CN113925615A - Minimally invasive surgery equipment and control method thereof - Google Patents
Minimally invasive surgery equipment and control method thereof Download PDFInfo
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Abstract
The present specification discloses a minimally invasive surgical apparatus and a control method thereof, including: the endoscope, the auxiliary machinery arm, the operation arm, positioner, the control cabinet, be equipped with the location light source mark respectively on the auxiliary machinery arm and the operation arm, positioner is used for through gathering the light that location light source mark transmitted or reflected, confirms the auxiliary machinery arm and the position of operation arm above the sick health, the control cabinet is used for controlling based on control personnel's control command the auxiliary machinery arm with the operation arm removes above the sick health.
Description
Technical Field
The specification relates to the field of major surgery, in particular to minimally invasive surgery equipment and a control method thereof.
Background
No matter at present orthopedics, nerve and intervention etc. all need treat through minimal access surgery, require more and more high to wicresoft and accurate operation, need can realize minimum wound as far as possible, accurate arrival sick position carries out effective treatment, and wherein, backbone scope wicresoft technique is less as developing earlier minimal access technique as one, damage to paraspinal flesh, and can remain complete backbone structure by furthest, the stability of postoperative backbone has been maintained, it is little to have the wound, bleed less, resume fast, the complication is few, advantages such as curative effect is exact.
However, the currently used minimally invasive spinal endoscopic surgery methods are mainly divided into two types: intervertebral foramen mirror and unilateral two-channel endoscope Technique (UBE), these two operation modes all need to come manual operation through control personnel, and this needs the manual work to puncture and establish working channel manually, and in addition, the manual operation of carrying out often can have unavoidable error, and this has just increased the risk of operation infection and production complication.
Therefore, how to ensure the precision and stability of the minimally invasive surgery is an urgent problem to be solved.
Disclosure of Invention
The present specification provides a minimally invasive hand device and a control method thereof to partially solve the above problems of the prior art.
The technical scheme adopted by the specification is as follows:
the present specification provides a minimally invasive surgical device comprising:
the system comprises an endoscope, an auxiliary mechanical arm, an operating mechanical arm, a positioning device and a console, wherein the auxiliary mechanical arm and the operating mechanical arm are respectively provided with a positioning light source mark, the positioning device is used for determining the positions of the auxiliary mechanical arm and the operating mechanical arm above a patient body by collecting light rays emitted or reflected by the positioning light source marks, and the console is used for controlling the auxiliary mechanical arm and the operating mechanical arm to move above the patient body based on an operation instruction of an operator;
the endoscope is arranged on the auxiliary mechanical arm and is used for acquiring real-time images of the diseased part in the wound on the body of the patient;
the operation mechanical arm is provided with a surgical instrument, the surgical instrument is inserted into the wound on the body of the patient through the fixation of the operation mechanical arm, and the surgical instrument performs an operation on the diseased part in the wound on the body of the patient according to the control of the console and/or the preset operation planning action.
Optionally, the auxiliary mechanical arm and the operation mechanical arm are hoisted right above the operating table; or
The auxiliary mechanical arm and the operation mechanical arm are arranged on the same equipment; or
The auxiliary mechanical arm and the operation mechanical arm are respectively arranged on different devices;
wherein the apparatus is fixed on the ground or is movable on the ground.
Optionally, at least one display is disposed on the device, and the display is configured to display a scanning result of the affected part.
Optionally, the tool for assisting in the assembly of the robot arm comprises: a puncture tool;
the auxiliary mechanical arm punctures the patient body according to a specified puncture direction through the puncture position of the puncture tool on the patient body based on a puncture instruction, so that a wound enabling the endoscope to acquire a real-time image of the diseased part is formed.
Optionally, a fixing device is arranged on the auxiliary mechanical arm, the fixing device is used for fixing a working sleeve inserted into a wound on the patient body, and the endoscope is inserted into the working sleeve for fixing so as to acquire a real-time image of the diseased part.
Optionally, the surgical instrument mounted on the manipulator arm is inserted into a working cannula within a wound on the patient's body to perform a procedure on the diseased site.
Optionally, the minimally invasive surgical device further comprises: auxiliary positioning light source marks;
placing the auxiliary positioning light source mark at the specified position of the preset range of the diseased part;
the positioning device acquires the positioning light source marks and light rays emitted or reflected by the auxiliary positioning light source marks to determine the relative positions of the auxiliary mechanical arm, the operation mechanical arm and the diseased part.
Optionally, the operation mechanical arm controls the surgical instrument to perform an operation on a diseased part in a wound on a patient body within a determined safe operation area, where the safe operation area is an area allowing the surgical instrument to operate on the diseased part determined based on the positions of the auxiliary mechanical arm and the operation mechanical arm above the patient body determined by the positioning device and the scanning result of the diseased part.
Optionally, the operation mechanical arm is provided with an assembly for mounting the surgical instrument and a slide rail capable of enabling the assembly to slide;
the operation mechanical arm inserts the surgical instrument into a wound on the patient body by controlling the sliding of the component provided with the surgical instrument on the sliding rail so as to perform an operation on the diseased part.
Optionally, the console is provided with a display for displaying a real-time image of the diseased part in the wound on the patient's body acquired by the endoscope.
Optionally, the console further comprises: an auxiliary control lever and an operation control lever;
the auxiliary control rod is used for adjusting the position of the auxiliary mechanical arm above the patient body;
the operation control rod is used for adjusting the position of the operation mechanical arm above the patient body, controlling the surgical instrument and performing surgery on the diseased part.
Optionally, the console further comprises: an auxiliary foot brake and an operation foot brake;
when the situation that the operator steps on the auxiliary foot brake is monitored, the operator is allowed to adjust the position of the auxiliary mechanical arm above the patient body by controlling the auxiliary control rod;
when the situation that the operator steps on the operating foot brake is monitored, the operator is allowed to adjust the position of the operating mechanical arm above the body of the patient by controlling the operating control rod and control the surgical instrument to perform an operation on the diseased part.
Optionally, the method further comprises: emergency stop foot brake;
when the operation personnel monitor that the auxiliary mechanical arm and/or the operation mechanical arm are abnormal in operation, the auxiliary mechanical arm and/or the operation mechanical arm are/is stopped to move by stepping on the emergency stop foot brake.
Optionally, a protection device is arranged on the console and used for preventing the operator from being irradiated during the operation.
The present specification provides a method of controlling a minimally invasive surgical device, comprising:
the minimally invasive surgical device includes: the endoscope is arranged on the auxiliary mechanical arm and used for acquiring real-time images of a diseased part in a wound on a patient body;
when the surgical instrument installed on the operation mechanical arm is determined to be inserted into the wound on the body of the patient, the surgical instrument is controlled to carry out the operation on the affected part based on the operation instructions of an operator and/or the preset operation planning action.
The technical scheme adopted by the specification can achieve the following beneficial effects:
in the minimally invasive surgery equipment provided by the specification, the relative positions of the auxiliary mechanical arm and the operation mechanical arm and the diseased part of the patient are obtained through the positioning device and the positioning light source mark, then the patient body is punctured at the puncturing position on the patient body according to the specified puncturing direction, a working sleeve is inserted into a punctured wound, an endoscope tool and a surgical instrument are placed into the wound, and an operator handles the diseased part through the operation of the auxiliary mechanical arm and the operation mechanical arm.
According to the method, the operation treatment of the diseased part can be realized by controlling the auxiliary mechanical arm and the operation mechanical arm, so that the personal error in the operation is reduced, the accuracy and the stability of the operation are improved, and the life safety of the patient is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
FIG. 1 is a schematic view of a minimally invasive surgical device provided herein;
FIG. 2 is a schematic view of a working sleeve configuration provided herein;
FIG. 3 is a schematic view of a minimally invasive surgical device layout provided herein;
FIG. 4 is a schematic view of a minimally invasive surgical device provided herein;
FIG. 5 is a schematic view of a console provided herein;
fig. 6 is a flow chart illustrating a method for operating a minimally invasive surgical device provided in the present specification.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic view of a minimally invasive surgical device provided in the present specification.
The present specification provides a minimally invasive surgical device, as shown in fig. 1, comprising: an endoscope, an auxiliary mechanical arm, an operation mechanical arm, a positioning device, a control console (not shown in figure 1), a positioning light source mark, a working sleeve and a protection device.
The auxiliary mechanical arm is provided with a fixing device and a puncture tool, wherein the fixing device is used for fixing the working sleeve, the puncture tool is used for puncturing the body of a patient, when the auxiliary mechanical arm receives a puncture instruction of the console, the puncture position of the puncture tool on the body of the patient is used for puncturing the body of the patient according to a specified puncture direction, so that a wound which enables an endoscope to acquire a real-time image of a diseased part is formed, and in order to ensure the flexibility of the auxiliary mechanical arm, the auxiliary mechanical arm can adopt five or more than five mechanical arms with movable joints.
Work sleeve pipe is fixed on the fixing device who is equipped with on the auxiliary machinery arm, punctures the back of accomplishing to the disease when auxiliary machinery arm, controls personnel (like the doctor) and can pass through auxiliary machinery arm's guide, inserts this work sleeve pipe in the wound after puncturing the disease to fixing on auxiliary machinery arm through the fixing device on the auxiliary machinery arm. Wherein, the structure of work sleeve pipe can be: is composed of an auxiliary channel for placing an endoscope and an operation channel for placing a surgical instrument, as shown in figure 2.
Fig. 2 is a schematic diagram of a working channel provided in the present specification, as can be seen from a top view of the working channel, which is formed by an auxiliary channel for placing an endoscope and an operation channel for placing a surgical instrument. Of course, the working cannula structure can also be formed by only one working channel for placing the endoscope or the working channel for placing the surgical instrument, the operator can puncture the patient to obtain two wounds, and insert the working cannula for placing the endoscope and the working cannula for placing the surgical instrument in the two wounds respectively, and then place the endoscope in the working cannula for placing the endoscope, and place the surgical instrument in the working cannula for placing the surgical instrument, so as to perform the surgical operation on the diseased part.
The operator can also puncture the body of the patient manually, put the working sleeve into the punctured wound, put the endoscope into the working sleeve, manually move the operation mechanical arm, align the surgical instrument on the operation mechanical arm to the working sleeve, and send the surgical instrument into the working sleeve.
In addition, a workstation is further provided in the present specification, wherein the workstation may be a computer host with designated software (such as three-dimensional software, planning software, etc.), and is connected to the console, the device for installing the auxiliary robot arm and operating the robot arm, and the endoscope system in a wired or wireless manner. The workstation may be placed in the equipment used to mount the auxiliary robot arm or operate the robot arm, or of course, may be placed under the console as needed for the actual situation. The equipment for installing the auxiliary mechanical arm or operating the mechanical arm is provided with a display for displaying the scanning result of the diseased part of the patient.
The endoscope is connected with the workstation, comprises the light that provides the illumination light source and the camera of gathering the image, sets up on supplementary arm through the work sleeve pipe for gather the intraoral real-time image of falling ill the position of wound on the disease health, and upload the real-time image who gathers to the workstation, in uploading the display on the control cabinet through the workstation, provide the reference for operating personnel.
The operation mechanical arm is provided with components for installing surgical instruments (such as nucleus pulposus forceps, electrode electrocoagulation, microsurgical knives, micro forceps, microwave ablation needles and the like), and the adopted operation modes are different due to the fact that the operation mechanical arm faces different diseased conditions (such as nucleus pulposus protrusion, spinal stenosis, nerve root compression, scleroderma sac and bone tissue hyperplasia and the like), so that an operator can replace the surgical instruments by replacing the components according to the actual conditions of diseased parts of patients, and the requirements of different operation operations (such as removal of protruded tissues, removal of sclerotin, repair of damaged fibrous rings by radio frequency electrodes and the like) are met.
The assembly can slide through a sliding rail on the operation mechanical arm, and then surgical instruments are sent into a working sleeve in a wound on a patient body. Wherein, surgical instruments installs on this subassembly, can rotate, snatch, or follow the slide rail and carry out actions such as business turn over slip, and then carry out corresponding operation to sick position, because the flexibility requirement to the operation arm is higher, in order to guarantee the flexibility of operation arm, the operation arm can adopt six or five more than six freely movable joint's arm.
Specifically, the auxiliary mechanical arm and the operation mechanical arm can be respectively arranged on different devices on two sides of the operating table, the devices can be temporarily fixed on the ground, or pulleys capable of moving are arranged on the devices, and the devices can move according to actual requirements.
In fig. 1, the device 1 and the device 2 are respectively located on two sides of an operating table, the auxiliary mechanical arm and the operating mechanical arm are respectively fixed on the device 1 and the device 2, a workstation for receiving control instructions of a control console is further installed inside the device 1, the display 1 is installed on the device 1 and is connected with the workstation for displaying results of scanning diseased parts or for performing operation planning, and the positioning device is installed on the device 1 and is placed right above a patient so as to receive light rays emitted or reflected by the positioning light source mark 1, the positioning light source mark 2 and the auxiliary positioning light source mark.
The auxiliary mechanical arm and the operation mechanical arm can also be arranged on the same equipment on one side of the sickbed, the equipment can be temporarily fixed on the ground, or a pulley capable of moving is arranged on the equipment and moves according to the actual requirement, as shown in fig. 3.
FIG. 3 is a schematic view of a minimally invasive surgery apparatus layout provided in the present specification
Wherein, the inside workstation that is used for receiving control console control command that is equipped with of equipment 1, auxiliary machinery arm and operation arm are installed on equipment 3 of operating table one side, are equipped with display 1 on equipment 3 to be connected with the workstation, be used for showing the result of scanning the position of suffering from disease or be used for carrying out the operation planning, and positioner installs on equipment 3, and be located disease health directly over, so that receive the light of location light source mark 1, location light source mark 2 and auxiliary positioning light source mark transmission or reflection.
Of course, the auxiliary mechanical arm and the operation mechanical arm can be hoisted to the top of the operation environment right above the operation table in a hoisting mode.
The positioning Light source mark may be an infrared Light Emitting device, a Light Emitting Diode (LED), or a passive reflective sphere, and the positioning device receives Light emitted or reflected by the positioning Light source mark, and then captures the position of the auxiliary mechanical arm and the operating mechanical arm above the patient body, wherein the positioning device may be suspended above the operating table alone, or may be mounted on the same device as the auxiliary mechanical arm.
Specifically, in order to obtain the relative positions of the auxiliary mechanical arm, the operation mechanical arm and the diseased part of the patient, and further simulate the coordinate position and the shape of the endoscope and the surgical instrument installed on the operation mechanical arm and the diseased part of the patient in the three-dimensional image, positioning light source marks can be respectively installed at the tail ends of the auxiliary mechanical arm and the operation mechanical arm, so as to ensure that the coordinate position and the shape of the endoscope and the surgical instrument in the three-dimensional image can be accurately simulated, in addition, an operator also needs to perform minimally invasive opening at the position near the diseased part of the patient body, inserts the auxiliary positioning light source marks into the wound, and places the auxiliary positioning light source marks at the specified position near the diseased part of the patient body.
For example, when performing minimally invasive spine surgery, in order to avoid the influence of the auxiliary positioning light source mark on the surgical operation on the diseased part, the operator may perform minimally invasive opening on the diseased part within the preset range, so that the auxiliary positioning light source mark can be placed on other bone tissues within the preset range near the diseased spine of the patient, and thus, the relative positions between the auxiliary mechanical arm, the operation mechanical arm and the diseased part of the patient are obtained, wherein the preset range may be set according to the actual situation, which is not limited by the present application.
After the positioning light source markers and the auxiliary positioning light source markers are deployed, an operator can scan the affected part of the patient through a three-dimensional scanning device (such as a Computed Tomography (CT) machine, a three-dimensional (3-dimensional, 3D) C-arm X-ray machine and the like) provided in the surgical environment, and then three-dimensional images of an endoscope, a surgical instrument and the affected part of the patient are simulated through three-dimensional software in a workstation, and the three-dimensional images are uploaded to a display on a console, so that reference is provided for the operator to perform surgical operation.
The workstation can plan out suitable puncture position and puncture direction through planning software according to the auxiliary mechanical arm that positioner confirmed and the position of operation arm in sick health top and the scanning result of sick position, reduces the wound that causes the disease health as far as possible when guaranteeing safety.
In addition, when the operation is carried out on the patient, the area (such as nerve roots, spinal cords and the like) near the affected part of the patient is quite dangerous, once the operation is wrong and other complications of the patient are possibly caused, and even the life safety of the patient is threatened, therefore, the workstation can plan a safe operation area allowing the operation of the surgical instrument on the affected part according to the auxiliary mechanical arm determined by the positioning device and the position of the operation mechanical arm above the body of the patient, and carry out the operation on the affected part in the wound of the patient.
After the workstation received control personnel's instruction, control auxiliary machinery arm and operation arm operate according to corresponding instruction, if: when the workstation receives a puncture instruction of an operator, the workstation controls the auxiliary mechanical arm to automatically puncture according to the puncture position and the puncture direction planned by the workstation, and when the workstation receives a movement instruction of the operator, the workstation controls the operation mechanical arm to enable the surgical instrument arranged on the operation mechanical arm to align to the working sleeve and move into the working sleeve. For ease of understanding, a schematic diagram of the manner in which a minimally invasive surgical device operates is provided herein as shown in FIG. 4.
FIG. 4 is a schematic view of the operation of a minimally invasive surgical device provided in the present specification
Wherein the working sleeve is fixed on the auxiliary mechanical arm through a fixing device on the auxiliary mechanical arm, the tail end of the working sleeve is aligned with the diseased part, the endoscope is placed in the working sleeve, and aims at the affected part to acquire the real-time image of the affected part, the surgical instrument is arranged on the component of the operation mechanical arm, and can slide on the slide rail of the operation mechanical arm through the component, the other end of the surgical instrument is inserted into the working sleeve, so as to carry out operation on the affected part, in addition, the surgical instruments can be replaced by replacing the component, in order to satisfy the demand of different operations, location light source mark 1 and location light source mark 2 are installed respectively on supplementary arm and operation arm, need explain that supplementary location light source mark need place on the sick other bone tissue near the position of illness of disease to avoid influencing the wound that is used for placing the work sleeve pipe.
The control console is provided with a display, an auxiliary control rod, an operation control rod, an auxiliary foot brake, an operation foot brake and an emergency stop foot brake, an operator sends a puncture instruction and a moving instruction through the control console, the auxiliary mechanical arm moves to enable a puncture tool to be arranged at a puncture position planned by a workstation and automatically realize puncture on the body of a patient according to the puncture direction planned by the workstation, and the operation mechanical arm automatically sends a surgical instrument into a working sleeve according to the corresponding moving instruction to enable the surgical instrument on the operation mechanical arm to control the auxiliary mechanical arm and the operation mechanical arm to perform operation according to preset operation planning actions and/or the operation instruction sent by the operation control rod and the operation control rod of the operator. For example, the operator can preset the operation planning action of the surgical instrument on the operation mechanical arm to the affected part, then send a corresponding operation instruction through the console, and control the surgical instrument to automatically perform the operation according to the preset operation planning action after the operation mechanical arm receives the corresponding operation instruction.
Of course, the operator can also manually operate the auxiliary control rod to control the auxiliary mechanical arm to realize the puncture of the patient body, and the operation control rod is used for controlling the operation mechanical arm to align the surgical instrument with the working sleeve and send the surgical instrument into the working sleeve, so that the surgical instrument on the operation mechanical arm controls the auxiliary mechanical arm and the operation mechanical arm to perform the surgical operation according to the surgical instrument according to the preset surgical planning action and/or the operation instructions sent by the operation control rod and the operation control rod of the operator.
Specifically, the display installed on the console is used for displaying a scanning result (a CT image or an X-ray image) of a diseased part of a patient, a three-dimensional image generated by the workstation and a real-time image of the diseased part in a wound of the patient body acquired by an endoscope, so that reference is provided for an operator to perform an operation.
When the operator steps on the auxiliary foot brake, the operator can operate the auxiliary control rod to operate the auxiliary mechanical arm, the position of the auxiliary mechanical arm above the body of the patient is adjusted, and then the light source and the camera at the tail end of the endoscope are subjected to angle and position fine adjustment.
When an operator steps on the operation foot brake, the operator can operate the operation control rod to operate the operation mechanical arm, the position of the operation mechanical arm on the body of a patient is adjusted, fine adjustment of the angle and the position of the surgical instrument is achieved, the surgical instrument is controlled to complete corresponding operation, and if the operator does not step on the auxiliary foot brake, even if the operator operates the auxiliary control rod, the auxiliary mechanical arm cannot be operated, and safety is guaranteed.
In addition, the console is also provided with an emergency stop foot brake, and once an operator finds that the auxiliary mechanical arm and/or the operation mechanical arm is abnormal in operation in the process of executing the puncture command and the movement command and that the auxiliary mechanical arm and/or the operation mechanical arm is abnormal in operation when the operator manually operates through the console, the operator can step on the emergency stop foot brake to stop the movement of the auxiliary mechanical arm and the operation mechanical arm.
Of course, the operator can also manually and slightly adjust the angle and the position of the endoscope and the surgical instrument arm in the wound, and manually operate the surgical instrument to perform surgical treatment on the diseased part.
Since the patient needs to be scanned by the CT or C-arm during the operation, which may cause a certain radiation in the operation environment, a protection device may be placed at the periphery of the console to protect the safety of the operator, for example, a radiation protection plate or a lead glass device with a > 0.4mmPb equivalent, so as to protect the operator from the radiation in the operation environment.
To facilitate understanding, this specification provides a console schematic, as shown in fig. 5.
FIG. 5 is a schematic view of a console provided herein, wherein
The display 2 assembled on the control desk is used for displaying an endoscope view, a scanning view and a three-dimensional simulation view, the endoscope view is a real-time image of a diseased part in a wound on a patient body acquired by an endoscope, the scanning view is a scanning result of the diseased part of the patient, the three-dimensional simulation view is a three-dimensional image of the diseased part of the endoscope, surgical instruments and the diseased part of the patient simulated by a workstation through three-dimensional software, an operator performs surgical operation by referring to the image on the display 2, an auxiliary control rod and an operation control rod are assembled in the workstation, the operation control rod is further provided with an operation button for controlling the surgical instruments to perform clamping, entering and exiting actions and the like, and the operator controls the auxiliary control rod and the operation control rod to be mutually matched with an auxiliary foot brake, an operation foot brake and a stop foot brake below the workstation, so that the safety of the auxiliary mechanical arm and the operation mechanical arm is realized, Accurate control, in addition, the peripheral protector that still is equipped with of control cabinet for prevent to control personnel and receive the radiation in the operation environment. Of course, the console display 2 may also be connected to a workstation of the apparatus 1 for displaying the results of scanning the affected part or performing surgical planning
In order to facilitate understanding of the minimally invasive surgical device, the present specification further provides a flow chart of a method for operating a minimally invasive surgical device, so as to illustrate a method for operating the minimally invasive surgical device in an actual surgical procedure, as shown in fig. 6.
FIG. 6 is a schematic flow chart of a method of operating a minimally invasive surgical device provided herein, including the steps of:
s601: and positioning light source marks are respectively arranged on the auxiliary mechanical arm and the operation mechanical arm, and the auxiliary positioning light source marks are placed at the appointed positions of the preset range of the diseased part of the patient.
The positioning device acquires the positions of the auxiliary mechanical arm and the operation mechanical arm above the body of the patient by receiving light rays emitted or reflected by the auxiliary positioning light source mark and the auxiliary positioning light source mark.
S602: and determining the relative positions of the auxiliary mechanical arm, the operation mechanical arm and the diseased part according to the scanning result of the diseased part and the positioning light source mark and the auxiliary positioning light source mark.
The affected part is scanned through a CT or C-shaped X-ray arm, and the relative positions of the auxiliary mechanical arm, the operation mechanical arm and the affected part are determined by combining the scanning result, the auxiliary positioning light source mark and the positioning light source mark.
S603: according to the relative positions of the auxiliary mechanical arm, the operation mechanical arm and the diseased part, the puncture position and the puncture direction of the auxiliary mechanical arm and a safe area allowing the operation of the surgical instrument on the diseased part are determined.
The workstation can determine the puncture position and puncture direction of the auxiliary mechanical arm and a safe area allowing the surgical instrument to operate on the diseased part through planning software according to the relative positions of the auxiliary mechanical arm, the operation mechanical arm and the diseased part.
S604: the operator sends a puncture instruction through the console, so that the auxiliary mechanical arm punctures according to the determined puncture position and puncture direction to obtain a wound which enables the endoscope to acquire a real-time image of the diseased part, and a working sleeve is put into the wound.
After an operator sends a puncture instruction through the control console, the auxiliary mechanical arm moves to the puncture position determined by the planning software, punctures along the planned puncture direction through the assembled puncture tool, obtains a wound which enables an endoscope to acquire a real-time image of a diseased part, and places a working sleeve in the wound.
S605: an operator puts the endoscope into the working sleeve and sends a moving instruction through the console to enable the surgical instruments assembled on the operation mechanical arm to enter the working sleeve.
When an operator sends a moving instruction through the console, the operation mechanical arm moves to enable the surgical instrument assembled on the operation mechanical arm to be aligned to the working sleeve, and the surgical instrument is conveyed into the working sleeve by the sliding of the assembly on the sliding rail of the operation mechanical arm.
S606: the operator controls the auxiliary mechanical arm and the operation mechanical arm to perform operation on the diseased part through the control console.
The operator sends corresponding operation instructions through the console and/or controls the auxiliary control rod and the operation control rod in the console to be matched with the auxiliary foot brake and the operation foot brake so as to complete the operation on the diseased part.
According to the method, when an operator performs an operation on a patient, the operator can transmit a control command to the console to realize the puncture on the body of the patient, the operation mechanical arm is moved to send the surgical instrument into the working sleeve, and the operator controls the surgical instrument through the mutual matching of the auxiliary control rod and the operation control rod in the console and the mutual matching of the auxiliary foot brake and the operation foot brake, so that the operation on the diseased part of the patient can be safely and accurately performed.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a sensor phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (15)
1. A minimally invasive surgical device, comprising: the system comprises an endoscope, an auxiliary mechanical arm, an operating mechanical arm, a positioning device and a console, wherein the auxiliary mechanical arm and the operating mechanical arm are respectively provided with a positioning light source mark, the positioning device is used for determining the positions of the auxiliary mechanical arm and the operating mechanical arm above a patient body by collecting light rays emitted or reflected by the positioning light source marks, and the console is used for controlling the auxiliary mechanical arm and the operating mechanical arm to move above the patient body based on an operation instruction of an operator;
the endoscope is arranged on the auxiliary mechanical arm and is used for acquiring real-time images of the diseased part in the wound on the body of the patient;
the operation mechanical arm is provided with a surgical instrument, the surgical instrument is inserted into the wound on the body of the patient through the fixation of the operation mechanical arm, and the surgical instrument performs an operation on the diseased part in the wound on the body of the patient according to the control of the console and/or the preset operation planning action.
2. The minimally invasive surgical device of claim 1, wherein the auxiliary mechanical arm is hoisted directly above the operating table with the operating mechanical arm; or
The auxiliary mechanical arm and the operation mechanical arm are arranged on the same equipment; or
The auxiliary mechanical arm and the operation mechanical arm are respectively arranged on different devices;
wherein the apparatus is fixed on the ground or is movable on the ground.
3. The minimally invasive surgical device according to claim 2, wherein at least one display is provided on the device for displaying the scanning result of the diseased part.
4. The minimally invasive surgical apparatus of claim 1 wherein the means to assist in robotic arm assembly comprises: a puncture tool;
the auxiliary mechanical arm punctures the patient body according to a specified puncture direction through the puncture position of the puncture tool on the patient body based on a puncture instruction, so that a wound enabling the endoscope to acquire a real-time image of the diseased part is formed.
5. The minimally invasive surgical equipment according to claim 1, wherein the auxiliary mechanical arm is provided with a fixing device, the fixing device is used for fixing a working sleeve inserted into a wound on the body of the patient, and the endoscope is inserted into the working sleeve for fixing so as to acquire a real-time image of the diseased part.
6. The minimally invasive surgical apparatus of claim 1 or 5, wherein the surgical instrument mounted on the manipulator arm is inserted into a working cannula within a wound on the patient's body to perform a procedure on the diseased site.
7. The minimally invasive surgical device of claim 1, further comprising: auxiliary positioning light source marks;
placing the auxiliary positioning light source mark at the specified position of the preset range of the diseased part;
the positioning device acquires the positioning light source marks and light rays emitted or reflected by the auxiliary positioning light source marks to determine the relative positions of the auxiliary mechanical arm, the operation mechanical arm and the diseased part.
8. The minimally invasive surgical device according to claim 1 or 7, wherein the operation mechanical arm controls the surgical instrument to perform an operation on a diseased part in a wound on a patient body within a determined safe operation area, the safe operation area being an area determined to allow the surgical instrument to operate on the diseased part based on the positions of the auxiliary mechanical arm and the operation mechanical arm above the patient body determined by the positioning device and a scanning result of the diseased part.
9. The minimally invasive surgical device according to claim 1, wherein the operation mechanical arm is provided with an assembly for mounting the surgical instrument and a slide rail for enabling the assembly to slide;
the operation mechanical arm inserts the surgical instrument into a wound on the patient body by controlling the sliding of the component provided with the surgical instrument on the sliding rail so as to perform an operation on the diseased part.
10. The minimally invasive surgical device according to claim 1, wherein the console is provided with a display for displaying a real-time image of the diseased portion within the wound on the patient's body captured by the endoscope.
11. The minimally invasive surgical device of claim 10, wherein the console further comprises: an auxiliary control lever and an operation control lever;
the auxiliary control rod is used for adjusting the position of the auxiliary mechanical arm above the patient body;
the operation control rod is used for adjusting the position of the operation mechanical arm above the patient body, controlling the surgical instrument and performing surgery on the diseased part.
12. The minimally invasive surgical apparatus of claim 11, wherein the console further comprises: an auxiliary foot brake and an operation foot brake;
when the situation that the operator steps on the auxiliary foot brake is monitored, the operator is allowed to adjust the position of the auxiliary mechanical arm above the patient body by controlling the auxiliary control rod;
when the situation that the operator steps on the operating foot brake is monitored, the operator is allowed to adjust the position of the operating mechanical arm above the body of the patient by controlling the operating control rod and control the surgical instrument to perform an operation on the diseased part.
13. The minimally invasive surgical device of claim 12, further comprising: emergency stop foot brake;
when the operation personnel monitor that the auxiliary mechanical arm and/or the operation mechanical arm are abnormal in operation, the auxiliary mechanical arm and/or the operation mechanical arm are/is stopped to move by stepping on the emergency stop foot brake.
14. The minimally invasive surgical device according to claim 1, wherein a protective device is provided on the console for protecting the operator from radiation during the surgical procedure.
15. A method of controlling a minimally invasive surgical device, the minimally invasive surgical device comprising: the endoscope is arranged on the auxiliary mechanical arm and used for acquiring real-time images of a diseased part in a wound on a patient body;
when the surgical instrument installed on the operation mechanical arm is determined to be inserted into the wound on the body of the patient, the surgical instrument is controlled to carry out the operation on the affected part based on the operation instructions of an operator and/or the preset operation planning action.
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