CN204683554U - A kind of micro-wound operation robot choledochoscope - Google Patents
A kind of micro-wound operation robot choledochoscope Download PDFInfo
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- CN204683554U CN204683554U CN201520220115.1U CN201520220115U CN204683554U CN 204683554 U CN204683554 U CN 204683554U CN 201520220115 U CN201520220115 U CN 201520220115U CN 204683554 U CN204683554 U CN 204683554U
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- choledochoscope
- micro
- fixedly connected
- rigid link
- biliary tract
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Abstract
A kind of micro-wound operation robot choledochoscope, it is detected and treatment by micro-wound operation robot control realization hepatic duct, comprises choledochoscope body and auxiliary device, described choledochoscope body, comprises front end assemblies, crooked assembly, rigid link and biliary tract mirror case; Described crooked assembly one end is fixedly connected on front end assemblies, and the other end is fixedly connected on rigid link; The described rigid link other end is arranged on described biliary tract mirror case rotatably; Described crooked assembly, realizes the curvature movement in a direction; The spinning motion of choledochoscope rigid link is realized between described rigid link and biliary tract mirror case; Described biliary tract mirror case is mainly used in choledochoscope and minimally invasive robot to be connected and fixed, and transmits the driving force controlling other component movement of choledochoscope.The utility model has the advantages that: the success rate improving operation; Alleviate doctor tired; There are enough flexibility ratios; Decrease operating time and reduce the difficulty of getting stone; There are the potentiality expanded to other medical field.
Description
Technical field
This utility model relates to a kind of choledochoscope, particularly a kind of choledochoscope of micro-wound operation robot, and it can be observed the tissue in tract and operate.
Background technology
Minimally invasive surgery is by microtrauma or Mini approach, special instrument, physical energy or chemical agent are sent into inside of human body, complete the surgical procedures such as the deactivation to pathological changes, deformity, wound in human body, excision, reparation or reconstruction, to reach the medical science branch of therapeutic purposes.The advantages such as traditional Minimally Invasive Surgery is little with wound otch, go out insufficiency of blood, cicatrix is little, be in hospital and recovery time is short obtain the accreditation of doctor and patient, and substitute abdominal gradually.And along with the development of science and technology, robotics is incorporated into minimally invasive surgery field, has promoted the development and progress of minimally invasive surgery further.Compared to traditional Minimally Invasive Surgery, robot micro-wound operation can effectively eliminate doctor's hand-motion jitter, doctor is operated more stable, and effectively can alleviate the fatigue of doctor; Operating theater instruments and doctor is avoided to produce interference; Intuition motor control and stereoscopic vision can also be provided, simplify the operation of doctor.Therefore, micro-wound operation robot is considered to the new technological revolution of surgical operation, and is more and more subject to the attention of numerous research worker.
Meanwhile, hepatobiliary disease is commonly encountered diseases and frequently-occurring disease in China always, accounts for Genneral Surgery's disease greatly.Only for cholelithiasis, sickness rate accounts in China's general population about 10%, and is in hospital in sufferer in the same period, and the patient suffering from cholelithiasis accounts for 13% ~ 14%.Treating in the process of hepatobiliary disease by traditional Minimally Invasive Surgery mode, the direct hand-held choledochoscope of doctor carries out detecting treatment operation.On the one hand, doctor needs the motion that just can control choledochoscope through the training that specialty is long-term preferably, and operates choledochoscope and very easily make doctor produce fatigue; On the other hand, field of view can change along with the motion of choledochoscope, is unfavorable for that doctor controls choledochoscope and enters bile duct.So, if minimally invasive robot can be utilized to carry out corresponding operation technique, not only can reduce the misery of patient, shorten the recovery time of patient, and reduce difficulty, the alleviation doctor fatigue of doctor's operation, improve success rate of operation.But in existing robot micro-wound operation, doctor can only utilize peritoneoscope to observe organ surface in sufferer abdominal cavity, and the inside for small structure such as hepatic ducts cannot direct detection.This makes in operation process, and doctor cannot understand the situation of hepatic duct inside in real time, thus can not make the judgement held water.So, can detect and can have great help to the treatment of hepatobiliary system disease hepatic duct inside.In current peritoneoscope or robotic assisted surgery, traditional fashionable choledochoscope of detecting or rely in biliary tract is carried out, its operation obstructs large, not accurate and consuming time. therefore, design a kind of micro-wound operation robot choledochoscope to filling up home and abroad blank, the progress of propel machine people vision surgery related-art technology is significant.
Utility model content
The purpose of this utility model is the deficiency overcoming prior art, provides a kind of micro-wound operation robot choledochoscope.
In order to achieve the above object, the technical solution adopted in the utility model is:
A kind of micro-wound operation robot choledochoscope, it is detected and treatment by micro-wound operation robot control realization hepatic duct, comprise choledochoscope body and auxiliary device, be further characterized in that, described choledochoscope body, comprises front end assemblies (1), crooked assembly (2), rigid link (3) and biliary tract mirror case (4); Described crooked assembly (3) one end is fixedly connected on front end assemblies (2), and the other end is fixedly connected on rigid link (3); Described rigid link (3) other end is arranged on described biliary tract mirror case (4) rotatably; Described crooked assembly (2), realizes the curvature movement in a direction; The spinning motion of choledochoscope rigid link is realized between described rigid link (3) and biliary tract mirror case (4); Described biliary tract mirror case is mainly used in choledochoscope and minimally invasive robot to be connected and fixed, and transmits the driving force controlling other component movement of choledochoscope.
Wherein, described front end assemblies comprises front end seat (101), instrument channel (106), water inlet pipe (9), optical cable (8) and photographic head (103); Described water inlet pipe (9) is fixedly connected with the apopore (102) on the seat of front end; Described apopore (102) ejection water under high pressure, suitably can expand hepatic duct diameter on the one hand to ensure field of view and treatment space, can clear up small-sized calculus in hepatic duct on the other hand; Described photographic head (103) is fixedly connected on front end seat (101), in order to gather the visual information of hepatic duct inside, and is transferred to image processing system by the camera cable connected; Described optical cable (8) is fixedly connected on front end seat (101), illumination required when providing camera collection image; Described instrument channel (106) is fixedly connected with the instrument hole (104) on front end seat (101), for choledochoscope instrument provides passage, to realize some treatment functions.
Wherein, described auxiliary device, includes image processing system (5), high-pressure water (6) and cold light source (7); Wherein, described image processing system by camera collection to image information process, and output on display; Described high-pressure water provides the water under high pressure of pressure adjustable, is injected in biliary system through water inlet pipe by apopore; Described cold light source provides bright visible ray, by optical cable, illuminates the environment of bile duct inside.
Wherein, described crooked assembly is three-decker, comprises joint (202), steel wire network pipe (204) and rubber tube (205); Described joint (202) is hinged between two in the mode of axis being parallel, realizes the bending of a direction; Described steel wire network pipe (204) is wrapped in outside, joint (202), described rubber tube (205) is wrapped in outermost, the inner side in each joint (202) is fixedly connected with two silk rings (201), two steel wire ropes (203) are each passed through the silk ring (201) described in two groups, and one end is fixedly connected on first joint, by pulling described steel wire rope (203), control the curvature movement in joint (202).
Wherein, the bending of both direction is realized by being arranged vertically of adjacent segment (202) axis.
Compared with prior art, a kind of micro-wound operation robot choledochoscope that this utility model provides has following beneficial effect:
1, a kind of micro-wound operation robot choledochoscope of the present utility model coordinates the peritoneoscope in robot, can complete detecting abdominal cavity and hepatic duct inside simultaneously, for doctor provides abundanter comprehensive visual information, thus improve the success rate of operation.
2, a kind of micro-wound operation robot choledochoscope of the present utility model uses on minimally invasive robot, reduces the difficulty to choledochoscope operation, alleviates doctor tired.
3, a kind of micro-wound operation robot choledochoscope of the present utility model has a rotation degree of freedom and a bending degree of freedom, coordinate robot from arm, easily can arrive and detect target position, have enough flexibility ratios.
4, a kind of micro-wound operation robot choledochoscope of the present utility model is equipped with corresponding auxiliary device, especially the application of high-pressure water, make to keep bile duct space and clear up the functions such as small-sized cholelithiasis better realizing, decrease operating time and reduce the difficulty of getting stone.
5. a kind of micro-wound operation robot choledochoscope of the present utility model is mainly towards hepatobiliary disease, but is not limited thereto, and being also applicable to other needs to enter small structure in body and carry out the corresponding situation of detecting and treating, and has the potentiality expanded to other medical field.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of micro-wound operation robot choledochoscope of this utility model.
Fig. 2 is the forms of motion of a kind of micro-wound operation robot choledochoscope of this utility model.
Fig. 3 is the pipeline wire cable layout schematic diagram of a kind of micro-wound operation robot choledochoscope of this utility model.
Fig. 4 is the one direction curvature movement implementation of a kind of micro-wound operation robot choledochoscope of this utility model.
Fig. 5 is the type of drive schematic diagram of a kind of micro-wound operation robot choledochoscope of this utility model.
Fig. 6 is the cord layout schematic diagram of a kind of micro-wound operation robot choledochoscope of this utility model.
Fig. 7 is the application schematic diagram of a kind of micro-wound operation robot choledochoscope of this utility model.
Fig. 8 is the bimirror display image in the use procedure of a kind of micro-wound operation robot choledochoscope of this utility model.
Fig. 9 is two direction curvature movement implementations of a kind of micro-wound operation robot choledochoscope of this utility model.
Wherein:
1-front end assemblies 2-crooked assembly 3-rigid link 4-biliary tract mirror case
5-image processing system 6-high-pressure water 7-cold light source 8-optical cable 9-water inlet pipe
10-camera cable
101-front end seat 102-apopore 103-photographic head 104-instrument hole 105-biopsy forceps
106-instrument channel
201-silk ring 202-joint 203-first steel wire rope 204-steel wire network pipe 205-rubber tube
301-first motor 302-first drives silk to take turns 303-directive wheel 304-second motor
305-second drives silk to take turns 306-second steel wire rope 307-rotation silk wheel
401-minimally invasive robot 402-instrument 403-choledochoscope 404-peritoneoscope
501-peritoneoscope gathers image 502-choledochoscope and gathers image
B1-bends degree of freedom r1-rotation degree of freedom
Detailed description of the invention
Below in conjunction with accompanying drawing, a kind of micro-wound operation robot choledochoscope of this utility model is described in detail.
Fig. 1, Fig. 2 are overall structure schematic diagram and the forms of motion of a kind of micro-wound operation robot choledochoscope of this utility model.A kind of micro-wound operation robot choledochoscope, comprises choledochoscope body and auxiliary device.Wherein, described choledochoscope body comprises front end assemblies 1, crooked assembly 2, rigid link 3 and biliary tract mirror case 4.Described crooked assembly 2 one end is fixedly connected on front end assemblies 1, and the other end is fixedly connected on rigid link 3.Described rigid link 3 other end is arranged on described biliary tract mirror case 4 rotatably.Described biliary tract mirror case 4 is mainly used in choledochoscope and minimally invasive robot to be connected and fixed, and transmits the driving force controlling other component movement of choledochoscope.Described auxiliary device comprises image processing system 5, high-pressure water 6 and cold light source 7, and is connected with biliary tract mirror case 4 with optical cable 8 respectively by camera cable 10, water inlet pipe 9.
Fig. 3 is the pipeline wire cable layout schematic diagram of a kind of micro-wound operation robot choledochoscope of this utility model.Described pipeline and cable comprise optical cable 8, water inlet pipe 9, camera cable 10 and instrument channel 106.Described optical cable 8 one end is fixed on the front end seat 101 in described front end assemblies 1, and the other end is stretched out by the hole on biliary tract mirror case 4, is connected on cold light source 7, to provide illumination required in observation process.Described water inlet pipe 9 one end is fixed on the apopore 102 of front end seat 101, and the other end is stretched out by the hole on biliary tract mirror case 4, is connected on high-pressure water 6.Apopore 102 described like this can spray water under high pressure, suitably can expand hepatic duct diameter on the one hand to ensure field of view and treatment space, can clear up small-sized calculus in hepatic duct on the other hand.Described camera cable 10 one end is fixed on photographic head 103, and the other end stretches out from the hole biliary tract mirror case 4, is inserted on image processing system 5.Described photographic head 103 is fixedly connected on front end seat 101, in order to gather the visual information of hepatic duct inside.Instrument hole 104 on described instrument channel 106 one end and front end seat 101 is fixed, and the other end is fixed on biliary tract mirror case 4, and forms apparatus entrance.Apparatus such as choledochoscope such as biopsy forceps 105 grade can enter into bile duct by instrument channel 106, carries out getting the operations such as tissue, to realize the object of detecting and treating.
Fig. 4 is the one direction curvature movement implementation of a kind of micro-wound operation robot choledochoscope of this utility model.Described crooked assembly is three-decker, comprises joint 202, steel wire network pipe 204 and rubber tube 205.Described joint 202 can be hinged between two in the mode of axis being parallel, as shown in the figure, to realize the bending of a direction, two adjacent joints axes also can be made to be arranged vertically, to realize the bending of both direction.Described steel wire network pipe 204 is wrapped in outside joint 202, and described rubber tube 205 is wrapped in outermost, to play isolation, sealing and the effect of waterproof.The inner side in each joint 202 is fixedly connected with two silk rings 201.Two steel wire ropes 203 are each passed through the silk ring 201 described in two groups, and one end is fixedly connected on first joint.Like this by pulling described steel wire rope 203, the curvature movement in joint 202 can be controlled.
Fig. 5, Fig. 6 are type of drive schematic diagram and the steel wire schematic layout pattern of a kind of micro-wound operation robot choledochoscope of this utility model.Described crooked assembly 2, can realize the curvature movement b1 in a direction, and its type of drive principle is as shown in Fig. 5 (a).This driving device comprises motor I 301, first and drives silk wheel 302, directive wheel 303, first steel wire rope 203 and joint 202.Described motor I 301 can be fixedly installed on robot arm end, also can be directly installed in biliary tract mirror case 4.Described first drives silk wheel 302 to be fixedly installed in biliary tract mirror case 4.Biliary tract mirror case 4 is arranged on the interface in robot, can with reference to the granted patent (patent No.: form 200910305201.1).Like this, first silk wheel 302 is driven can to rotate under the drive of motor I 301.First described steel wire rope 203 one end is fixed on the joint 202 in described crooked assembly 2, and the other end through rigid link 3, and through described directive wheel 303 break-in, is fixedly connected on the first driving silk wheel 302.Like this, when the first steel wire rope 203 moves under the traction of motor I 301, the curvature movement b2 of crooked assembly 2 can be realized.Can realize the spinning motion r1 of choledochoscope rigid link 3 between described rigid link 3 and biliary tract mirror case 4, its type of drive principle is as shown in Fig. 5 (b).This driving device comprises the second motor 304, second and drives silk wheel the 305, second steel wire rope 306 and rotation silk wheel 307.It is 302 identical that the second described motor 304 and second drives the layout of silk wheel 305 and connected mode and motor I 301 and first to drive silk to take turns.The second described steel wire rope 306 one ends wound is fixed on the second driving silk wheel 305, and the other end is fastened on rotation silk wheel 307.Described rotation silk wheel 307 is fixedly connected with rigid link 3.Like this, when the second steel wire rope 306 moves under the second motor 304 draws, the rotation r1 of rigid link 3 can be realized.
Fig. 7, Fig. 8 are the bimirror display image in the application schematic diagram of a kind of micro-wound operation robot choledochoscope of this utility model and use procedure.By described biliary tract mirror case 4, a kind of micro-wound operation robot choledochoscope of this utility model can be installed in robot.Described robot architecture can adopt granted patent, and (patent No.: form 2011102597282 or 2011102597282), its detailed construction does not repeat them here.By the structure of robot more than 401 mechanical arm, two or multiple operation tool 402, choledochoscope 403 and peritoneoscope 404 can be installed simultaneously.Described peritoneoscope 404 can collect the image 501 of abdominal cavity environment, and described choledochoscope 403 can collect the image 502 of bile duct environment.Two-way image can show in a monitor, and can as required based on a wherein road image.When being main display with image 501, the image of liver and gall and instrument 402 and choledochoscope 403 can be observed.Now, identification bile duct position can be completed, be separated bile duct, cut choledochoscope entrance and control the tasks such as choledochoscope enters.When being main display with image 502, the situation of the instruments such as bile duct inside and biopsy forceps 105 can be observed.Now, mainly complete and detect source of disease in bile duct, get tissue samples, get the tasks such as stone.Doctor, according to different surgical tasks, selects different display modes, has greatly enriched obtainable visual information, thus has effectively improved the success rate of operation.This is of the present utility model one large advantage.
Schematically above be described this utility model and embodiment thereof, this description does not have restricted, and also just one of the embodiment of the present utility model shown in accompanying drawing, actual structure is not limited thereto.Such as, the crooked assembly 2 shown in Fig. 9, also can realize the bending of both direction by being arranged vertically of adjacent segment 202 axis.So; if those skilled in the art enlightens by it; when not departing from this utility model and creating aim; adopt the transmission of other form, driving device and connected mode without the creationary design frame mode similar to this technical scheme and embodiment, protection domain of the present utility model all should be belonged to.
Claims (5)
1. a micro-wound operation robot choledochoscope, it is detected and treatment by micro-wound operation robot control realization hepatic duct, comprise choledochoscope body and auxiliary device, be further characterized in that, described choledochoscope body, comprises front end assemblies (1), crooked assembly (2), rigid link (3) and biliary tract mirror case (4); Described crooked assembly (3) one end is fixedly connected on front end assemblies (2), and the other end is fixedly connected on rigid link (3); Described rigid link (3) other end is arranged on described biliary tract mirror case (4) rotatably; Described crooked assembly (2), realizes the curvature movement in a direction; The spinning motion of choledochoscope rigid link is realized between described rigid link (3) and biliary tract mirror case (4); Described biliary tract mirror case is mainly used in choledochoscope and minimally invasive robot to be connected and fixed, and transmits the driving force controlling other component movement of choledochoscope.
2. a kind of micro-wound operation robot choledochoscope according to claim 1, is characterized in that: described front end assemblies comprises front end seat (101), instrument channel (106), water inlet pipe (9), optical cable (8) and photographic head (103); Described water inlet pipe (9) is fixedly connected with the apopore (102) on the seat of front end; Described apopore (102) ejection water under high pressure, suitably can expand hepatic duct diameter on the one hand to ensure field of view and treatment space, can clear up small-sized calculus in hepatic duct on the other hand; Described photographic head (103) is fixedly connected on front end seat (101), in order to gather the visual information of hepatic duct inside, and is transferred to image processing system by the camera cable connected; Described optical cable (8) is fixedly connected on front end seat (101), illumination required when providing camera collection image; Described instrument channel (106) is fixedly connected with the instrument hole (104) on front end seat (101), for choledochoscope instrument provides passage, to realize some treatment functions.
3. a kind of micro-wound operation robot choledochoscope according to claim 2, is characterized in that: described auxiliary device, includes image processing system (5), high-pressure water (6) and cold light source (7); Wherein, described image processing system by camera collection to image information process, and output on display; Described high-pressure water provides the water under high pressure of pressure adjustable, is injected in biliary system through water inlet pipe by apopore; Described cold light source provides bright visible ray, by optical cable, illuminates the environment of bile duct inside.
4. a kind of micro-wound operation robot choledochoscope according to claim 3, is characterized in that: described crooked assembly is three-decker, comprises joint (202), steel wire network pipe (204) and rubber tube (205); Described joint (202) is hinged between two in the mode of axis being parallel, realizes the bending of a direction; Described steel wire network pipe (204) is wrapped in outside, joint (202), described rubber tube (205) is wrapped in outermost, the inner side in each joint (202) is fixedly connected with two silk rings (201), two steel wire ropes (203) are each passed through the silk ring (201) described in two groups, and one end is fixedly connected on first joint, by pulling described steel wire rope (203), control the curvature movement in joint (202).
5. a kind of micro-wound operation robot choledochoscope according to claim 4, is characterized in that: realize the bending of both direction by being arranged vertically of adjacent segment (202) axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520220115.1U CN204683554U (en) | 2015-04-13 | 2015-04-13 | A kind of micro-wound operation robot choledochoscope |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520220115.1U CN204683554U (en) | 2015-04-13 | 2015-04-13 | A kind of micro-wound operation robot choledochoscope |
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| CN204683554U true CN204683554U (en) | 2015-10-07 |
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| CN201520220115.1U Withdrawn - After Issue CN204683554U (en) | 2015-04-13 | 2015-04-13 | A kind of micro-wound operation robot choledochoscope |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104757931A (en) * | 2015-04-13 | 2015-07-08 | 周宁新 | Choledochoscope for minimally invasive surgery robot |
| CN110179543A (en) * | 2019-04-30 | 2019-08-30 | 深圳市阿瑟医疗机器人有限公司 | A kind of laparoscopic surgery robot |
| CN110545745A (en) * | 2017-03-14 | 2019-12-06 | 威博外科公司 | Techniques for damping vibrations in robotic surgical systems |
| CN112155500A (en) * | 2020-09-22 | 2021-01-01 | 河北大学附属医院 | Laparoscope pipeline with adjustable bending angle |
-
2015
- 2015-04-13 CN CN201520220115.1U patent/CN204683554U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104757931A (en) * | 2015-04-13 | 2015-07-08 | 周宁新 | Choledochoscope for minimally invasive surgery robot |
| CN104757931B (en) * | 2015-04-13 | 2017-03-22 | 周宁新 | Choledochoscope for minimally invasive surgery robot |
| CN110545745A (en) * | 2017-03-14 | 2019-12-06 | 威博外科公司 | Techniques for damping vibrations in robotic surgical systems |
| US10820951B2 (en) | 2017-03-14 | 2020-11-03 | Verb Surgical Inc. | Techniques for damping vibration in a robotic surgical system |
| CN110179543A (en) * | 2019-04-30 | 2019-08-30 | 深圳市阿瑟医疗机器人有限公司 | A kind of laparoscopic surgery robot |
| CN112155500A (en) * | 2020-09-22 | 2021-01-01 | 河北大学附属医院 | Laparoscope pipeline with adjustable bending angle |
| CN112155500B (en) * | 2020-09-22 | 2023-06-20 | 河北大学附属医院 | Bending angle adjustable pipeline for laparoscope |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151007 Effective date of abandoning: 20170322 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |