CN114831733B

CN114831733B - Surgical robot system

Info

Publication number: CN114831733B
Application number: CN202110145991.2A
Authority: CN
Inventors: 王东洋; 陈剑锋; 张一�
Original assignee: Peijia Medical Technology Suzhou Co ltd
Current assignee: Peijia Medical Technology Suzhou Co ltd
Priority date: 2021-02-02
Filing date: 2021-02-02
Publication date: 2024-09-27
Anticipated expiration: 2041-02-02
Also published as: CN114831733A

Abstract

The invention discloses a surgical robot system, which comprises a valve bracket, a robot motion system and a remote control system; the robot motion system comprises a base, a support, a rotating table, an end effector and a driving assembly, wherein the support is movably arranged on the base; the rotating table includes a table main body and a pair of connecting portions, and is rotatably connected to the support via the pair of connecting portions; the end effector is arranged on the table main body and is used for implanting the valve stent into a body; the driving assembly drives the support to move relative to the base so as to move the end effector, and drives the rotating table to rotate around the central axis of the end effector; the remote control system can remotely control the robot motion system and comprises a control cabinet, a control console and a display, wherein the control cabinet is respectively and electrically connected with the driving assembly, the control console and the display. According to the surgical robot system, a doctor does not need to stand beside an operating table to finish the operation, and the time of exposing the doctor to radiation such as X-rays can be reduced.

Description

Surgical robot system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical robot system.

Background

The heart is the most important organ of the cardiovascular system of the human body and its main function is to power blood flow and to move blood to various parts of the body. The human heart is located in the middle of the chest, to the left and below, and has a volume approximately equal to a fist size and weighs about 250 grams.

At present, for cardiovascular diseases, comprehensive means such as drug treatment, open surgery and implantation intervention treatment are clinically adopted to relieve symptoms. The interventional therapy is an emerging treatment method in the field of cardiovascular diseases, has the advantages of small trauma, quick recovery, short hospitalization time and the like compared with surgical treatment, and has become the third most supportive subject of clinic in parallel with traditional internal medicine and surgery.

In short, the implantation interventional therapy is a general term of a series of technologies for guiding and monitoring image equipment (angiography, X-ray machine, CT, MR, B-ultrasonic) to a lesion site of a human body to perform minimally invasive therapy by using a puncture needle, a catheter and other interventional devices through a natural duct or a tiny wound of the human body under the condition that the lesion is exposed without operation.

The implantation intervention diagnosis and treatment of the cardiovascular system depends on implantation intervention medical instruments and medical consumables, and comprises a puncture needle, a sheath tube, a guide wire, a catheter, a balloon, a bracket, a prosthetic valve, a distal protector, a vascular closer and the like. In diagnosis and treatment, a Seldinger vessel is usually punctured, a sheath is inserted into a vessel from a puncture site, then a guide wire and a catheter are inserted through the sheath, the catheter is inserted into a target vessel or a treatment site to be accessed through the mutual matching operation of the guide wire and the catheter, and finally diagnosis and treatment are performed through a specific catheter operation technology.

The traditional implantation intervention operation requires a doctor to stand beside an operating table, and image positioning information acquired by a real-time X-ray imaging technology is correspondingly operated, so that the doctor is difficult to avoid being radiated by X rays; particularly in China, a large number of doctors for implantation and intervention overload work, and a large number of occupations such as leucopenia, hypoimmunity, alopecia and the like are caused by a large amount of radiation for a long time, so that the morbidity of diseases such as leukemia, cancer and the like is greatly increased, and the health of the doctors for implantation and intervention is seriously threatened. In addition, the operation of the partially implanted interventional operation (such as aortic valve replacement) is complex, and needs the cooperation operation of a plurality of doctors, and sometimes, the doctor needs to operate according to experience and feel, so that the operation has high difficulty and high risk.

To this end, the present invention provides a surgical robotic system to at least partially solve the problems of the prior art.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In order to at least partially solve the above-mentioned problems, according to a first aspect of the present invention, a surgical robotic system for valve replacement surgery, the surgical robotic system comprising:

A valve stent for implantation in a body;

a robotic motion system, the robotic motion system comprising:

A base;

a support movably disposed on the base;

a rotating table including a table main body and a pair of connection parts provided at both ends of the table main body, the rotating table being rotatably connected to the stand via the pair of connection parts;

an end effector disposed on the table body for implanting the valve stent into a body;

A drive assembly disposed on at least one of the base, the support, and the rotational stage to drive the support to move relative to the base to move the end effector, and to drive the rotational stage to rotate about a central axis of the end effector; and

A remote control system capable of remotely controlling the robotic motion system, the remote control system comprising:

the control cabinet is electrically connected with the driving assembly;

the control console is electrically connected with the control cabinet and used for controlling the driving assembly; and

And the display is electrically connected with the control cabinet and is used for displaying real-time images during operation.

According to the surgical robot system of the first aspect of the invention, the driving assembly can drive the support to move relative to the base so as to move the end effector, and drive the rotating table to rotate around the central axis of the end effector, so that the end effector can rotate around the central axis of the end effector, and therefore, the valve stent can be implanted into a body through the remote control system, thereby, an implantation intervention doctor can complete valve replacement without standing beside the operating table, and the time of exposing the implantation intervention doctor to X-rays and other radiation can be reduced.

Optionally, the robotic motion system further comprises a force sensor disposed on the table body, the force sensor being connected to the end effector and electrically connected to the control cabinet to enable transmission of the detected data to the control cabinet.

Optionally, the base includes a mounting portion for connection to an operating table, a support portion connected to the mounting portion, and a rail portion connected to the support portion, the mount being movably connected to the rail portion.

Optionally, the table main body and the rail portion are disposed at an angle as viewed in a direction perpendicular to a vertical plane in which an axis of the rail portion is located; and/or

The support portion includes a support arm fixedly or rotatably connected to the mounting portion and a movable arm pivotably connected to the support arm, and the guide rail portion is pivotably connected to the movable arm.

Optionally, the driving assembly includes set up in first motor and the lead screw of guide rail portion, the one end of lead screw with first motor is connected, the one end of support with the lead screw is connected, first motor can drive the lead screw rotates, makes the support can be followed the length direction of lead screw removes.

Optionally, the driving assembly further includes a second motor disposed on the support and a gear assembly disposed on the rotating table and connected to the second motor, where the second motor can drive the gear assembly to rotate so as to drive the rotating table to rotate.

Optionally, the end effector includes a first rotary handle and a second rotary handle that are sequentially disposed along an axial direction, the driving assembly further includes a third motor, a fourth motor, a first transmission member connected with the third motor and matched with the first rotary handle, and a second transmission member connected with the fourth motor and matched with the second rotary handle, the third motor can drive the first transmission member to rotate so as to drive the first rotary handle to rotate, and the fourth motor can drive the second transmission member to rotate so as to drive the second rotary handle to rotate.

Optionally, the console includes a housing and a steering lever, a motor selection button, a speed governor button, and a scram button disposed at the housing to be able to control at least one of the first motor, the second motor, the third motor, and the fourth motor.

Optionally, the console includes a fixed portion and a grip portion rotatably disposed in the fixed portion, a thumb portion movably disposed in the grip portion, and a knob portion rotatably disposed in the grip portion, so as to be able to control at least one of the first motor, the second motor, the third motor, and the fourth motor.

Optionally, the control cabinet further includes a first angle sensor electrically connected to the control cabinet, the first angle sensor being capable of detecting a rotation angle of the grip portion, and the control cabinet controls the second motor based on rotation angle data of the grip portion detected by the first angle sensor.

Optionally, the console further comprises a feedback device electrically connected with the control cabinet, the feedback device being capable of detecting a push-forward or pull-back operation of the thumb, the control cabinet controlling the first motor based on the push-forward or pull-back operation data of the thumb detected by the feedback device.

Optionally, the control cabinet further includes a second angle sensor electrically connected to the control cabinet, the second angle sensor being capable of detecting a rotation angle of the rotary handle, and the control cabinet controls the third motor or the fourth motor based on rotation angle data of the rotary handle detected by the second angle sensor.

Optionally, the stand includes a stand body and a pair of extension parts provided at both ends of the stand body, the stand body being provided above the stand body and between the pair of extension parts in a length direction of the stand body.

Optionally, the table body includes a first surface facing the seat body and configured as an arcuate surface, and/or

The table body includes a second surface facing away from the seat body and configured to be planar, the end effector being disposed on the second surface.

Optionally, the surgical robot system further comprises a catheter, one end of the catheter is connected to the end effector, the valve holder is arranged at the other end of the catheter, and the end effector can drive the catheter to act so as to move and/or release the valve holder.

Optionally, the surgical robot system further includes a sheath tube through which the catheter can enter the blood vessel, the guide rail portion includes a catheter groove and a connection groove provided at one end of the catheter groove and communicating with the catheter groove, the sheath tube is provided in the connection groove, and the catheter can move along the catheter groove.

Optionally, the surgical robot system further comprises a guide wire, the base further comprises a positioning part connected with the guide rail part, the positioning part is used for positioning the guide wire, one end of the guide wire is used for extending into a blood vessel, and the guide wire extends through the catheter and can guide the catheter to move.

According to a second aspect of the present invention, there is disclosed a surgical robotic system for valve replacement surgery, the surgical robotic system comprising:

a robotic motion system, the robotic motion system comprising:

A base;

a support movably disposed on the base;

An end effector disposed on the table body for performing the valve replacement;

the control cabinet is electrically connected with the driving assembly;

According to the surgical robot system of the second aspect, the driving assembly can drive the support to move relative to the base to move the end effector, and drive the rotating table to rotate around the central axis of the end effector, so that the end effector can rotate around the central axis of the end effector, and therefore the end effector can be remotely controlled through the remote control system, thereby enabling an interventional doctor to complete valve replacement without standing beside the operating table, and reducing the exposure time of the interventional doctor to radiation such as X-rays.

According to a third aspect of the present invention, a surgical robotic system for valve replacement surgery is disclosed, the surgical robotic system comprising:

A valve stent for implantation in a body; and

A robotic motion system, the robotic motion system comprising:

A base;

a support movably disposed on the base;

and the driving assembly is arranged on at least one of the base, the support and the rotating table, so as to drive the support to move relative to the base to move the end effector and drive the rotating table to rotate around the central axis of the end effector.

According to the surgical robot system of the third aspect, by providing the driving assembly, the driving assembly can drive the support to move relative to the base so as to move the end effector, and drive the rotating table to rotate around the central axis of the end effector, so that the end effector can rotate around the central axis thereof, thereby facilitating remote control of the end effector, and implanting the valve stent into the body, thereby enabling the implantation intervention doctor to complete the valve replacement without standing beside the operating table, and being capable of reducing the exposure time of the implantation intervention doctor to the radiation such as the X-ray.

Drawings

The following drawings are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.

In the accompanying drawings:

FIG. 1 is a schematic perspective view of a surgical robotic system according to a preferred embodiment of the present invention;

FIG. 2 is a schematic perspective view of a robotic motion system of the surgical robotic system of FIG. 1;

FIG. 3 is a schematic side view of the robotic motion system of FIG. 2;

FIG. 4 is a schematic top view of the robotic motion system of FIG. 2;

FIG. 5 is a schematic cross-sectional view of a partial structure of the surgical robotic system of FIG. 1, showing a catheter and a valve holder;

FIG. 6 is a schematic perspective view of a console of a tele-manipulation system of the surgical robotic system of FIG. 1;

Fig. 7 to 15 are schematic views illustrating an operation process of the surgical robot system of fig. 1;

fig. 16 is a perspective view of a console of a tele-manipulation system of a surgical robotic system according to a second embodiment of the present invention.

Reference numerals illustrate:

10: valve 20: aorta

30: Coronary artery 100: surgical robot system

110: Base 111: support part

112: The rail portion 113: mounting part

114: Catheter groove 115: connecting groove

116: Positioning unit 117: support arm

118: Movable arm 119: rotation part

120: Support 121: seat main body

122: Extension 123: mating part

130: The rotary table 131: table main body

132: The connection portion 133: a first surface

134: Second surface 140: end effector

141: Catheter 142: catheter head end

143: Guide wire 144: first rotary handle

145: Second knob 146: valve support

147: Flap portion 148: outer layer tube

149: Inner tube 151: first motor

152: Screw 153: second motor

154: Gear assembly 155: third motor

156: Fourth motor 157: first transmission member

158: Second transmission member 160: force sensor

170: Control cabinet 180: display device

190/290: Console 191: fixing part

192: Grip 193: thumb part

194: Rotary handle 291: shell body

292: Steering lever 293: motor selection button

294: Speed button 295: scram button

296: Switch

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the embodiments of the invention.

In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the present invention. It will be apparent that embodiments of the invention may be practiced without limitation to the specific details that are set forth by those skilled in the art. It should be noted that ordinal words such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component". The terms "upper", "lower", "front", "rear", "left", "right" and the like are used herein for illustrative purposes only and are not limiting.

The invention provides a surgical robotic system for valve replacement. The surgical robot system mainly comprises a valve bracket, a robot motion system and a remote control system. The remote control system can remotely control the robot motion system to realize implantation of the valve stent into the body. For example, a valve stent is implanted at a diseased site of a heart valve to work in place of the diseased heart valve (aortic valve, tricuspid valve, mitral valve) so that blood can flow unidirectionally.

A surgical robotic system 100 according to a first embodiment of the present invention will be described in detail with reference to fig. 1 to 6.

As shown in fig. 1, the robot motion system mainly includes a base 110, a stand 120, a rotating table 130, an end effector 140, and a driving assembly. As shown in fig. 2 to 4, the support 120 is movably disposed on the base 110. The rotating table 130 includes a table main body 131 and a pair of connection parts 132 provided at both ends of the table main body 131. The pair of connection portions 132 are disposed in parallel, and the connection portions 132 are configured to extend upward from the table main body 131. The rotating table 130 is rotatably connected to the support 120 via the pair of connection portions 132. The end effector 140 is provided at the top of the table body 131 to be rotatable with the rotation of the rotation table 130. The driving assembly is provided to at least one of the base 110, the support 120, and the rotation stage 130 to drive the support 120 to move with respect to the base 110 to move the end effector 140, and to drive the rotation stage 130 to rotate about a central axis of the end effector 140 such that the end effector 140 can rotate about its central axis.

As shown in fig. 1, the remote control system generally includes a control cabinet 170, a console 190, and at least one display 180. The control cabinet 170 is electrically connected to a console 190 and a drive assembly, respectively, the console 190 being capable of manipulating the drive assembly via the control cabinet 170. The display 180 is electrically connected to the control cabinet 170 to enable display of real-time images and/or parameters (e.g., DAS images, real-time patient conditions, and various physiological indicators) during surgery to facilitate operation of the end effector 140 by the interventional physician. Thus, the end effector 140 can be remotely controlled by the remote control system to implant the valve stent 146 into the body, so that the implantation intervention doctor can complete the valve replacement without standing beside the operating table, and the time of exposing the implantation intervention doctor to the radiation such as X-rays can be reduced.

As shown in fig. 2 to 4, the robot motion system further includes a force sensor 160 provided to the stage body 131, and the force sensor 160 is connected to the stage body 131 and the end effector 140, respectively, so as to be able to detect a force applied to the end effector 140 along a central axis thereof. The force sensor 160 is electrically connected to the control cabinet 170 to enable transmission of the detected data to the control cabinet 170 and is presented in the form of data on the display 180 to facilitate the operation of the end effector 140 by the interventional physician in response to the stress conditions of the end effector 140. In addition, the robotic motion system may also include an angle sensor for detecting the angle of rotation of the end effector 140, and a displacement sensor for detecting the back and forth movement of the end effector 140 relative to the base 110. Further, the robotic motion system may also include limit sensors to limit the angle of rotation or the position of the back and forth movement of the end effector 140 to ensure safe operation of the surgical robotic system 100.

The base 110 includes a mounting portion 113 for connection to an operating table, a support portion 111 connected to the mounting portion 113, and a rail portion 112 connected to the support portion 111. The mounting portion 113 is capable of clamping to an operating table, and the support portion 111 includes a support arm 117 and a movable arm 118 pivotally connected to the support arm 117. The base 110 further includes a rotation portion 119 capable of rotating around a vertical direction, and the rotation portion 119 rotatably connects the support arm 117 to the mounting portion 113. The rail portion 112 is pivotally connected to the movable arm 118 to facilitate adjustment of the angle of the end effector 140 relative to the horizontal. Preferably, the table main body 131 and the rail portion 112 are disposed at an angle therebetween, as viewed in a direction perpendicular to a vertical plane in which the axis of the rail portion 112 is located. For example, an angle between the table main body 131 and the rail portion 112 is greater than 0 ° and less than or equal to 45 °. In an embodiment not shown, the swivel part may be omitted such that the support arm is fixedly connected to the mounting part.

In the present embodiment, the holder 120 is movably connected to the rail portion 112 in the length direction of the rail portion 112. Specifically, the stand 120 includes a seat body 121, a pair of extension portions 122 provided at both ends of the seat body 121, and a fitting portion 123 connected to the seat body 121. The pair of extension portions 122 are disposed in parallel, and the extension portions 122 are configured to extend upward from the seat body 121, and the fitting portion 123 is disposed at the bottom of the seat body 121. The rotating table 130 (e.g., table body 131) is disposed above the seat body 121, and is disposed between the pair of extensions 122 along the length direction of the seat body 121. The lower surface of the table body 131 and the upper surface of the seat body 121 are spaced apart in the vertical direction to avoid friction or interference between the lower surface of the table body 131 and the upper surface of the seat body 121 when the rotation table 130 rotates.

Preferably, the table body 131 includes a first surface 133 and a second surface 134 connected to the first surface 133. The first surface 133 faces the seat body 121 and is configured as an arc surface so as to be able to avoid interference of the table body 131 with the seat body 121 when the rotation table 130 rotates. The second surface 134 faces away from the seat body 121 and is configured to be planar, and the end effector 140 is disposed on the second surface 134.

Surgical robotic system 100 also includes a sheath (not shown), a catheter 141, and a guidewire 143. One end of the guide wire 143 is used to extend into a blood vessel, a sheath is sleeved outside the guide wire 143, and one end of the sheath extends into the blood vessel to establish a path between the robot motion system and the blood vessel. A catheter 141 is sleeved outside the guidewire 143, the proximal end of the catheter 141 is connected to the end effector 140, and the distal end of the catheter 141 enters the blood vessel via a sheath.

Specifically, as shown in fig. 5, the catheter 141 includes an outer tube 148 and an inner tube 149 disposed inside the outer tube, and the valve holder 146 is disposed between the outer tube 148 and the inner tube 149 and is located at the distal end of the catheter 141. The end effector 140 can actuate the catheter 141 such that the catheter 141 can move along the guidewire 143 and the valve holder 146 can be released or retracted. For example, after the distal end of the catheter 141 reaches the lesion along the guidewire 143, the valve stent 146 can be released outwardly from the catheter 141 by operating the end effector 140. In this embodiment, the force sensor 160 is capable of detecting the force applied to the catheter 141 and the interventional physician is capable of operating the end effector 140 based on the force applied to the catheter 141.

As shown in fig. 2 and 4, the rail portion 112 includes a guide pipe groove 114 extending in a length direction thereof and a connection groove 115 provided at one end of the rail portion 112 and communicating with the guide pipe groove 114. Specifically, the connection groove 115 is provided at one end of the duct groove 114, and both the duct groove 114 and the connection groove 115 may be configured as a U-shaped groove. The sheath is fixed to the connection groove 115, and the guide tube 141 is movable along the guide tube groove 114. Further, the base 110 further includes a positioning portion 116 connected to the guide rail portion 112, the positioning portion 116 being disposed at an end of the guide rail portion 112 remote from the connection groove 115 and being used to position and/or fix the guide wire 143. Surgical robotic system 100 also includes a motion system (not shown) for controlling the movement of guide wire 143 such that guide wire 143 may be rotated or moved back and forth along its central axis to facilitate the physician's manipulation of guide wire 143 during surgery.

With continued reference to fig. 2 to 4, the driving assembly includes a first motor 151 and a screw 152 provided to the rail portion 112, and one end of the screw 152 is connected to the first motor 151. The first motor 151 is a servo/stepper motor. The first motor 151 is disposed at one end of the rail portion 112 away from the connection groove 115, and the screw 152 is rotatably disposed at the rail portion 112 along a length direction of the rail portion 112. The fitting portion 123 of the holder 120 is connected to the screw 152, and the first motor 151 can drive the screw 152 to rotate, so that the holder 120 can move along the length direction of the screw 152, and thus the guide tube 141 can move forward or backward in the blood vessel. Specifically, the fitting portion 123 is provided with a lead screw nut (not shown) that is sleeved outside the lead screw 152 and engaged with the lead screw.

The driving assembly further includes a second motor 153 disposed on the support 120 and a gear assembly 154 disposed on the rotating table 130 and connected to the second motor 153, where the second motor 153 can drive the gear assembly 154 to rotate so as to drive the rotating table 130 to rotate. The second motor 153 is a servo/stepper motor. Specifically, the second motor 153 is disposed at one end of the support 120 and is disposed at a side of one of the extensions 122 facing away from the other extension 122. The gear assembly 154 is disposed at an end of the rotation stage 130 near the second motor 153, and is disposed at a side of one of the connection parts 132 facing away from the other connection part 132.

The gear assembly 154 includes a drive wheel and a driven wheel engaged with the drive wheel. The driving wheel is connected with the rotation shaft of the second motor 153, and the driven wheel is rotatably connected to the connection part 132. Therefore, the second motor 153 can drive the driving wheel to rotate, the driving wheel can drive the driven wheel to rotate, and the driven wheel can drive the rotating table 130 to rotate, so that the end effector 140 can rotate around the central axis thereof, and the catheter 141 can rotate in the blood vessel.

The end effector 140 includes a first knob 144 and a second knob 145 disposed in sequence in an axial direction, the first knob 144 and the second knob 145 being configured to be rotatable about a central axis of the end effector 140. The drive assembly further includes a third motor 155, a fourth motor 156, a first transmission 157, and a second transmission 158. The third motor 155 and the fourth motor 156 are servo/stepper motors. The third motor 155 and the fourth motor 156 are each provided on the table main body 131, and are provided on both sides of the end effector 140, respectively. The first transmission 157 is coupled to the rotation shaft of the third motor 155 and is adapted to cooperate (e.g., engage) with the first knob 144.

The surgical robotic system 100 also includes a bending wire (not shown) having a proximal end coupled to the first knob 144 and a distal end coupled to the distal end of the outer tube 148 of the catheter 141. The third motor 155 can drive the first transmission member 157 to rotate so as to drive the first rotary handle 144 to rotate, thereby controlling the action of the guide tube 141 via the bending wire to realize the bending operation of the guide tube 141. The second transmission member 158 is coupled to the rotation shaft of the fourth motor 156 and is configured to mate (e.g., mesh) with the second rotation handle 145. The second knob 145 is coupled to the proximal end of the outer tube 148 and a fourth motor 156 is capable of driving a second drive member 158 to rotate the second knob 145 such that the outer tube 148 is moved relative to the inner tube 149 to release or retract the valve holder 146.

As shown in fig. 6, the console 190 includes a fixing portion 191 and a grip portion 192 rotatably provided to the fixing portion 191, a thumb portion 193 movably provided to the grip portion 192, and two knob portions 194 rotatably provided to the grip portion 192, so as to be able to control at least one of the first motor 151, the second motor 153, the third motor 155, and the fourth motor 156. The console 190 is seated on the table top through the fixing portion 191, and the console 190 simulates the operation of the handle of the medical instrument, and the doctor can operate more easily. One end of the grip portion 192 is rotatably connected to the fixing portion 191 and extends in the horizontal direction. The grip portion 192 is generally configured in a cylindrical structure extending in the horizontal direction. The thumb 193 is disposed on top of the grip 192 and may be configured to move along the length of the grip 192. The two knob portions 194 are disposed at intervals along the axial direction of the grip portion 192, and the knob portions 194 are rotatable about the central axis of the grip portion 192, thereby controlling the movement of the guide tube 141.

The console 190 also includes a first angle sensor (not shown), a feedback device (not shown), and two second angle sensors (not shown) electrically connected to the control cabinet 170. The first angle sensor can detect the rotation angle of the holding portion 192, and the control cabinet 170 controls the second motor 153 based on the rotation angle data of the holding portion 192 detected by the first angle sensor, so that the end effector 140 rotates along with the rotating table 130, and further, the guide tube 141 rotates. The feedback device can detect a forward or backward movement of the thumb 193, and the control cabinet 170 controls the first motor 151 based on the forward or backward movement data of the thumb 193 detected by the feedback device, so that the holder 120 can move along the length direction of the screw 152, thereby moving the guide tube 141 forward or backward. The second angle sensor is capable of detecting the rotation angle of the knob portion 194, and the control cabinet 170 correspondingly controls the third motor 155 or the fourth motor 156 based on the rotation angle data of the knob portion 194 detected by the second angle sensor, so as to correspondingly control the catheter to bend, release or retract the valve stent.

The operation of the surgical robot system 100 according to the present embodiment will be described in detail below with reference to fig. 7 to 15 by taking aortic valve replacement as an example.

As shown in fig. 7 and 8, the end effector 140 is remotely operated by the console 190 such that the head end 142 of the catheter 141 reaches the proper position of the valve 10. Fig. 7 and 8 show two stress conditions of the catheter 141 in the aortic blood vessel 20, fig. 7 shows a condition in which the catheter 141 is subjected to forward pushing force, and fig. 8 shows a condition in which the catheter 141 is subjected to backward pulling force. In this embodiment, the force sensor 160 is capable of detecting the force applied to the catheter 141 and is presented in data form on the display 180, so that the interventional physician can intuitively understand the force applied to the end effector 140 and the catheter 141, move the catheter 141, and accurately release the valve holder 146. Further, the valve holder 146 can be stably released by controlling the first motor 151 to stabilize its rotation speed to a constant value.

Fig. 9 shows a slow release valve stent 146. When the implanting physician finds that the release position of the valve holder 146 is not appropriate, the handle 194 of the console 190 may be rotated to activate the fourth motor 156 to rotate the second handle 145 to retract the valve holder 146 inwardly, as shown in fig. 10. As shown in fig. 11, the position of the head end 142 of the catheter 141 is then adjusted by the console 190, after which the valve stent 146 is again released (see fig. 12). As shown in fig. 13 and 14, if properly positioned, the valve stent 146 is fully released.

As shown in fig. 14 and 15, the valve holder 146 has three hanging flap portions 147, and the three hanging flap portions 147 are disposed at intervals in the circumferential direction of the valve holder 146, for example, may be disposed at equal angles in the circumferential direction. The end effector 140 is remotely manipulated by the console 190 to control the motion of the catheter 141 such that the three hanging petals 147 avoid the position of the coronary artery 30 after release of the valve stent 146.

A surgical robotic system according to a second embodiment of the present invention will be described in detail with reference to fig. 16.

The surgical robot system according to the second embodiment has substantially the same structure as the surgical robot system 100 according to the first embodiment, and similar structures having substantially the same or similar functions are given similar reference numerals. For simplicity, only the differences will be described.

In the present embodiment, as shown in fig. 16, the console 290 includes a housing 291 and a steering lever 292, a motor selection button 293, a speed regulation button 294, a scram button 295, and a switch 296 provided to the housing 291 so as to be able to control at least one of a first motor, a second motor, a third motor, and a fourth motor. The steering lever, the motor selection button, and the speed adjustment button may be provided in sets, for example, four sets may be provided to control the first motor, the second motor, the third motor, and the fourth motor, respectively.

The motor selection button 293 may be used to select one of the first motor, the second motor, the third motor, and the fourth motor in order to control the selected motor. The steering lever 292 may be used to control the forward and reverse rotation of the currently selected motor to effect a corresponding operation of the end effector. The steering rod 292 may be configured to rock back and forth or side-to-side to accommodate different operating habits of an operator. The throttle button 294 can adjust the current rotational speed of the selected motor to thereby control the speed of the corresponding motion of the end effector 140. The emergency stop button 295 is used to emergency stop the currently operating motor upon encountering an emergency situation to ensure the safety of the surgical robotic system.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the invention. Terms such as "disposed" or the like as used herein may refer to either one element being directly attached to another element or one element being attached to another element through an intermediate member. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. Those skilled in the art will appreciate that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed.

Claims

1. A surgical robotic system for valve replacement surgery, the surgical robotic system comprising:

A valve stent for implantation in a body;

a robotic motion system, the robotic motion system comprising:

A base;

a support movably disposed on the base;

The end effector is arranged on the table main body and used for implanting the valve stent into a body, and comprises a first rotating handle and a second rotating handle which are sequentially arranged along the axial direction;

a drive assembly disposed on at least one of the base, the support, and the rotational stage to drive the support to move relative to the base to move the end effector, and to drive the rotational stage to rotate about a central axis of the end effector;

The catheter comprises an outer layer tube and an inner layer tube arranged on the inner side of the outer layer tube, one end of the catheter is connected to the end effector, the valve support is arranged on the other end of the catheter, the end effector can drive the catheter to act, and the proximal end of the outer layer tube is connected with the second rotary handle;

the proximal end of the bending regulating wire is connected with the first rotary handle, and the distal end of the bending regulating wire is connected with the distal end of the outer tube; and

the control cabinet is electrically connected with the driving assembly;

The display is electrically connected with the control cabinet and is used for displaying real-time images during operation,

The driving assembly comprises a third motor, a fourth motor, a first transmission part connected with the third motor and matched with the first rotary handle, and a second transmission part connected with the fourth motor and matched with the second rotary handle, wherein the third motor can drive the first transmission part to rotate so as to drive the first rotary handle to rotate, bending operation of the catheter is achieved, the fourth motor can drive the second transmission part to rotate so as to drive the second rotary handle to rotate, and the outer layer tube acts relative to the inner layer tube so as to release or retract the valve support.

2. The surgical robotic system of claim 1, wherein the robotic motion system further comprises a force sensor disposed on the table body, the force sensor being coupled to the end effector and electrically coupled to the control cabinet to enable transmission of detected data to the control cabinet.

3. The surgical robotic system of claim 1, wherein the base includes a mounting portion for connection to an operating table, a support portion connected to the mounting portion, and a rail portion connected to the support portion, the mount being movably connected to the rail portion.

4. A surgical robotic system as claimed in claim 3, wherein,

The table main body and the guide rail part are arranged at an included angle as viewed in a direction perpendicular to a vertical plane where an axis of the guide rail part is located; and/or

5. A surgical robotic system as claimed in claim 3, wherein the drive assembly includes a first motor and a screw disposed in the rail portion, one end of the screw being connected to the first motor, one end of the support being connected to the screw, the first motor being capable of driving the screw to rotate such that the support is capable of moving along a length of the screw.

6. The surgical robotic system of claim 5, wherein the drive assembly further comprises a second motor disposed on the support and a gear assembly disposed on the turntable and coupled to the second motor, the second motor being capable of driving the gear assembly to rotate to drive the turntable to rotate.

7. The surgical robotic system of claim 6, wherein the console comprises a housing and a steering lever, a motor select button, a governor button, and a scram button disposed to the housing to enable control of at least one of the first motor, the second motor, the third motor, and the fourth motor.

8. The surgical robotic system of claim 6, wherein the console includes a fixed portion and a grip rotatably disposed to the fixed portion, a thumb movably disposed to the grip, and a knob rotatably disposed to the grip to enable control of at least one of the first motor, the second motor, the third motor, and the fourth motor.

9. The surgical robotic system of claim 8, wherein the console further comprises a first angle sensor electrically connected to the control cabinet, the first angle sensor capable of detecting an angle of rotation of the grip, the control cabinet controlling the second motor based on the angle of rotation data of the grip detected by the first angle sensor.

10. The surgical robotic system of claim 8, wherein the console further comprises a feedback device electrically connected to the control cabinet, the feedback device capable of detecting a push-forward or dial-back operation of the thumb, the control cabinet controlling the first motor based on the push-forward or dial-back operation data of the thumb detected by the feedback device.

11. The surgical robotic system of claim 8, wherein the console further comprises a second angle sensor electrically connected to the control cabinet, the second angle sensor capable of detecting an angle of rotation of the handle portion, the control cabinet controlling the third motor or the fourth motor based on the angle of rotation data of the handle portion detected by the second angle sensor.

12. The surgical robotic system of any one of claims 1-11, wherein the mount comprises a seat body and a pair of extensions disposed at both ends of the seat body, the table body being disposed above the seat body and between the pair of extensions along a length of the seat body.

13. The surgical robotic system of claim 12, wherein,

The table body includes a first surface facing the seat body and configured as an arcuate surface, and/or

14. The surgical robot system according to any one of claims 3 to 11, further comprising a sheath tube through which the catheter can enter a blood vessel, the guide rail portion including a catheter groove and a connection groove provided at one end of the catheter groove and communicating with the catheter groove, the sheath tube being provided in the connection groove, the catheter being movable along the catheter groove.

15. The surgical robotic system of any one of claims 3-11, wherein the surgical robotic system further comprises a guidewire, the base further comprising a positioning portion coupled to the rail portion, the positioning portion for positioning the guidewire, one end of the guidewire for extending into a blood vessel, the guidewire extending through the catheter and being capable of guiding movement of the catheter.