-28 | Общество с ограниченной ответственностью "МРОБОТИКС" (ООО "МРОБОТИКС") | End effector with hinge assembly and endoscopic surgical apparatus drive |
| CN207821902U (en) * | 2017-02-10 | 2018-09-07 | 中国医学科学院北京协和医院 | A kind of per urethra operation on prostate resectoscope clamping device |
| CN109662779B (en) * | 2019-01-25 | 2021-06-18 | 李汉忠 | Transurethral resectoscope surgical robot system |
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