CN114668513A - Robot-assisted surgery system - Google Patents
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- CN114668513A CN114668513A CN202210417924.6A CN202210417924A CN114668513A CN 114668513 A CN114668513 A CN 114668513A CN 202210417924 A CN202210417924 A CN 202210417924A CN 114668513 A CN114668513 A CN 114668513A
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 39
- 230000005284 excitation Effects 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000009297 electrocoagulation Methods 0.000 claims description 12
- 230000004913 activation Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003187 abdominal effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 8
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- 230000003213 activating effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000001737 promoting effect Effects 0.000 description 1
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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
- A61B34/37—Leader-follower robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Life Sciences & Earth Sciences (AREA)
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- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The present disclosure provides a robot-assisted surgery system, comprising: the device comprises a pedal, a master-slave control part, an energy tool generator, an energy tool and an instrument arm; the pedal is arranged at the main operation end and is used for detecting the normal communication of the functional signals of the surgical instrument and responding to one-time treading to send an excitation signal; the master-slave control part is connected with the pedal and is used for receiving an excitation signal sent by the pedal; the energy tool generator is arranged at the slave operation end and is connected with the master-slave control part; the energy tool is connected with the output end of the energy tool generator; the energy tool generator starts the energy tool after receiving the excitation signal; a robotic arm is disposed at the slave operative end, the energy tool being mounted on the robotic arm.
Description
Technical Field
The present disclosure relates to the field of robotic-assisted surgery technology, and more particularly, to a robotic-assisted surgery system.
Background
Currently, in the implementation of robot-assisted surgery, a high-frequency energy tool (a single-stage electric knife, a bipolar forceps and the like) is one of the surgical instruments with the highest use frequency. More than 2 foot pedals are usually provided at the main operating end of the robot for controlling the high frequency energy tool, comprising: function starting, electric cutting function and electric coagulation function. One end of the pedal is connected with the energy tool generator, when the high-frequency energy tool type surgical instrument is installed on the instrument arm, the energy tool generator is communicated with the high-frequency energy tool, and a doctor treads the pedal to control the high-frequency current of the high-frequency energy tool to be excited and stopped. In the operation implementation process, the doctor binocular observes the operation position image that display device appears, and the main operation hand is held to both hands simultaneously and operation is carried out, takes place the maloperation very easily when trampling the running-board and leads to the operation accident to take place.
In this control mode, the foot pedal is directly connected to the energy tool generator, which in turn is connected to the energy tool. The pedals of the main operation end correspond to the energy tools of the auxiliary operation end one by one, so that a more intuitive operation mode can be brought, but the operation difficulty of a doctor in an operation is increased due to the increase of the number of the pedals. In the actual operation process, in order to ensure that the correct pedal is treaded, a doctor often needs to make the sight leave the display of the main operation end and look down, otherwise, the phenomenon of treading by mistake in the operation is easy to happen. However, in the process of repeatedly switching between the general surgical tool and the energy tool, the doctor needs to frequently look away from the display, which is likely to cause misoperation of the front end of the surgical instrument.
Disclosure of Invention
Technical problem to be solved
Based on the above problems, the present disclosure provides a robot-assisted surgery system to solve the above technical problems.
(II) technical scheme
According to one aspect of the present disclosure, there is provided a robot-assisted surgery system comprising:
the pedal is arranged at the main operation end and used for detecting the normal communication of the functional signals of the surgical instrument and sending an excitation signal in response to one-time treading;
the master-slave control part is connected with the pedal and is used for receiving an excitation signal sent by the pedal;
the energy tool generator is arranged at a slave operation end and is connected with the master-slave control part;
the energy tool is connected with the output end of the energy tool generator; the energy tool generator starts the energy tool after receiving the excitation signal; and
and the instrument arm is arranged at the slave operation end, and the energy instrument is arranged on the instrument arm.
In some embodiments of the present disclosure, after stepping on the pedal detects normal communication of the surgical instrument function signal, identifying that the energy tool is configured as a bipolar energy tool, and stepping on the pedal again for sending an electrocoagulation activation signal.
In some embodiments of the present disclosure, after stepping on the pedal detects normal communication of the surgical instrument function signal, identifying the energy tool as a monopolar energy tool, and stepping on the pedal again for manual selection of transmission of the electrocoagulation activation signal or the electrocision activation signal.
In some embodiments of the present disclosure, further comprising:
the main operating hand is arranged at the main operating end;
encoders installed at respective joints of the main manipulator; the encoder is used for acquiring rotation angle parameters of each joint in the motion of the main manipulator;
the master-slave control part receives the rotation angle parameter and generates an output parameter according to a kinematic model; the motion of the robotic arm at the slave hand end is responsive to output parameters sent by the master slave control.
In some embodiments of the present disclosure, further comprising:
the endoscope is arranged on the instrument arm, penetrates through an abdominal wound and enters the inside of a human body, and is used for acquiring image information in an operation; and
and the display equipment receives the image information acquired by the endoscope, and is in communication connection with the master-slave control part.
In some embodiments of the present disclosure, further comprising:
at least one surgical instrument mounted on the instrument arm, the movement of the surgical instrument being used for the output signal.
In some embodiments of the present disclosure, the display device includes a touch screen for function clicking and/or screen view adjustment.
In some embodiments of the present disclosure, further comprising:
and the gesture recognition unit is used for recognizing gesture signals and sending the gesture signals to the master-slave control part.
In some embodiments of the present disclosure, further comprising:
and the voice recognition unit is used for recognizing voice signals and sending the voice signals to the master-slave control part.
In some embodiments of the present disclosure, the master operation end and the slave operation end are disposed in different spaces.
(III) advantageous effects
From the technical scheme, the robot-assisted surgery system has at least one or part of the following beneficial effects:
(1) in the disclosure, the pedals are connected with the energy tool generator through the master-slave control part, so that the working mode that one pedal corresponds to multiple energy tools is realized, the quantity of the pedals at the master operation end is reduced, and the probability of mistaken stepping is reduced.
(2) The robot-assisted surgery system provided by the disclosure enables the energy tool to be used more easily in remote surgery by means of the master-slave control part sending the starting signal and the excitation signal to the energy tool generator.
Drawings
Fig. 1 is a schematic view of a robot-assisted surgical system of the present disclosure.
Fig. 2 and 3 are schematic structural views of a robot-assisted surgery system.
Fig. 4 is a schematic view illustrating a working process of the robot-assisted surgery system according to an embodiment of the present disclosure.
[ reference numerals ] of the drawings
01-main operation end;
011-main operator;
02-slave operation end;
022-an instrument arm;
023-surgical instruments;
024-endoscope;
03-three-dimensional image system;
04-control system.
Detailed Description
The present disclosure provides a robot-assisted surgery system, comprising: the device comprises a pedal, a master-slave control part, an energy tool generator, an energy tool and an instrument arm; the pedal is arranged at the main operation end and is used for detecting the normal communication of the functional signals of the surgical instrument and sending an electrocoagulation excitation signal or an electrotomy excitation signal when being stepped on; the master-slave control part is connected with the pedal and is used for receiving an excitation signal sent by the pedal; the energy tool generator is arranged at the slave operation end and is connected with the master-slave control part; the energy tool is connected with the output end of the energy tool generator; the energy tool generator starts the energy tool after receiving the excitation signal; and an instrument arm is arranged at the slave operation end, and the energy tool is arranged on the instrument arm.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
In an embodiment of the present disclosure, a robot-assisted surgery system is provided.
Fig. 1 is a schematic view of a robot-assisted surgical system of the present disclosure.
As shown in fig. 1, a robot-assisted surgery system provided by an embodiment of the present disclosure includes: the device comprises a pedal, a master-slave control part, an energy tool generator, an energy tool and an instrument arm. Each of which is described in detail below.
The pedal is arranged at the main operation end and is used for detecting the normal communication of the functional signals of the surgical instrument when being stepped. Wherein, the number of the pedals can be 1, 2, 3, 4 and the like. Preferably, only one pedal can be arranged to realize the functions of detecting the normal communication of the functional signals of the surgical instrument, sending an excitation signal, an electrocoagulation excitation signal, an electrotomy excitation signal and the like.
The master-slave control part is connected with the pedal and is used for receiving an excitation signal sent by the pedal.
The energy tool generator is arranged at the slave operation end and is connected with the master-slave control part.
The energy tool is connected with the output end of the energy tool generator; the energy tool generator activates the energy tool upon receiving the activation signal.
A robotic arm is disposed at the slave operative end, the energy tool being mounted on the robotic arm.
In some embodiments of the present disclosure, after pedaling the pedal detects a proper communication of the surgical instrument function signal, identifying the energy tool as a bipolar energy tool, and re-pedaling the pedal for transmitting an electrocoagulation activation signal.
In some embodiments of the present disclosure, after stepping on the pedal detects normal communication of the surgical instrument function signal, identifying the energy tool as a monopolar energy tool, and stepping on the pedal again for manual selection of transmission of the electrocoagulation activation signal or the electrocision activation signal.
In some embodiments of the present disclosure, include: the encoder is arranged at each joint of the main operating end main operating hand and the main operating end main operating hand. When a doctor operates a main operating hand, an encoder collects rotation angle parameters of each joint in the action of the main operating hand; the master-slave control part receives the rotation angle parameters collected by the encoder and takes the rotation angle parameters as input parameters of the master-slave control part. The master-slave control unit generates output parameters corresponding to the input parameters based on the mapping relationship of the kinematic model. The motion of the instrument arm from the hand end is responsive to output parameters sent by the master-slave control.
In some embodiments of the present disclosure, further comprising: an endoscope and display device mounted on the instrument arm. The endoscope enters the human body after penetrating through the abdominal wound and is used for acquiring image information in an operation. The display device is connected with the master-slave control part in a communication way by receiving the image information acquired by the endoscope.
As shown in fig. 1, the number of main manipulators in a typical robot-assisted surgery system is 2. The number of the setting mechanical arms can be 3, 4 and 5 … … N, wherein N is a positive integer. In other words, the number of instrument arms available for mounting surgical instruments, other than the instrument arm mounting the endoscope, is 2, 3, 4 … … N-1. The surgical instrument can at least comprise one energy tool, namely, a single energy tool is arranged on one instrument arm, and the energy tool can be replaced according to the requirement.
When the number of the mechanical arms is 3 from the operation end, the energy tool can automatically correspond to the left and the right of the main manipulator after being installed on the mechanical seat on the mechanical arm; if the number of the instrument arms is set to be more than 3 by the slave means, or the instrument arms are in a special pose and cannot automatically correspond to the main manipulator left and right, the corresponding relation between the energy tool and the main manipulator is selected manually and actively.
In some embodiments of the present disclosure, the display device includes a touch screen for function clicking and/or screen view adjustment.
In some embodiments of the present disclosure, further comprising: and the gesture recognition unit is used for recognizing gesture signals and sending the gesture signals to the master-slave control part.
In some embodiments of the present disclosure, further comprising: and the voice recognition unit is used for recognizing voice signals and sending the voice signals to the master-slave control part.
Referring to fig. 1, the main operation end is provided with input devices such as a main operation hand, a pedal, a gesture recognition module, a voice recognition module, and the like for controlling each function of the robot-assisted surgery system. Output devices such as a robot arm, a surgical instrument, and an endoscope are provided at the slave operation end to perform various functions of the robot. The arm of the instrument in which the endoscope is mounted may be generally referred to as a scope holding arm.
The input signal of the input device is transmitted to the master-slave control part, and is transmitted to the output device by the master-slave control part after operation.
The display device arranged at the main operation end of the robot can display the operation part picture transmitted back from the operation end endoscope in real time, meanwhile, the display device can also be used as an input device, the display device is arranged as a touch screen, and a doctor can directly perform function point selection and picture visual field adjustment on the screen.
The main manipulator can control the motion of the mechanical arm and the surgical instrument, when the surgical instrument is a high-frequency energy tool, the pedal can be used for starting and exciting the energy tool generator, the energy tool generator is arranged at the slave operation end, the pedal sends out an excitation signal to be transmitted to the master-slave control part, and then the master-slave control part sends out the excitation signal to the energy tool generator. In the application scene of the master-slave robot-assisted surgery system, a large number of surgeries can adopt a remote surgery mode, namely, the master operation end of the robot is not located at the same place as the slave operation end, and the master-slave control part sends a starting signal and an excitation signal to the energy tool generator, so that the energy tools in the remote surgeries can be more easily used. Of course, the master operation end and the slave operation end can also be arranged at the same place according to the requirements of the actual application scene. Meanwhile, the pedals are not directly connected with the generator any more, but are connected with the master-slave control part, so that the working mode that one pedal corresponds to multiple energy tools is realized, and the quantity of the pedals at the master operation end is greatly reduced.
In practical application, the master-slave control part is used for primarily judging the type of the mounted instrument. For instruments with multiple functions, the target function needed to be used in the operation is determined through a selection button of the main operation end and different color prompts on the display, and an excitation signal is transmitted to the main control part and the slave control part through the same pedal plate to activate the selected instrument function so as to complete the corresponding operation.
Fig. 2 and 3 are schematic structural views of a robot-assisted surgery system. As shown in fig. 2 and 3, the system comprises a master operation terminal 01 and a slave operation terminal 02, wherein the master operation terminal 01 is further integrated with a three-dimensional image system 03 and a control system 04. The main operation end 01 is provided with a main manipulator 011, and the main manipulator 011 controls a mechanical arm 022 and a surgical instrument 023 which are arranged on the slave operation end 02. From the operation end 02, a plurality of instrument arms 022 are provided, and each instrument arm 022 is to be installed with surgical instruments 023 having different functions such as tissue forceps, needle holding, energy tools, ultrasonic blades, etc. during surgery to meet the surgical needs of different surgeries. One of the plurality of instrument arms 12 is mounted with an endoscope 024 for intra-operative image transmission.
During operation, the instrument arm 022 with the endoscope 024 mounted thereon positions and orients the endoscope 024 by posture adjustment. The endoscope 024 penetrates through an abdominal incision (poking card) and enters the inside of a human body, can acquire three-dimensional images of a surgical implementation part and synchronously transmits the three-dimensional images of a focus part to the three-dimensional image system 03 arranged on the main operation end 01, a doctor performs surgical operation by watching the three-dimensional images, namely, the doctor watches the synchronous images of the focus part on the three-dimensional image system 03 at the main operation end 01, and simultaneously operates the main operation hand 011, and controls the poses and actions of a plurality of mechanical arms 022 and surgical instruments 023 on the slave operation end 02 by adjusting the pose of the main operation hand 011 so as to complete the surgical operation. In the process, encoders arranged at joints of a master manipulator 011 operated by a doctor can record joint rotation angle data in real time, the joint rotation angle data can be called as input parameters or input signals, the data are transmitted to a control system 04, a controller in the control system 04 is preset with kinematic mathematical models mapped among the master manipulator 011, an instrument arm 022 and a surgical instrument 023, the controller receives the input parameters, calculates output parameters of the kinematic models corresponding to the surgical instruments 023 with different functions, and transmits the output parameters to the instrument arm 022 and the surgical instrument 023 of a slave operation end 02 to realize motion control.
Fig. 4 is a schematic view illustrating a working process of the robot-assisted surgery system according to an embodiment of the present disclosure. As shown in fig. 4, when the number of pedals for starting and activating the energy tool is 1, the system automatically activates a self-checking program after the robot-assisted surgery system is started, and detects whether the functional signals of the pedals and the instrument base can be normally communicated. If a failure to communicate properly is detected, manual detection hardware may be selected to check whether the pedals, instrument holder switches or joints are normal, and then to start the robot again. If the field has no condition for manual detection hardware or has no slack time detection hardware, a backup switch may be selectively activated, the backup switch being disposed in parallel with the communication transmission line.
After the pedal is in normal communication with the instrument base function signal, the energy tool type surgical instrument is installed on the instrument base. Usually, the number of main operating hands and the number of slave operating end instrument arms of the surgical robot are 2, 3, 4 and 5 (namely, the number of instrument arms which can be used for installing surgical instruments except instrument arms for installing endoscopes is 2, 3 and 4). When the number of the mechanical arms is 3, the energy tool instrument is automatically corresponding to the left and right of the main manipulator after being installed on the instrument seat; if the number of the instrument arms is set to be more than 3 by the slave means, or the instrument arms are in a special pose and cannot automatically correspond to the main manipulator left and right, the corresponding relation between the energy tool and the main manipulator is selected manually and actively.
And (3) treading the pedal once to activate the energy tool function module in the master-slave control part, starting the energy tool generator, automatically detecting whether the energy tool generator and the energy tool instrument function signal are normally communicated or not by the energy tool function module, and if the energy tool generator and the energy tool instrument function signal cannot be normally communicated, prompting the operator to reinstall the surgical instrument by the display equipment.
The surgical instrument is provided with a storage chip for identifying the type of the surgical instrument, and when the energy tool generator is detected to be in normal communication with the energy tool, the system automatically reads the storage chip to identify the type of the energy tool. When the surgical instrument is a bipolar energy tool, the instrument is highlighted blue in the display device by semantic segmentation, as shown in fig. 4, and the pedal is stepped a second time, activating the electrocoagulation function. When the surgical instrument is a single-stage energy tool, the electro-excision or electro-coagulation function is manually selected, the electro-excision function is selected, the surgical instrument is highlighted and displayed in yellow through semantic segmentation in the display device, the pedal is treaded for the second time to excite the electro-excision function, the electro-coagulation function is selected, the instrument is highlighted and displayed in blue through semantic segmentation in the display device, and the pedal is treaded for the second time to excite the electro-coagulation function.
When the system detects that the pedal has no signal feedback for a second continuously, the energy tool instrument is highlighted and stopped, the energy tool is used, or the pedal is stepped once, and the energy tool function module in the master-slave control part is reactivated.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be understood that the implementations not shown or described in the drawings or in the text of this specification are in a form known to those skilled in the art and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
From the above description, those skilled in the art should clearly recognize that the present disclosure is directed to a robotic-assisted surgical system.
In summary, the robot-assisted surgery system provided by the present disclosure can make the use of energy tools in remote surgery easier by the way that the master-slave control unit sends the activation signal and the excitation signal to the energy tool generator.
It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only directions referring to the drawings, and are not intended to limit the protection scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Furthermore, in the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. A robot-assisted surgery system comprising:
the pedal is arranged at the main operation end and used for detecting the normal communication of the functional signals of the surgical instrument and responding to one-time treading to send an excitation signal;
the master-slave control part is connected with the pedal and is used for receiving an excitation signal sent by the pedal;
the energy tool generator is arranged at a slave operation end and is connected with the master-slave control part;
the energy tool is connected with the output end of the energy tool generator; the energy tool generator starts the energy tool after receiving the excitation signal; and
and the instrument arm is arranged at the slave operation end, and the energy instrument is installed on the instrument arm.
2. The robot-assisted surgery system of claim 1, wherein, upon depression of the pedal detecting a normal communication of the surgical instrument function signal, the energy tool is identified as being configured as a bipolar energy tool, and depression of the pedal is resumed for transmission of an electrocoagulation activation signal.
3. The robot-assisted surgery system of claim 1, wherein, upon depression of the pedal detecting a proper communication of the surgical instrument function signal, the energy tool is identified as a monopolar energy tool, and depression of the pedal again is used for manual selection of transmission of an electrocoagulation excitation signal or an electrocision excitation signal.
4. The robot-assisted surgery system of claim 1, further comprising:
the main operating hand is arranged at the main operating end;
encoders installed at respective joints of the main manipulator; the encoder is used for acquiring rotation angle parameters of each joint in the motion of the main manipulator;
the master-slave control part receives the rotation angle parameter and generates an output parameter according to a kinematic model; the motion of the robotic arm at the slave hand end is responsive to output parameters sent by the master slave control.
5. The robot-assisted surgery system of claim 1, further comprising:
the endoscope is arranged on the instrument arm, penetrates through an abdominal wound and enters the inside of a human body, and is used for acquiring image information in an operation; and
and the display equipment receives the image information acquired by the endoscope, and is in communication connection with the master-slave control part.
6. The robot-assisted surgery system of claim 5, further comprising:
at least one surgical instrument mounted on the instrument arm, the motion of the surgical instrument being used for the output signal.
7. The robot-assisted surgery system according to claim 5, wherein the display device includes a touch screen for function clicking and/or screen view adjustment.
8. The robot-assisted surgery system according to any one of claims 1 to 7, further comprising:
and the gesture recognition unit is used for recognizing gesture signals and sending the gesture signals to the master-slave control part.
9. The robot-assisted surgery system according to any one of claims 1 to 7, further comprising:
and the voice recognition unit is used for recognizing voice signals and sending the voice signals to the master-slave control part.
10. The robot-assisted surgery system according to any one of claims 1 to 7, wherein the master operating end and the slave operating end are provided in different spaces.
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| CN202210417924.6A CN114668513A (en) | 2022-04-20 | 2022-04-20 | Robot-assisted surgery system |
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| CN118092132A (en) * | 2024-04-29 | 2024-05-28 | 宁波睿达医疗器械有限公司 | Safety control method and system of surgical equipment and readable storage medium |
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