CN114404046A - A multifunctional aspirator for surgical robotic systems - Google Patents

Abstract

The invention relates to a multifunctional aspirator for a surgical machine system, belonging to the technical field of medical instruments. Including the suction head, suction rod, suction body and control unit; suction head is connected with suction body through suction rod, suction head and suction rod are provided with liquid or gas transmission channel, suction head There is a suction port with variable diameter, and the suction rod is provided with a curved structure and a telescopic structure. The invention provides a more flexible suction device suitable for the surgical robot system, the diameter of the entrance and exit can be adjusted, the head end can be turned, and the operation is more flexible. The suction device with variable caliber design can be used for different types of operations to meet individual surgical needs; reduce instrument types and reduce procurement costs; can be used for different needs in the surgical process to improve surgical efficiency; retractable/flexible ends, make its positioning more precise.

Description

A multifunctional aspirator for surgical robotic systems

technical field

The invention relates to a multifunctional aspirator for a surgical machine system, belonging to the technical field of medical instruments.

Background technique

At present, the most widely used robotic surgical system is the Da Vinci surgical robotic system. The system is conventionally equipped with a suction device. The main functions of the suction device are: 1. Suction function, suction removal of bleeding, broken tissue and residual fluid during surgery; 2. .Rinse function, use normal saline or compressed air to clean the blood and tissue fluid of the affected area, clear the surgical field, and facilitate the operation. At present, the aspirator is mainly composed of the suction head, the suction tube, the suction body and the control mechanism. The suction head and suction tube are hollow rigid pipes, the two ends of the suction tube are respectively connected with the suction head and the suction body, and the functions of suction and flushing are completed through the control mechanism. The defects or deficiencies of the suction device in the prior art are: 1. The inner diameter of the suction device head is fixed, it cannot be adjusted, and variable flow suction and flushing cannot be realized, and the suction device cannot meet the requirements of accurate suction and flushing at the same time (a small-diameter liquid outlet is required; ) and rapid suction and flushing (large diameter liquid outlet is required); 2. The suction head and suction tube are rigid structures, which can only perform linear motion and cannot be deflected. When the affected part is located in a deep narrow cavity, precise positioning cannot be achieved; therefore, there is an urgent need in the art to obtain an aspirator that can overcome the defects of the prior art.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the technical problem of how to obtain a suction device that can overcome the defects of the prior art.

In order to achieve the purpose of solving the above-mentioned problems, the technical solution adopted by the present invention is to provide a multi-functional suction device for surgical machine system, including suction head, suction rod, suction body and control unit; suction head Through the connection of the suction rod and the suction body, the suction head and the suction rod are provided with a transmission channel for liquid or gas, and it is characterized in that the suction head is provided with a suction port with a variable diameter.

Preferably, a curved structure and/or a telescopic structure is provided on the suction rod close to the suction head.

Preferably, the aspirator head comprises a movable inner sleeve and an outer sleeve sleeved on the outer periphery of the inner sleeve; the side walls of the inner sleeve and the outer sleeve are provided with side suction ports; The diameter of the suction opening on the side of the layer sleeve is smaller than the diameter of the suction opening on the side of the outer sleeve.

Preferably, the suction head is provided with a telescopic structure, and the telescopic structure includes an inner sleeve, an outer sleeve, a driving wire and a spring; the inner sleeve is provided with a driving wire, and the inner sleeve is connected to the suction device. A spring is arranged between the rod bodies; a buckle structure for position limit is arranged between the inner sleeve and the outer sleeve.

Preferably, the curved structure includes at least one movable joint.

Preferably, the suction head is connected to the suction rod through movable joints, a plurality of movable joints are connected in sequence along the direction of the suction rod, and the movable joints are provided with driving wires for pulling the bending of the joints. set as the active connection.

Preferably, the movable joint includes joint 1, joint 2 and joint 3 which are connected in sequence; joint 1 is fixedly connected on the suction rod, and joint 3 is fixedly connected with the suction head; the joint between joint 1 and joint 2 and the joint A movable connection structure is arranged between the second joint and the third joint along the extension surface of the outer wall of the suction rod.

Preferably, the joint 1 is provided with two concave spherical surfaces 1 for movably connecting with the joint 2, the joint 2 is provided with a protrusion matching the concave spherical surface 1 on the joint 1, and the two concave spherical surfaces are provided along the suction side. A virtual straight line 1 of the diameter of the rod body; joint 2 is provided with two concave spherical surfaces 2 for movably connecting with joint 3, and joint 3 is provided with protrusions matching the concave spherical surface 2 on joint 2, two The second concave spherical surface is set on an imaginary straight line 2 along the diameter of the rod body of the sucker, and the straight line 1 and the straight line 2 are set to be perpendicular to each other.

Preferably, the suction head is a cylindrical single-layer tube, and two equally divided semicircular surfaces of the tube wall are respectively provided with side suction ports of different diameters.

Compared with the prior art, the present invention has the following beneficial effects:

The invention provides a more flexible suction device suitable for the surgical robot system, the diameter of the entrance and exit can be adjusted, the head end can be turned, and the operation is more flexible.

The invention provides an aspirator with variable caliber design, the same design can be used for different needs in the operation process, no need to replace instruments, and the operation efficiency is improved; Personalized surgical needs; reduce instrument types and hospital procurement costs;

Through the retractable/flexible end of the invention, the positioning of the affected part is more precise and the operation efficiency is improved.

Description of drawings

Figure 1 is an application scenario diagram of robot-assisted surgery;

Fig. 2 is the schematic diagram of the drive mechanism of the suction device;

Fig. 3 is the overall structure diagram of the multifunctional suction device;

Fig. 4 is a schematic diagram of the appearance structure of the suction head;

Fig. 5 is a schematic diagram 2 of the appearance structure of the suction head;

Fig. 6 is a schematic diagram of the composite motion of the suction head;

Fig. 7 is a schematic diagram of the structure when the end of the suction device is sucked with a large diameter;

Figure 8 is a schematic diagram of the structure when the end of the suction device is sucked with a small diameter;

Figure 9 is a schematic diagram of the structure of the outer sleeve of the suction head;

Figure 10 is a schematic diagram of the structure of the inner layer sleeve of the suction device;

Fig. 11 is a structural schematic diagram when the inner sleeve driving spring is extended;

Figure 12 is a schematic structural diagram of the inner sleeve driving spring when it is compressed;

Figure 13 is a schematic diagram of a single-layer end with a large-diameter suction structure;

Figure 14 is a schematic diagram of a single-layer end suction structure with a small diameter;

Reference numerals: 1. Surgical robot; 2. Suction device; 3. Suction device head; 4. Joint one; 5. Joint two; 6. Joint three; 7. Driving wire; 8. Inner sleeve; 9. Outer Layer sleeve; 10. Side suction port; 11. End suction port; 12. Fixed block; 13. Slider; 14. Spring; 15. Suction rod.

Detailed ways

In order to make the present invention more obvious and easy to understand, preferred embodiments are hereby described in detail with the accompanying drawings as follows:

As shown in Figures 1-14, the technical solution adopted by the present invention is to provide a multifunctional suction device 2 for a surgical machine system, comprising a suction device head 3, a suction device rod 15, a suction device body and a control unit; The suction head 3 is connected to the suction body through the suction rod 15. The suction head 3 and the suction shaft 15 are provided with a transmission channel for liquid or gas. The suction head 3 is provided with a suction port with variable diameter. The suction rod 15 near the suction head 3 is provided with a curved structure and/or a telescopic structure. The suction head 3 includes a movable inner sleeve 8 and an outer sleeve 9 sleeved on the outer periphery of the inner sleeve 8; the side walls of the inner sleeve 8 and the outer sleeve 9 are provided with side suction ports 10 ; The diameter of the suction port 10 on the side of the inner sleeve 8 is smaller than the diameter of the suction port 10 on the side of the outer sleeve 9 . The suction head 3 is provided with a telescopic structure, and the telescopic structure includes an inner sleeve 8, an outer sleeve 9, a driving wire 7 and a spring 14; the inner sleeve 8 is provided with a driving wire 7, and the inner sleeve 8 and the suction A spring 14 is arranged between the rods of the device; a buckle structure for position limit is arranged between the inner sleeve 8 and the outer sleeve 9 . The curved structure includes at least one movable joint. The suction head 3 is connected with the suction rod 15 through movable joints, and a plurality of movable joints are connected in sequence along the direction of the rod body of the suction rod 15. The movable joint is provided with a driving wire 7 for pulling the bending of the joint, and between adjacent movable joints Set as active connection. The movable joint includes joint one 4, joint two 5 and joint three 6 which are connected in sequence; joint one 4 is fixedly connected on the suction rod 15, and joint three 6 is fixedly connected with the suction head 3; joint one 4 and joint two 5 A movable connection structure is provided between the joint two 5 and the joint three 6 along the extension surface of the outer wall of the suction rod 15 . The joint one 4 is provided with two concave spherical surfaces one for movably connecting with the joint two 5, the joint two 5 is provided with a protrusion that matches the concave spherical surface one on the joint one 4, and the two concave spherical surfaces are provided along the suction device. The rod 15 is on a virtual straight line of the diameter of the rod body; the joint two 5 is provided with two concave spherical surfaces two for active connection with the joint three Since then, the two concave spherical surfaces are arranged on an imaginary straight line 2 along the diameter of the sucker rod 15, and the straight line 1 and the straight line 2 are set to be perpendicular to each other. The suction head 3 can be set as a cylindrical single-layer tube, and two equally divided semicircular surfaces of the tube wall are respectively provided with side suction ports 10 of different diameters.

As shown in Figure 1, the application scene diagram of the surgical robot 1 assisting surgery;

The robot-assisted surgery application scenario is shown in Figure 1. The instruments are installed on the robotic arm, and the doctor performs the corresponding surgical actions by operating the robotic arm.

As shown in Figure 2, it is a schematic diagram of the drive mechanism of the suction device;

After the suction device 2 used in the robot-assisted surgery is inserted into the human body, it will perform corresponding movements driven by the robotic arm, as shown in FIG. 2 .

Figure 3 shows the overall structure of the multifunctional suction device;

Figures 4 and 5 are schematic diagrams of the appearance and structure of the suction head; the suction head 3 involved in the present invention has a degree of freedom of yaw. The present invention realizes the yaw through the second joint 5 , the third joint 6 and the driving wire 7 . The yaw degree of freedom is mainly used to achieve precise suction, which can reach the operating area to the maximum extent. The yaw degree of freedom of the attractor head 3 involved in the present invention is in the range of 0-180°; the head part of the attractor head 3 involved in the present invention has a pitching degree of freedom, and the pitching is realized by the joint one 4 , the joint two 5 and the driving wire 7 . . The pitching degree of freedom is mainly used to achieve precise attraction, which can reach the operating area to the maximum extent. The pitching freedom range of the suction head 3 involved in the present invention is 0-180°

Figure 6 is a schematic diagram of the composite motion of the suction head; the instrument shaft of the suction device 2 involved in the present invention has a degree of freedom of rotation. The instrument rod can drive the suction head 3 mounted on it to rotate together. The rotation degree of freedom is mainly used to realize the position adjustment of the suction head. The rotation degree of freedom of the attractor involved in the present invention ranges from -270° to +270°. The degrees of freedom of yaw, pitch and rotation enable the suction device involved in the present invention to realize more delicate compound motion.

Figure 7 is a schematic diagram of the structure when the end of the suction device is sucked with a large diameter;

Figure 8 is a schematic diagram of the structure of the suction device when the end of the suction device is sucked with a small diameter; the suction device end involved in the present invention is composed of a double-layer sleeve, and the function of changing the suction diameter of the suction device can be realized by the up and down movement of the inner layer sleeve 8 , this function can meet the suction needs of different surgeries. The large-diameter suction of the aspirator is shown in Figure 7. At this time, the inner sleeve is far away from the end of the suction under the action of the driving wire, and the large-diameter side suction port 10 on the outer sleeve 9 is connected to realize the large-diameter suction . The small-diameter suction of the suction device is shown in Figure 8. At this time, the inner sleeve 8 and the outer sleeve 9 overlap, and the small-diameter side suction port on the inner sleeve 8 and the large-diameter side suction on the outer sleeve 9 attract. The mouth overlaps; only small-bore suction of the aspirator can be achieved. Overlapping inner and outer sleeves narrow the suction port.

As shown in Figure 9, it is a schematic structural diagram of the outer sleeve 9 of the suction head;

Figure 10 is a schematic diagram of the structure of the inner sleeve 8 of the suction head; the end of the suction involved in the present invention is composed of a double sleeve, and the outer sleeve 9 is shown in Figure 9 . The outer sleeve 9 is provided with a suction port 11 at the end, and also has a side wall opening design. The large-diameter side suction port on the outer sleeve 9 can facilitate the suction of the tissue fragments and blood at the injured site. The inner sleeve 8 is shown in FIG. 10 . The inner sleeve 8 also has a side wall opening design. The inner sleeve can slide up and down through the power provided by the mechanical arm and under the action of the driving wire 7, so as to change the suction diameter of the suction device and realize variable diameter attractive feature.

11 is a schematic structural diagram of the inner sleeve 8 when the driving spring 14 is extended;

Fig. 12 is a schematic diagram showing the structure of the inner sleeve 8 when the spring 14 is compressed; the driving method of the inner sleeve 8 involved in the present invention is shown in Figs. 11 and 12. state, the inner and outer sleeves overlap; as shown in Figure 12, the spring 14 is in the compressed state at this time, the inner sleeve 8 moves to the suction end, and the suction device realizes large-diameter suction; the upper and lower ends of the spring 14 are respectively provided with a fixed block 12 and a slider 13; the fixed block 12 is fixedly connected with the outer sleeve 9, the slider 13 is fixedly connected with the driving wire 7 and the inner sleeve 8, the mechanical arm provides power to drive the driving wire 7 to move upward, and the sliding block 13 moves upward together with the driving wire 7 Moving, the spring 14 is compressed, thereby realizing the upward movement of the inner sleeve 8 . The inner layer sleeve 8 protrudes from the outer layer sleeve 9, and the inner layer sleeve 8 can be kept in a protruding state through the buckle structure provided between the inner layer sleeve 8 and the outer layer sleeve 9; by rotating the inner layer sleeve 9 8. Release the buckle between the inner sleeve 8 and the outer sleeve 9, the spring 14 returns to the extended state, the slider 13 returns to the original position with the driving wire 7 and the inner sleeve 8, and the inner and outer sleeves overlap.

Figure 13 is a schematic diagram of a single-layer end with a large-diameter suction structure;

Figure 14 is a schematic diagram of a single-layer end with a small diameter suction structure; the suction end of the present invention can also be a single-layer structure, and the suction port on the side wall of the suction end can be designed with different diameters, and one side can be larger caliber, and the other side is small caliber. The switching of the suction diameter can be realized by the rotation of the suction rod. As shown in Figure 13, large-diameter suction is shown, and by rotating the suction lever, it can be switched to small-diameter suction as shown in Figure 14.

Use of the present invention:

1. The design of the telescopic sleeve, the end of the suction device can be extended and retracted according to the needs to reach the designated position.

2. The design of the suction device with flexible end (snake bone and wire drive), when the affected part is in a narrow position, the end of the suction device can be manipulated to deflect and accurately locate the affected part.

The invention provides a variable-caliber aspirator design. When precise suction or flushing is required, the aspirator head has a small diameter; when rapid suction or flushing is required, the aspirator has a large diameter.

The invention provides an aspirator design with a variable tip, when the affected part is located in a deep cavity or a narrow position, the affected part can be precisely positioned by manipulating the end of the suction device.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form or substance. It should be pointed out that those of ordinary skill in the art can also Several improvements and additions have been made, and these improvements and additions should also be regarded as the protection scope of the present invention. All those skilled in the art, without departing from the spirit and scope of the present invention, can utilize the above-disclosed technical content to make some changes, modifications and equivalent changes of evolution, all belong to the present invention. Equivalent embodiments; at the same time, any modification, modification and evolution of any equivalent changes made to the above embodiments according to the essential technology of the present invention still fall within the scope of the technical solutions of the present invention.

Claims (9)

1. A multifunctional aspirator for a surgical machine system comprises an aspirator head, an aspirator rod, an aspirator body and a control unit; the suction apparatus head is connected with the suction apparatus body through a suction apparatus rod, and a liquid or gas transmission channel is arranged in the suction apparatus head and the suction apparatus rod.

2. A multifunctional aspirator for surgical machine systems according to claim 1, characterized in that the aspirator rod near the aspirator head is provided with a curved structure and/or a telescopic structure.

3. The multifunctional aspirator for surgical machine systems according to claim 1, wherein the aspirator head comprises a movable inner sleeve and an outer sleeve sleeved on the outer periphery of the inner sleeve; side suction ports are arranged on the side walls of the inner sleeve and the outer sleeve; the caliber of the side suction port of the inner sleeve is smaller than that of the side suction port of the outer sleeve.

4. The multifunctional aspirator for surgical machine systems according to claim 3, wherein the aspirator head is provided with a telescopic structure comprising an inner sleeve, an outer sleeve, a drive wire and a spring; a driving wire is arranged in the inner sleeve, and a spring is arranged between the inner sleeve and the rod body of the suction device rod; be equipped with between inlayer sleeve and the outer sleeve and be used for spacing buckle structure.

5. The multifunctional aspirator for a surgical machine system, according to claim 2, characterized in that the curved structure comprises at least one movable joint.

6. The multifunctional aspirator for surgical machine systems according to claim 5, wherein the aspirator head is connected with the aspirator rod through movable joints, the movable joints are sequentially connected along the rod body direction of the aspirator rod, a driving wire for drawing the joints to be bent is arranged in each movable joint, and adjacent movable joints are movably connected.

7. The multifunctional aspirator for surgical machine systems according to claim 6, wherein the movable joints comprise a first joint, a second joint and a third joint which are connected in sequence; the suction apparatus rod is provided with a first joint which is fixedly connected, and a third joint is fixedly connected with the suction apparatus head; and movable connecting structures are arranged between the first joint and the second joint and between the second joint and the third joint along the extension surface of the outer wall of the suction apparatus rod.

8. The multifunctional aspirator for a surgical machine system according to claim 7, wherein the first joint is provided with two first concave spherical surfaces for movably connecting with the second joint, the second joint is provided with protrusions matched with the first concave spherical surfaces on the first joint, and the two first concave spherical surfaces are arranged on a virtual straight line I along the diameter of the rod body of the aspirator rod; the second joint is provided with a second concave spherical surface which is movably connected with the third joint, the third joint is provided with a bulge matched with the second concave spherical surface on the second joint, the second concave spherical surface is arranged on a second virtual straight line along the diameter of the rod body of the suction rod, and the first straight line and the second straight line are perpendicular to each other.

9. The multifunctional suction apparatus for surgical machine system according to claim 1, wherein the suction apparatus head is a single-layer tube having a cylindrical shape, and two semicircular surfaces equally divided from a tube wall are respectively provided with side suction ports having different calibers.

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