CN115153848B - Diagnosis and treatment exchange front end and medical robot - Google Patents
Diagnosis and treatment exchange front end and medical robotInfo
- Publication number
- CN115153848B CN115153848B CN202210730282.5A CN202210730282A CN115153848B CN 115153848 B CN115153848 B CN 115153848B CN 202210730282 A CN202210730282 A CN 202210730282A CN 115153848 B CN115153848 B CN 115153848B
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- turntable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention relates to the technical field of medical instruments, and provides a diagnosis and treatment exchange front end and a medical robot, wherein the diagnosis and treatment exchange front end comprises a shell, a turntable assembly, an instrument seat and a telescopic assembly; the shell is provided with a sealed accommodating cavity, the front end of the shell is provided with an instrument channel communicated with the accommodating cavity, the turntable assembly comprises a turntable, the turntable is provided with a plurality of positioning holes, the turntable assembly is suitable for switching any one of the positioning holes to correspond to the instrument channel, a plurality of instrument seats are inserted into the positioning holes in a one-to-one correspondence manner, and the telescopic assembly corresponds to the instrument channel. The target medical instrument can be enabled to correspond to the position of the instrument channel by controlling the movement of the turntable assembly, and can be enabled to extend out of the instrument channel by controlling the movement of the telescopic assembly. The diagnosis and treatment exchange front end is internally provided with a plurality of modularized medical instruments, so that the functions are rich, intelligent automatic switching can be realized, and the convenience of in-vivo diagnosis and treatment is improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a diagnosis and treatment exchange front end and a medical robot.
Background
Along with the integration and intelligent development of medical instruments, the surgical robot has higher requirements on the functionality. In order to improve the convenience of the doctor in the operation, the surgical robot needs to have as much functionality as possible and reduce the manual operation of the doctor during the operation. However, in the related art, a surgical robot with a front-end diagnosis and treatment exchange function does not exist, and a doctor is troublesome in surgical operation.
Disclosure of Invention
The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the diagnosis and treatment exchange front end provided by the invention can intelligently and automatically switch the diagnosis and treatment instruments, has more functions and is convenient to operate.
The embodiment of the invention also provides a medical robot.
According to an embodiment of the first aspect of the present invention, a diagnosis and treatment exchange front end includes:
The device comprises a shell, a pressure sensor and a control device, wherein the shell is of a column structure and is internally provided with a sealed accommodating cavity, and the front end of the shell is provided with an instrument channel communicated with the accommodating cavity;
The rotary table assembly is arranged in the accommodating cavity and comprises a rotary table, a plurality of positioning holes are formed in the rotary table, and the rotary table assembly is suitable for switching any one of the positioning holes to correspond to the instrument channel;
the instrument seats are inserted into the positioning holes in a one-to-one correspondence manner, and one side, facing the instrument channel, of each instrument seat is suitable for mounting a medical instrument;
The telescopic component is arranged in the accommodating cavity and is positioned at one side of the turntable, which is away from the instrument channel, and the telescopic component corresponds to the instrument channel.
According to one embodiment of the invention, the turntable assembly further comprises:
The first motor is arranged in the accommodating cavity;
the driving shaft is connected to the center of the turntable, and the driving shaft is connected with the output shaft of the first motor through a gear.
According to one embodiment of the invention, the telescopic assembly comprises:
The second motor is arranged in the accommodating cavity;
The screw rod is rotationally connected to the cavity wall of the accommodating cavity and is connected with the output shaft of the second motor through a gear, and the center of the screw rod corresponds to the center of the instrument channel;
The screw sleeve is rotationally connected with the screw;
and the screw sleeve limiting piece is suitable for limiting the rotation of the screw sleeve.
According to one embodiment of the invention, the screw sleeve limiting piece forms a cavity, a guide groove extending towards the direction of the instrument channel is formed in the cavity wall of the cavity, a protrusion is arranged on the outer side wall of the screw sleeve, and the protrusion is connected with the guide groove in a sliding mode.
According to one embodiment of the invention, the guide groove comprises a first guide part, a second guide part and a third guide part which are communicated in sequence, wherein the first guide part and the third guide part are arranged in the same direction, and the second guide part is perpendicular to the first guide part and the third guide part;
the side wall of the instrument seat is provided with a sliding groove, the sliding groove comprises a first sliding part and a second sliding part which are communicated with each other, the second sliding part and the second guiding part are arranged in the same direction, the first sliding part and the third guiding part are arranged in the same direction, and the first sliding part extends to the edge of one end of the instrument seat, which faces the turntable;
the pore wall of the locating hole is provided with a sliding block, and the sliding block is matched with the sliding groove.
According to one embodiment of the invention, the adjacent end surfaces of the instrument seat and the screw sleeve are provided with a first plug structure and a second plug structure which are matched with each other.
According to one embodiment of the invention, the first plug structure is a sleeve and the second plug structure is a boss adapted to be inserted into the sleeve;
The inner wall of the sleeve is provided with a plurality of first annular electrodes, the outer wall of the boss is provided with a plurality of second annular electrodes, and when the boss is inserted into the sleeve, the plurality of first annular electrodes are connected with the plurality of second annular electrodes in a one-to-one correspondence manner.
According to one embodiment of the invention, a motor fixing piece is arranged in the accommodating cavity, a mounting groove is formed in the motor fixing piece, the first motor and the second motor are arranged in the mounting groove, and an output shaft of the first motor and an output shaft of the second motor are reversely arranged.
According to one embodiment of the invention, the motor fixing piece and the screw sleeve limiting piece are connected through a supporting piece, the supporting piece is provided with a limiting hole, and the driving shaft is rotatably connected with the limiting hole.
According to a second aspect of the invention, a medical robot is provided, which comprises at least one flexible driving assembly and a diagnosis and treatment exchange front end provided according to the first aspect of the invention, wherein the diagnosis and treatment exchange front end is connected to the flexible driving assembly, and an instrument channel of the diagnosis and treatment exchange front end is away from the flexible driving assembly.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
According to the diagnosis and treatment exchange front end provided by the embodiment of the first aspect of the invention, the diagnosis and treatment exchange front end comprises a shell, a turntable assembly, an instrument seat and a telescopic assembly, wherein the shell is of a column structure and is internally provided with a sealed accommodating cavity, the front end of the shell is provided with an instrument channel communicated with the accommodating cavity, the turntable assembly is arranged in the accommodating cavity and comprises a turntable, the turntable is provided with a plurality of positioning holes, the turntable assembly is suitable for switching any one of the positioning holes to correspond to the instrument channel, the plurality of instrument seats are correspondingly inserted into the positioning holes one by one, one side of the instrument seat facing the instrument channel is suitable for mounting a diagnosis and treatment instrument, and the telescopic assembly is arranged in the accommodating cavity and is positioned on one side of the turntable facing away from the instrument channel and corresponds to the instrument channel. When the diagnosis and treatment exchange front end works, the target diagnosis and treatment instrument can be enabled to correspond to the position of the instrument channel by controlling the movement of the turntable assembly, the instrument seat can be enabled to be close to the instrument channel by controlling the movement of the telescopic assembly, and the target diagnosis and treatment instrument can be enabled to extend out of the instrument channel. The diagnosis and treatment exchange front end can be internally provided with a plurality of modularized diagnosis and treatment instruments, so that the functions are rich, the intelligent automatic switching can be realized, and the convenience of doctors in operation is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
Fig. 1 is a perspective view of a diagnosis and treatment exchange front end provided by an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a diagnostic interchange front end provided by an embodiment of the invention;
fig. 3 is a schematic diagram of an internal structure of a diagnosis and treatment exchange front end according to an embodiment of the present invention;
Fig. 4 is a top view of a housing of an exchange front end according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a housing for a diagnostic interchange front end provided by an embodiment of the invention;
Fig. 6 is a perspective view of a turntable at the front end of diagnosis and treatment exchange according to an embodiment of the present invention;
FIG. 7 is a perspective view of an instrument holder for a diagnostic interchange front end provided by an embodiment of the invention;
Fig. 8 is a perspective view of a minimally invasive robot provided by an embodiment of the present invention.
Reference numerals:
100. front end of diagnosis and treatment exchange, 102, a shell, 104, a containing cavity, 1042, a motor fixing piece, 1044, a mounting groove, 106, an instrument channel, 108, a supporting piece, 1082 and a limiting hole;
110. Turntable assembly 112, turntable 114, positioning hole 1140, slider 116, first motor 117, gear 118, driving shaft;
120. 122 parts of instrument seat, 124 parts of sliding groove, 124 parts of first sliding part, 126 parts of second sliding part, 128 parts of first inserting structure;
130. The telescopic component comprises a telescopic component, a second motor, a 134, a screw, a 136, a screw sleeve, 1360, a protrusion, 1362, a second inserting structure, 1364, a second annular electrode, 138, a screw sleeve limiting piece, 1380, a guide groove, 1382, a first guide part, 1384, a second guide part, 1386 and a third guide part;
200. A medical instrument;
300. a flexible drive assembly.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which would be apparent to one of ordinary skill in the art without making any inventive effort are intended to be within the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "coupled" should be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected via an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
In the related art, a surgical robot with a front-end diagnosis and treatment exchange function does not exist, and a doctor is troublesome in surgical operation.
Referring to fig. 1 to 7, an interchangeable tip 100 according to an embodiment of the present invention includes a housing 102, a turntable assembly 110, an instrument holder 120, and a telescopic assembly 130.
The housing 102 has an oval or circular columnar structure, the size and the outline of the housing 102 are matched with the cavity in the human body, and the housing 102 cannot cause pain or scratch when contacting with human tissues.
The housing 102 includes opposite front and rear ends, the rear end being adapted to be coupled to the flexible drive assembly 300, the front end being extendable from different medical instruments to effect different operations.
A sealed receiving chamber 104 is formed in the housing 102, and an instrument channel 106 communicating with the receiving chamber 104 is formed at a front end of the housing 102. When the medical instrument 200 is placed in the receiving cavity 104, the medical instrument 200 may extend along the instrument channel 106.
In some embodiments, the front end of the housing 102 is also formed with a light-passing hole for providing illumination or emitting laser light within the human body.
The turntable assembly 110 is disposed in the accommodating chamber 104, and the turntable assembly 110 includes a turntable 112, and a plurality of positioning holes 114 are formed in the turntable 112, and the turntable 112 is parallel to the front end surface of the housing 102. The turntable assembly 110 can precisely control the rotation of the turntable 112 such that any one of the plurality of positioning holes 114 corresponds to the instrument channel 106.
The number of the instrument holders 120 is plural, the plurality of instrument holders 120 are inserted in the plurality of positioning holes 114 in a one-to-one correspondence, a side of the instrument holder 120 facing the instrument channel 106 is adapted to mount a medical instrument 200, and a side of the instrument holder 120 facing away from the instrument channel 106 is adapted to be connected to the telescopic assembly 130.
A retraction assembly 130 is disposed within the receiving chamber 104 on a side of the turntable 112 facing away from the instrument channel 106, the position of the retraction assembly 130 corresponding to the position of the instrument channel 106.
According to the diagnosis and treatment exchange front end provided by the embodiment of the invention, the turntable assembly 110 can enable different positioning holes 114 to correspond to the instrument channel 106, and when the telescopic assembly 130 stretches out, the instrument seat 120 can be driven to be close to the instrument channel 106, and meanwhile, the diagnosis and treatment instrument 200 arranged on the instrument seat 120 stretches out along the instrument channel 106. After use, the telescopic assembly 130 is retracted, the instrument holder 120 is re-lowered into the positioning hole 114, and at this time, other medical instruments 200 can be switched. Through the operation of control carousel subassembly 110 and flexible subassembly 130, can realize the automatic switch-over of different medical instruments 200 at the front end of casing 102, the function is comparatively abundant, has improved the convenience when doctor's operation.
In some embodiments, the turntable assembly 110 further includes a first motor 116 and a drive shaft 118. A first motor 116 is disposed in the receiving chamber 104, and a driving shaft 118 is connected to the center of the turntable 112, and the turntable 112 rotates synchronously when the driving shaft 118 rotates. The driving shaft 118 is connected with the output shaft of the first motor 116 through a gear 117, and the rotation angle and the rotation direction of the turntable 112 can be adjusted by controlling the first motor 116, so that different medical instruments 200 correspond to the instrument channel 106.
In some embodiments, the telescoping assembly 130 includes a second motor 132, a lead screw 134, a lead screw sleeve 136, and a lead screw sleeve stop 138.
The second motor 132 is disposed in the accommodating chamber 104, the screw rod 134 is rotatably connected to the chamber wall of the accommodating chamber 104, the output shaft of the second motor 132 is connected to the screw rod 134 through a gear, and the center of the screw rod 134 corresponds to the center of the instrument channel 106.
The lead screw housing 136 is rotatably coupled to the lead screw 134 such that when the lead screw 134 is rotated, the lead screw housing 136 rotates relative to the lead screw 134 and, at the same time, the lead screw housing 136 moves toward and away from the instrument channel 106.
The screw sleeve stopper 138 is disposed on the outer side of the screw sleeve 136 for restricting rotation of the screw sleeve 136.
It will be appreciated that controlling the direction and angle of rotation of the second motor 132 allows for precise control of the distance the lead screw housing 136 is extended or retracted.
When the lead screw sleeve 136 extends, the end of the lead screw sleeve 136 is connected to the instrument holder 120, so that the instrument holder 120 can be close to the instrument channel 106, and the medical instrument 200 on the instrument holder 120 extends along the instrument channel 106.
When the screw rod sleeve 136 is retracted, the end of the screw rod sleeve 136 is connected to the instrument seat 120, so that the instrument seat 120 can be placed back into the positioning hole 114, and when the screw rod sleeve 136 is continuously retracted, the end of the screw rod sleeve 136 is separated from the instrument seat 120, so that the operation can be stopped or other medical instruments 200 can be switched.
In some embodiments, a cavity is formed in the lead screw housing stop 138, with a guide slot 1380 formed in a wall of the cavity, the guide slot 1380 extending toward the instrument channel 106. The outer side wall of the screw housing 136 is provided with a protrusion 1360, the protrusion 1360 being slidably connected to the guide groove 1380.
It will be appreciated that the guide slots 1380 limit the rotation of the lead screw housing 136 and that the lead screw housing 136 moves within the cavity away from or toward the instrument channel 106 along the guide slots 1380 as the lead screw 134 rotates, the guide slots 1380 increasing the stability of the lead screw housing 136 as it moves.
In some embodiments, the guide slot 1380 includes a first guide 1382, a second guide 1384, and a third guide 1386 in sequential communication, wherein the first guide 1382 and the third guide 1386 are disposed in a common direction, the second guide 1384 is perpendicular to the first guide 1382 and the third guide 1386, and the second guide 1384 is located between the first guide 1382 and the third guide 1386.
The side wall of the instrument holder 120 is formed with a sliding groove 122, the sliding groove 122 includes a first sliding portion 124 and a second sliding portion 126, and the first sliding portion 124 communicates with the second sliding portion 126. Wherein the first sliding portion 124 and the third guiding portion 1386 are disposed in the same direction, the second sliding portion 126 and the second guiding portion 1384 are disposed in the same direction, and the first sliding portion 124 extends to an edge of the instrument seat 120 facing one end of the turntable 112. The hole wall of the positioning hole 114 is provided with a sliding block 1140, and the sliding block 1140 is matched with the sliding groove 122.
When the screw 134 is rotated, the protrusion 1360 moves along the first guide 1382 and approaches the instrument channel 106, and when the protrusion 1360 reaches the second guide 1384, the end of the screw sleeve 136 abuts against the instrument seat 120 and is engaged with the instrument seat 120.
As the screw 134 continues to rotate, the protrusion 1360 slides within the second guide 1384 and the screw housing 136 rotates relative to the screw housing stop 138, at which time the instrument holder 120 rotates in unison and the slider 1140 moves along the second slide 126 and adjacent the first slide 124.
Upon continued rotation of the lead screw 134, the protrusion 1360 approaches the instrument channel 106 along the third guiding portion 1386 and the slider 1140 slides out along the first sliding portion 124 to unlock the instrument holder 120.
As the screw 134 continues to rotate, the protrusion 1360 approaches the instrument channel 106 along the third guiding portion 1386, the screw sleeve 136 and the instrument seat 120 approach the instrument channel 106 at the same time, and the medical instrument 200 extends along the instrument channel 106 for operation by the doctor.
The screw sleeve 136 is reversely rotated, so that the medical instrument 200 can be retracted, and the instrument seat 120 enters the positioning hole 114. The sliding block 1140 enters the second sliding portion 126 along the first sliding portion 124, so as to lock the instrument holder 120.
After the instrument seat 120 is locked, when the medical instrument 200 is switched, other instrument seats 120 are in a stable state, and the conditions of loosening and falling off cannot occur.
In order to increase the locking effect of the instrument holder 120, the sliding block 1140 and the second sliding portion 126 have a larger friction force, and an elastic structure or a damping structure may be provided to prevent the instrument holder 120 from loosening and slipping.
In some embodiments, adjacent end surfaces of the instrument holder 120 and the lead screw housing 136 are provided with first and second mating structures 128, 1362 that mate with each other, e.g., the first mating structure 128 is provided at an end surface of the instrument holder 120 and the second mating structure 1362 is provided at an end of the lead screw housing 136.
It should be noted that, a friction force is provided between the first plug structure 128 and the second plug structure 1362, and after the first plug structure 128 is connected to the second plug structure 1362, no relative rotation occurs between the instrument seat 120 and the screw sleeve 136.
In some embodiments, the first mating structure 128 is a sleeve, the second mating structure 1362 is a boss, and the instrument holder 120 is stably connected to the lead screw housing 136 when the boss is mated into the sleeve.
The side of the instrument holder 120 facing the instrument channel 106 is adapted to mount a medical instrument 200, and a plurality of medical instruments 200 can be mounted on a plurality of instrument holders 120, so as to realize the diversity of functions of the front end of medical exchange.
The inner wall of the sleeve is provided with a plurality of first annular electrodes, the outer wall of the boss is provided with a plurality of second annular electrodes 1364, when the boss is inserted into the sleeve, the plurality of first annular electrodes are connected with the plurality of second annular electrodes 1364 in a one-to-one correspondence mode, and are used for realizing identification, energy supply and signal transmission of medical instruments, and the number of the first annular electrodes and the number of the second annular electrodes 1364 are determined according to functions executed as required.
According to the diagnosis and treatment exchange front end provided by the embodiment of the invention, the diagnosis and treatment instrument, the instrument seat 120 and the first plug-in structure 128 form a modularized structure, so that various diagnosis and treatment functions such as illumination, flushing, suction, mechanical cutting, laser treatment and the like can be realized.
When the turntable assembly 110 rotates, the modular structure can realize intelligent automatic switching, so that convenience of in-vivo diagnosis and treatment is improved.
It should be noted that, the second ring electrode 1364 may be a flexible structure, which is beneficial to the installation and the disassembly between the boss and the sleeve, and helps to ensure the connection tightness between the first ring electrode and the second ring electrode 1364, so as to avoid the poor contact.
When the screw rod sleeve 136 approaches the instrument seat 120, the boss is inserted into the sleeve, and the boss can drive the sleeve and the instrument seat 120 to synchronously rotate, so that unlocking of the instrument seat 120 is realized.
When the screw rod sleeve 136 is far away from the instrument seat 120, the boss drives the sleeve and the instrument seat 120 to rotate, so that the sliding block 1140 slides into the second sliding part 126, and further locking of the instrument seat 120 is realized.
In some embodiments, a motor mount 1042 is disposed within the receiving cavity 104, a mounting slot 1044 is formed within the motor mount 1042, the first motor 116 and the second motor 132 are disposed within the mounting slot 1044, and an output shaft of the first motor 116 and an output shaft of the second motor 132 are disposed in opposite directions.
The motor fixing member 1042 increases the position stability of the first motor 116 and the second motor 132, so that not only the position switching of the turntable 112 can be more stable, but also the telescopic movement of the screw shaft sleeve 136 can be more stable.
The output shaft of the first motor 116 and the output shaft of the second motor 132 are reversely arranged, so that the layout of the turntable assembly 110 and the telescopic assembly 130 is more reasonable, and the volume of the front end of diagnosis and treatment exchange is reduced.
In some embodiments, the motor fixing member 1042 and the screw sleeve limiting member 138 are connected through the supporting member 108, and the supporting member 108 increases the structural strength of the housing 102, the motor fixing member 1042 and the screw sleeve limiting member 138, so as to improve the position accuracy of the medical instrument 200.
The support 108 is formed with a limit aperture 1082, and the drive shaft 118 is rotatably coupled to the limit aperture 1082, the limit aperture 1082 increasing stability of the turntable 112 during rotation.
Referring to fig. 8, a medical robot according to an embodiment of the second aspect of the present invention includes at least one flexible driving assembly 300 and a diagnosis and treatment exchange front end 100 according to an embodiment of the first aspect of the present invention, wherein the diagnosis and treatment exchange front end 100 is connected to the flexible driving assembly 300, and an instrument channel 106 of the diagnosis and treatment exchange front end faces away from the flexible driving assembly 300.
The flexible driving assembly 300 can realize bending, rotation, expansion or compression and the like, and the diagnosis and treatment exchange front end 100 is connected with the flexible driving assembly 300 and can penetrate into a human body to realize minimally invasive surgery.
It should be noted that the number of the flexible driving assemblies 300 may be plural, and when the plural flexible driving assemblies 300 are sequentially connected, the flexible driving assemblies can adapt to a complex cavity structure in a human body, so as to be beneficial to delivering the diagnosis and treatment exchange front end 100 to a target position. After reaching the target position, the turntable assembly 110 and the telescopic assembly 130 are adjusted, so that different medical instruments 200 can be automatically switched to realize related medical operation.
In summary, according to the diagnosis and treatment exchange front end and the medical robot provided by the embodiment of the invention, the diagnosis and treatment exchange front end 100 comprises a shell 102, a turntable assembly 110, an instrument seat 120 and a telescopic assembly 130, wherein the shell 102 is of a column structure and is internally provided with a sealed accommodating cavity 104, an instrument channel 106 communicated with the accommodating cavity 104 is formed at the front end of the shell 102, the turntable assembly 110 is arranged in the accommodating cavity 104, the turntable assembly 110 comprises a turntable 112, a plurality of positioning holes 114 are formed on the turntable 112, the turntable assembly 110 is suitable for switching any one of the plurality of positioning holes 114 to correspond to the instrument channel 106, the plurality of instrument seats 120 are inserted into the plurality of positioning holes 114 in a one-to-one correspondence manner, one side of the instrument seat 120 facing the instrument channel 106 is suitable for mounting a medical instrument 200, the telescopic assembly 130 is arranged in the accommodating cavity 104 and is positioned at one side of the turntable 112 facing away from the instrument channel 106, and the telescopic assembly 130 corresponds to the instrument channel 106. When the diagnosis and treatment exchange front end 100 works, the target diagnosis and treatment instrument 200 can be corresponding to the position of the instrument channel 106 by controlling the movement of the rotary disc assembly 110, the instrument seat 120 can be close to the instrument channel 106 by controlling the movement of the telescopic assembly 130, and the target diagnosis and treatment instrument 200 can be extended out of the instrument channel 106. Various modularized medical instruments 200 can be arranged in the diagnosis and treatment exchange front end 100, so that the functions are rich, intelligent automatic switching can be realized, and the convenience of in-vivo diagnosis and treatment is improved.
The embodiment of the invention provides a diagnosis and treatment exchange front end for a medical robot, which comprises a diagnosis and treatment instrument autonomous switching module, an instrument transmission part, an instrument communication part and an instrument communication part, wherein the diagnosis and treatment exchange front end adopts a motor and a locking structure to switch the diagnosis and treatment instruments with different functions to reach a target instrument channel and lock the target instrument channel, prepares for the follow-up operation requirement, can realize remote autonomous switching according to a remote instruction, adopts transmission structures such as a lead screw, a lead screw sleeve and a guide groove to realize that the diagnosis and treatment instruments extend out of the instrument channel and implement the operation function, and adopts a modularized interface design to adapt and identify different devices to provide driving force and realize data transmission. The diagnosis and treatment exchange front end provided by the embodiment of the invention can be adapted to different medical instruments and expand the functionality of a medical robot, and can realize remote autonomous switching of the medical instruments based on autonomous switching design without exiting a working state or manually replacing the medical instruments, thereby greatly improving the efficiency of operation and the accuracy of instrument positioning. According to the invention, a single instrument channel can realize the switching of a plurality of medical instruments, so that the number of channels at the front end of the medical robot is reduced, the diameter of the front end can be reduced, and the problem of coupling of the instruments under the condition of multiple channels is solved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (6)
1. A diagnostic exchange front end, comprising:
The device comprises a shell, a pressure sensor and a control device, wherein the shell is of a column structure and is internally provided with a sealed accommodating cavity, and the front end of the shell is provided with an instrument channel communicated with the accommodating cavity;
The rotary table assembly is arranged in the accommodating cavity and comprises a rotary table, a plurality of positioning holes are formed in the rotary table, and the rotary table assembly is suitable for switching any one of the positioning holes to correspond to the instrument channel;
the instrument seats are inserted into the positioning holes in a one-to-one correspondence manner, and one side, facing the instrument channel, of each instrument seat is suitable for mounting a medical instrument;
the telescopic component is arranged in the accommodating cavity and is positioned at one side of the turntable, which is away from the instrument channel, and the telescopic component corresponds to the instrument channel;
The turntable assembly further comprises:
The first motor is arranged in the accommodating cavity;
the driving shaft is connected to the center of the turntable, and the driving shaft is connected with the output shaft of the first motor through a gear;
the telescoping assembly includes:
The second motor is arranged in the accommodating cavity;
The screw rod is rotationally connected to the cavity wall of the accommodating cavity and is connected with the output shaft of the second motor through a gear, and the center of the screw rod corresponds to the center of the instrument channel;
The screw sleeve is rotationally connected with the screw;
the screw sleeve limiting piece is suitable for limiting the rotation of the screw sleeve;
the screw rod sleeve limiting piece forms a cavity, a guide groove extending towards the direction of the instrument channel is formed in the cavity wall of the cavity, a protrusion is arranged on the outer side wall of the screw rod sleeve, and the protrusion is connected with the guide groove in a sliding mode;
The guide groove comprises a first guide part, a second guide part and a third guide part which are sequentially communicated, the first guide part and the third guide part are arranged in the same direction, and the second guide part is perpendicular to the first guide part and the third guide part;
the side wall of the instrument seat is provided with a sliding groove, the sliding groove comprises a first sliding part and a second sliding part which are communicated with each other, the second sliding part and the second guiding part are arranged in the same direction, the first sliding part and the third guiding part are arranged in the same direction, and the first sliding part extends to the edge of one end of the instrument seat, which faces the turntable;
the pore wall of the locating hole is provided with a sliding block, and the sliding block is matched with the sliding groove.
2. The diagnosis and treatment exchange front end according to claim 1, wherein the end surfaces of the instrument seat and the screw sleeve adjacent to each other are provided with a first plug structure and a second plug structure which are matched with each other.
3. The diagnostic interchange front end according to claim 2, wherein said first plug-in structure is a sleeve and said second plug-in structure is a boss adapted to be plugged into said sleeve;
The inner wall of the sleeve is provided with a plurality of first annular electrodes, the outer wall of the boss is provided with a plurality of second annular electrodes, and when the boss is inserted into the sleeve, the plurality of first annular electrodes are connected with the plurality of second annular electrodes in a one-to-one correspondence manner.
4. The diagnosis and treatment exchange front end according to claim 1, wherein a motor fixing part is arranged in the accommodating cavity, a mounting groove is formed in the motor fixing part, the first motor and the second motor are arranged in the mounting groove, and an output shaft of the first motor and an output shaft of the second motor are reversely arranged.
5. The diagnosis and treatment exchange front end according to claim 4, wherein the motor fixing piece and the screw sleeve limiting piece are connected through a supporting piece, a limiting hole is formed in the supporting piece, and the driving shaft is rotatably connected to the limiting hole.
6. A medical robot comprising at least one flexible drive assembly and a treatment exchange front-end according to any one of claims 1 to 5, said treatment exchange front-end being connected to said flexible drive assembly and an instrument channel of said treatment exchange front-end facing away from said flexible drive assembly.
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| CN117562669A (en) * | 2023-11-13 | 2024-02-20 | 上海馥逸医疗科技有限公司 | Knife changing device, surgical robot and knife changing method of surgical robot |
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| US9096033B2 (en) * | 2007-06-13 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Surgical system instrument sterile adapter |
| JP6657244B2 (en) * | 2015-02-26 | 2020-03-04 | コヴィディエン リミテッド パートナーシップ | Robot controlled remote motion center with software and guide tube |
| CN110584786A (en) * | 2019-09-27 | 2019-12-20 | 杭州桐高创新科技有限公司 | Mechanical arm of medical diagnosis and treatment surgical robot |
| CN114521965A (en) * | 2020-11-23 | 2022-05-24 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument replacement robot, surgical robot system, and surgical instrument replacement system |
| WO2022116215A1 (en) * | 2020-12-05 | 2022-06-09 | 诺创智能医疗科技(杭州)有限公司 | Surgical instrument, actuation mechanism and surgical robot |
| CN214434483U (en) * | 2020-12-05 | 2021-10-22 | 诺创智能医疗科技(杭州)有限公司 | Actuator and Surgical Robot |
| CN112716607A (en) * | 2021-01-20 | 2021-04-30 | 山东威高手术机器人有限公司 | Endoscopic surgical instrument replacement method |
| CN114533270A (en) * | 2021-09-13 | 2022-05-27 | 广西大学 | Be used for terminal end instrument of surgical robot to stretch out and draw back and rotation equipment |
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