CN118414129A - Surgical equipment, surgical method and surgical device - Google Patents

Abstract

The specification discloses a surgical device, a surgical method and a surgical apparatus, wherein the surgical device comprises a mechanical arm and a control device, a surgical instrument assembly is arranged on the mechanical arm, and the surgical instrument assembly comprises a plurality of surgical instruments arranged on a switching device. The control device determines the appointed surgical instrument required by the surgical operation, generates an instrument switching instruction according to the appointed surgical instrument and sends the instrument switching instruction to the mechanical arm, and the mechanical arm controls the switching device to move according to the instrument switching instruction so as to switch the appointed surgical instrument positioned at the to-be-selected position to the operation position, and further controls the appointed surgical instrument to execute the surgical operation according to the control instruction sent by the control device. Therefore, the operation equipment can realize the rapid switching among a plurality of surgical instruments, so that the operation of manually replacing the surgical instruments in the operation by an operator is avoided in the operation scene which needs to be completed by using a large number of surgical instruments, the accuracy of the operation is further improved, and the operation burden of the operator is relieved.

Description

Surgical equipment, surgical method and surgical deviceTechnical Field

The present disclosure relates to the field of medical technology, and in particular, to a surgical device, a surgical method, and a surgical apparatus.

Background

With the development of minimally invasive surgical techniques, the requirements for minimally invasive and precise surgical operations are increasing. Among them, the minimally invasive operation of the spinal endoscope has been widely used clinically as an early minimally invasive technique. Compared with the traditional open surgery, the minimally invasive surgery of the spinal endoscope has the advantages of small trauma, less bleeding, quick recovery, definite curative effect and the like. Similar minimally invasive techniques, such as neuroendoscopic minimally invasive surgery, have also been applied in a large number of clinical settings, playing an important role in the surgery of pituitary tumors, craniofacial gliomas and the like in the nerve field, and simultaneously having similar minimally invasive effects as described above.

In the prior art, in order to reduce the difficulty of manual operation of operators, the operators can be assisted by using operation equipment to perform operation, so that the uncertainty of manual operation in the operation process is reduced, the operation safety is improved, and meanwhile, the burden of the operators in the operation is relieved.

Although the current surgical equipment can relieve the burden of operators to a certain extent, for the surgical scene requiring a large amount of surgical instruments, the operators still need to manually replace the surgical instruments on the surgical equipment, and the complexity of the surgical operation is increased.

Disclosure of Invention

The present specification provides a surgical apparatus, a surgical method, and a surgical device to partially solve the above-mentioned problems of the prior art.

The technical scheme adopted in the specification is as follows:

The present specification provides a surgical apparatus comprising a robotic arm 1, a control device 2; the mechanical arm 1 is provided with a surgical instrument assembly 11, and the surgical instrument assembly 11 comprises a plurality of surgical instruments 111 arranged on a switching device 112;

The control device 2 is used for determining a designated surgical instrument 111 required by a surgical operation, generating an instrument switching instruction according to the designated surgical instrument 111 and sending the instrument switching instruction to the mechanical arm 1; generating and transmitting control instructions according to the position of the designated surgical instrument 111;

The mechanical arm 1 is used for controlling the surgical instrument assembly 11 to move to a designated position in response to an instrument switching instruction sent by the control device 2, and controlling the switching device 112 to move so as to switch the designated surgical instrument 111 positioned at a candidate position in the surgical instrument assembly 11 to an operation position; in response to a control instruction transmitted by the control device 2, the surgical instrument assembly 11 is controlled to move to a surgical position, and a surgical operation corresponding to the control instruction is performed by the designated surgical instrument 111.

Optionally, the switching means 112 switches the designated surgical instrument 111 from the candidate position to the operating position in a manner including at least one of rotation and translation.

Optionally, the switching device 112 further includes an operating component 1121;

The switching device 112 is controlled to move in response to an operation motion input by an operator through the operation member 1121.

Optionally, an auxiliary instrument assembly 12 is further configured on the mechanical arm 1, and the auxiliary instrument assembly 12 at least comprises a working sleeve 121 and an endoscope 122;

The mounting position of the working cannula 121 on the mechanical arm 1 is located on a first axis, the mounting position of the endoscope 122 on the mechanical arm 1 is located on a second axis, and the mounting position of the surgical instrument 111 on the mechanical arm 1 is located on a third axis;

wherein the first axis, the second axis and the third axis are coincident or parallel to each other.

Optionally, when the first axis, the second axis and the third axis are parallel to each other, a distance between any two axes of the first axis, the second axis and the third axis is not greater than a preset threshold.

Optionally, a plurality of instrument mounting grooves are uniformly arranged on the switching device 112, and at least one surgical instrument 111 is mounted on each instrument mounting groove; one of the instrument mounting slots provided on the switching device 112 is located at the operation position, and the remaining instrument mounting slots are located at the standby positions.

Alternatively, when the designated surgical instrument 111 and the current surgical instrument 111 are mounted in the same instrument mounting slot, the control device 2 is configured to generate the instrument switching instruction according to the mounting positions of the designated surgical instrument 111 and the current surgical instrument 111 on the instrument mounting slot, and send the instrument switching instruction to the mechanical arm 1.

Optionally, the control device 2 is configured to determine a control parameter of the switching device 112 according to the selected position and the operation position of the designated surgical instrument 111, and generate the instrument switching instruction according to the control parameter, where the control parameter includes at least one of a moving direction, a moving distance, and a rotation angle.

Optionally, the surgical device further comprises a positioning means 3; a first positioning mark 13 is arranged on the surgical instrument 111, and a second positioning mark 5 is arranged in a preset range of a diseased part of a patient;

The positioning device 3 is used for collecting the positions of the first positioning mark 13 and the second positioning mark 5 and sending the positions to the control device;

The control device 2 is configured to determine the designated position allowing each surgical instrument 111 in the surgical instrument assembly 11 to be switched, and a surgical position allowing each surgical instrument 111 to perform a surgical operation, based on the position of the second positioning mark 5.

Optionally, the surgical device further comprises a scanning means 4, said scanning means 4 being configured with a third positioning marker 41;

The scanning device 4 is used for scanning the patient and obtaining a scanning result of a diseased part of the patient, and sending the scanning result to the control device 2;

the positioning device 3 is used for acquiring and transmitting the position of the third positioning mark 41;

The control device 2 is configured to determine the relative position of the scanning device 4 and the patient based on the position of the second positioning mark 5 and the position of the third positioning mark 41; the scan results are registered according to the relative positions of the scanning device 4 and the patient.

Optionally, the mechanical arm 1 further comprises a fixed base 14; the surgical instrument assembly 11 further includes a sled 113 and a clamping device 114; wherein the clamping device 114 clamps the switching device 112, the clamping device 114 is slidably connected with the sliding block 113, and the sliding block 113 is slidably connected with the fixed base 14;

The sliding block 113 is configured to, when sliding on the fixed base 14, drive the clamping device 114 to slide along the extending direction of the fixed base 14, so as to drive the surgical instrument 111 to slide along the extending direction of the fixed base 14;

the clamping device 114 is used for driving the surgical instrument 111 to slide along the extending direction of the fixed base 14 when sliding on the sliding block 113.

Optionally, the control device 2 is configured to determine a surgical path of the surgical instrument 111 for performing a surgical operation on the diseased portion according to the surgical instrument assembly 11 and the position of the diseased portion of the patient; generating a moving instruction according to the operation path and sending the moving instruction to the mechanical arm 1;

The mechanical arm 1 is configured to move according to the received movement instruction, so that the extension direction of the fixed base 14 is parallel to the surgical path, so that the surgical instrument 111 reaches the affected part along the surgical path.

Optionally, the control device 2 further comprises a human-computer interaction unit 21;

the man-machine interaction unit 21 is configured to determine the designated surgical instrument 111 in response to an operation by an operator.

Optionally, the human-computer interaction unit 21 includes a touch screen 211 and/or a control lever 212.

Optionally, the surgical device further comprises a base 6 and a suspension platform 61, a head end of the suspension platform 61 being mounted on the base 6; the mechanical arm 1 is hoisted at the tail end of the suspension platform 61.

Optionally, the surgical device further comprises a base 6; the mechanical arm 1 is mounted on the base 6.

The present specification provides a surgical method for use with a control device, the method comprising:

Determining a designated surgical instrument required for a surgical procedure;

Generating an instrument switching instruction according to the appointed surgical instrument, and sending the instrument switching instruction to a mechanical arm, so that the mechanical arm responds to the instrument switching instruction, controls a surgical instrument assembly configured on the mechanical arm to move to an appointed position, and controls a switching device in the surgical instrument assembly to move so as to switch the appointed surgical instrument positioned at a to-be-selected position in the surgical instrument assembly to an operation position;

And generating and sending a control instruction according to the position of the designated surgical instrument, so that the mechanical arm responds to the control instruction, controls the surgical instrument assembly to move to a surgical position, and executes a surgical operation corresponding to the control instruction through the designated surgical instrument.

The present specification provides a surgical device applied to a control device, the surgical device including:

a determination module for determining a designated surgical instrument required for a surgical procedure;

The device switching instruction generation module is used for generating a device switching instruction according to the appointed surgical device and sending the device switching instruction to the mechanical arm, so that the mechanical arm responds to the device switching instruction, controls a surgical device assembly arranged on the mechanical arm to move to an appointed position, and controls a switching device in the surgical device assembly to move so as to switch the appointed surgical device in a to-be-selected position in the surgical device assembly to an operation position;

And the control instruction generation module is used for generating and sending a control instruction according to the position of the designated surgical instrument, so that the mechanical arm responds to the control instruction, controls the surgical instrument assembly to move to the surgical position, and executes the surgical operation corresponding to the control instruction through the designated surgical instrument.

The present specification provides a computer readable storage medium storing a computer program which when executed by a processor implements the above-described surgical method.

The above-mentioned at least one technical scheme that this specification adopted can reach following beneficial effect:

The present specification provides a surgical apparatus including a robotic arm on which a surgical instrument assembly including a plurality of surgical instruments arranged on a switching device is arranged, and a control device. The control device determines the appointed surgical instrument required by the surgical operation, generates an instrument switching instruction according to the appointed surgical instrument and sends the instrument switching instruction to the mechanical arm, and the mechanical arm controls the switching device to move according to the instrument switching instruction so as to switch the appointed surgical instrument positioned at the to-be-selected position to the operation position, and further controls the appointed surgical instrument to execute the surgical operation according to the control instruction sent by the control device. Therefore, the operation equipment can realize the rapid switching among a plurality of surgical instruments, so that the operation of manually replacing the surgical instruments in the operation by an operator is avoided in the operation scene which needs to be completed by using a large number of surgical instruments, the accuracy of the operation is further improved, and the operation burden of the operator is relieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification, illustrate and explain the exemplary embodiments of the present specification and their description, are not intended to limit the specification unduly. In the drawings:

FIG. 1A is a schematic view of a surgical device according to the present disclosure;

FIG. 1B is a schematic view of a surgical device according to the present disclosure;

FIG. 2A is a schematic view of a surgical device according to the present disclosure;

FIG. 2B is a schematic view of a surgical device according to the present disclosure;

FIG. 2C is a schematic view of a surgical device according to the present disclosure;

FIG. 2D is a schematic view of a surgical device according to the present disclosure;

FIG. 3A is a schematic view of a surgical device according to the present disclosure;

FIG. 3B is a schematic view of a surgical device according to the present disclosure;

FIG. 3C is a schematic view of a surgical device according to the present disclosure;

FIG. 4 is a schematic view of a surgical device according to the present disclosure;

FIG. 5 is a schematic view of a surgical device according to the present disclosure;

FIG. 6A is a schematic view of a surgical device according to the present disclosure;

FIG. 6B is a schematic view of a surgical device according to the present disclosure;

FIG. 7A is a schematic view of a surgical device according to the present disclosure;

FIG. 7B is a schematic view of a surgical device according to the present disclosure;

FIG. 7C is a schematic view of a surgical device according to the present disclosure;

FIG. 7D is a schematic view of a surgical device according to the present disclosure;

FIG. 8 is a schematic view of a surgical device according to the present disclosure;

FIG. 9 is a schematic view of a surgical device according to the present disclosure;

FIG. 10 is a schematic flow chart of a surgical method according to the present disclosure;

fig. 11 is a schematic view of a surgical device provided herein.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present specification more apparent, the technical solutions of the present specification will be clearly and completely described below with reference to specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.

In addition, it should be noted that, all actions of acquiring signals, information or data are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

At present, no matter orthopaedics, nerves, interventions and the like can be treated through minimally invasive surgery, the requirements on minimally invasive and accurate surgery operation are higher and higher, minimum trauma needs to be realized as much as possible, effective treatment is carried out by accurately reaching diseased parts, and the minimally invasive technology of the spinal endoscope is used as an early minimally invasive technology, so that the damage to paraspinal muscles is small, the complete spinal structure can be reserved to the greatest extent, the stability of the spine after surgery is maintained, and the minimally invasive surgical instrument has the advantages of being small in trauma, less in bleeding, rapid in recovery, few in complications, definite in curative effect and the like. Similar to the minimally invasive technique of the spinal endoscope, the minimally invasive technique of the neuroendoscope also has been applied to a large number of clinical applications, plays an important role in the operations of pituitary tumor, skull base gum tumor and the like in the nerve field, and has similar minimally invasive effects.

For example, minimally invasive surgical procedures using minimally invasive surgical devices to assist operators (e.g., doctors) are currently widely used in the field of minimally invasive surgical procedures using spinal endoscopes, which have two primary surgical approaches, inter-foraminal endoscopic surgery (Percutaneous Endoscopic Lumbar Discectomy, PELD) and single-sided dual-channel endoscopic techniques (Unilateral Biportal Endoscopy, UBE), which have been implemented to assist in the operation by minimally invasive surgical devices. However, the basic purpose of using a minimally invasive surgical table to assist an operator in performing a surgical operation is to reduce the burden of the operator in performing the surgical operation, but in a complex surgical scenario where a large number of surgical instruments are required to be used, the operator still needs to manually replace the surgical instruments on the surgical equipment during the surgical operation, which increases the complexity of the surgical operation.

Based on this, this specification provides a surgical equipment to the arm through controlling means sends the apparatus switching instruction to make the arm switch between each surgical instrument that disposes on the switching device according to the instruction control of apparatus switching, so that the quick switch between a plurality of surgical instruments earlier, avoid operating personnel to carry out the operation of manual replacement surgical instrument in the art, further improve the accuracy of operation, alleviate operating personnel's operation burden.

The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.

Fig. 1A is a schematic view of a surgical device provided herein.

The present specification provides a surgical device that can assist an operator in performing a surgical operation. In the embodiments of the present specification, in order to facilitate understanding, a specific technical scheme will be described by taking an example of a spinal endoscopic surgery.

As shown in fig. 1A, the surgical device includes at least a robot arm 1 and a control device 2, and a surgical instrument assembly 11 is disposed on the robot arm 1, and the surgical instrument assembly 11 includes a plurality of surgical instruments 111 disposed on a switching device 112. The control device 2 is configured to send a control instruction to the mechanical arm 1, and the mechanical arm 1is configured to control the surgical instrument 111 to perform a plurality of different types of actions according to the control instruction. The control instruction sent by the control device 2 may be preset and stored in the control device 2 according to different application scenarios, or may be generated by the control device 2 in response to an operation action input by an operator.

The mechanical arm 1 may be mounted on the base 6, and the mounting manner may be a suspension type (as shown in fig. 1A), a floor type (as shown in fig. 1B), or any conventional mounting manner, which is not limited in this specification. In order to ensure the flexibility of the mechanical arm 1, the mechanical arm 1 may employ six or more movable joints of the mechanical arm 1. The control device 2 may be a computer host equipped with specified software (such as three-dimensional software, planning software, etc.), and is connected to at least the mechanical arm 1 by a wired or wireless manner. The control device 2 may be provided in the surgical environment in which the robot arm 1 is located, or may be provided in another device environment, and this is not limited in this specification.

Alternatively, the base 6 where the mechanical arm 1 is located may be temporarily fixed on the ground, or may be equipped with a pulley that can be moved so as to move according to actual requirements, as shown in fig. 1A and 1B, which are only optional placement examples of the base in the embodiment of the present disclosure, and the actual position thereof may be set according to the application scenario.

The robotic arm 1 is configured with at least a surgical instrument assembly 11. In practical application, the surgical instruments 111 are different in face of different disease conditions (such as herniated nucleus pulposus, spinal canal stenosis, nerve root compression, dural sac and bone tissue hyperplasia, etc.), and one surgical procedure for a patient may need to deal with different disease conditions, so that multiple manual replacement of a single surgical instrument 111 configured on the mechanical arm 1 manually in operation increases the operation time and the operation difficulty of operators. Based on this, in one or more embodiments of the present disclosure, the surgical instrument assembly 11 configured on the robotic arm 1 may include a plurality of surgical instruments 111. Therefore, an operator can meet the requirements of different surgical operations (such as removing protruding tissues, removing bones, repairing broken fibrous rings by using radio-frequency electrodes, etc.) by configuring a plurality of surgical instruments 111 in the surgical instrument assembly 11 according to the actual condition of the affected part of the patient and switching the surgical instruments 111 by the mechanical arm 1 in response to the instrument switching command.

The surgical instrument assembly 11 includes a switching device 112, and a plurality of surgical instruments 111 may be mounted on the switching device 112. The switching device 112 can switch between the respective surgical instruments 111 by moving itself to switch the designated surgical instrument 111 required for the surgical operation from the standby position to the surgical position. The manner of movement of the switching device 112 may be rotation, translation, or a combination of rotation and translation, but may be any conventional manner, which is not limited in this specification. The surgical instrument assembly 11 may include one or more surgical instruments 111 for minimally invasive spinal surgical procedures, such as nucleus pulposus forceps, electrode electrocoagulation, microsurgery blades, micropunchs, microwave ablation needles, etc., and the type of particular surgical instrument 111 may be configured according to a particular application scenario, which is not limited in this disclosure. In the present embodiment, the operation position is a position of the surgical instrument 111 on the switching device 112 at which the surgical operation can be performed, and the opposite, alternative position is a position other than the operation position on the switching device 112.

In particular, the switching device 112 in the surgical instrument assembly 11 may be a member having at least two surgical instrument mounting surfaces, each of which may be configured with an instrument mounting channel, each of which may have at least one surgical instrument 111 mounted thereon. The timing of mounting the surgical instrument 111 on the switching device 112 may be before or during the operation, and is not limited in this specification. For example, as shown in the cross-sectional view of the surgical instrument assembly 11 in fig. 2A, the broken line portion is an instrument mounting groove where the surgical instrument 111 is not mounted temporarily, and the operator can mount and dismount the surgical instrument mounted on the switching device 112 according to the actual situation.

Alternatively, if the switching means 112 rotates the switching manner of the designated surgical instrument 111 from the position to be selected to the operation position, the switching means 112 includes a columnar member provided with at least two surgical instrument mounting surfaces, each surgical instrument 111 is mounted along the axis of the switching means 112, and the axis of each surgical instrument 111 is parallel to the axis of the switching means 112; the mechanical arm 1 is configured to control the switching device 112 to rotate about its own axis in response to the instrument switching instruction, so as to switch the designated surgical instrument 111 from the candidate position to the operating position. For example, when the switching means 112 is rotated, the surgical instrument assembly 11 may be in a switchable helical configuration encircling the switching means 112. The surgical devices 111 may be arranged on two or more sides of the switching device 112, such as a four-sided arrangement (as shown in fig. 2A) and a five-sided arrangement (as shown in fig. 2B), which is not limited in this specification.

Alternatively, if the switching means 112 switches the designated surgical instrument 111 from the standby position to the operating position in a translational manner, the switching means 112 includes a guide rail 1122 provided with at least two surgical instrument mounting surfaces, and each surgical instrument 111 is mounted on the guide rail 1122 through the surgical instrument mounting surface and moves on the guide rail 1122; the mechanical arm 1 controls the guide rail 1122 to move in response to the instrument switching command to drive the designated surgical instrument 111 to switch from the standby position to the operating position. It can be seen that when the switching manner of the switching device 112 is translation, the switching device 112 may include the guide rail 1122. The guide rail 1122 may be a circular guide rail, a linear guide rail, or a guide rail of any geometric shape, and the shape of the guide rail 1122 is not particularly limited in this specification. For example, as shown in fig. 2C, the guide rails 1122 are ring-shaped guide rails, each surgical instrument 111 may be mounted on the guide rails 1122, and the surgical instrument 111 may be moved on the guide rails 1122 to effect switching between the surgical instruments 111.

Alternatively, if the switching means 112 switches the specified surgical instrument 111 from the position to be selected to the operation position in a rotation and a translation manner, the switching means 112 includes a columnar member provided with at least two surgical instrument mounting surfaces, wherein each surgical instrument mounting surface is provided with a guide rail 1122, at least one surgical instrument 111 is mounted on the guide rail 1122, and the guide rail 1122 is moved; the mechanical arm 1 responds to the instrument switching instruction and controls the switching device 112 to rotate in a first direction corresponding to the instrument switching instruction by taking the axis of the switching device as the center so as to switch a guide rail provided with a designated surgical instrument 111 from a to-be-selected position to a surgical position; the guide rail 1122 is controlled to move in a second direction corresponding to the instrument switching command to move the designated surgical instrument 111 to the surgical position. The guide rail 1122 may be a circular guide rail, a linear guide rail, or a guide rail of any geometric shape, and the shape of the guide rail 1122 is not particularly limited in this specification. As shown in fig. 2D, the guide rail 1122 is a circular guide rail, and through a rotation and translation mode, more surgical instruments can be installed on the switching device 112, so that the device is more suitable for a scene requiring a large number of surgical instruments for surgery, the efficiency of surgery based on surgical equipment is improved, and the complexity of surgery operation is reduced.

The three alternative switching manners of the switching device are only embodiments provided in the present specification, and are not meant to represent that the switching device 112 is merely configured as described above and can only perform switching by the manner described above, in the embodiment of the present specification, the switching manner of the switching device 112 to switch the surgical instrument may be rotation, translation, or a combination of rotation and translation, or may be any conventional moving manner, which is not limited in this specification. The guide rail 1122 may be a circular guide rail, a linear guide rail, or a guide rail of any geometric shape, and the shape of the guide rail 1122 is not particularly limited in this specification.

The order of mounting the surgical instruments 111 on the switching device 112 and the specific mounting positions are not limited in the present embodiment, and the arrangement of the respective surgical instruments 111 is not necessarily uniform. The operator may arrange the plurality of surgical instruments 111 included in the surgical instrument assembly 11 according to a specific surgical requirement, and the arrangement of the surgical instruments 111 is not limited in the embodiment of the present disclosure.

In one or more embodiments herein, the switching device 112 is moved to effect switching between the surgical instruments 111 included in the surgical instrument assembly 11, either in response to instrument switching instructions sent by the control device 2 or manually by an operator.

The instrument switching command transmitted from the control device 2 may be transmitted by an operator through an operation lever 2122 provided on the control device 2, may be transmitted according to a planned operation of the surgical instrument 111 on the affected part, or may be transmitted through an instrument switching option provided in the control device 2, which is not limited in this specification.

Alternatively, the switching of the surgical instrument 111 by the manual control of the movement of the switching device 112 by the operator may be achieved by: the switching device 112 further comprises an operating assembly 1121 for moving the switching device 112 to move the designated surgical instrument 111 from the candidate position to the operative position in response to an operator's input of an operating action through the operating assembly 1121. Wherein the operating assembly 1121 may be controlled to tilt in a plurality of different directions to control translation of the switching device in a plurality of different directions, and may also be controlled to rotate to control rotation of the switching device. The operation action entered by the operator through the operation assembly 1121 may be at least one of rotation and translation. The operating component 1121 is a rotating component, and the operating component 1121 is a translating component, as shown in fig. 2C, where the operating component 1121 may implement both the rotation of the control switch 112 and the translation of the control switch 112, as shown in fig. 2D.

Therefore, the surgical equipment can realize the rapid switching among the plurality of surgical instruments 111, so that the operation of manually replacing the surgical instruments 111 in the operation by an operator can be avoided in the surgical scene which needs to be completed by using a large number of surgical instruments 111, the accuracy of the surgical operation is further improved, and the operation burden of the operator is relieved.

In addition, each surgical instrument 111 has at least three degrees of freedom, such as forward and backward, instrument opening and closing, and instrument rotation.

Based on the above-described structure in which a plurality of surgical machines can be mounted on the switching device 112, in an alternative embodiment of the present disclosure, the control device 2 may determine the control parameter of the switching device 112 according to the difference between the candidate position and the operation position, and generate the instrument switching command according to the control parameter. The control parameters may include a rotation direction, a rotation angle, a movement direction, and a movement distance, among others. For example, taking the control parameter as the rotation direction and the rotation angle as an example, when the switching device 112 is required to rotate clockwise by 60 ° from the position to be selected to the operation position, the rotation direction is determined to be clockwise, the rotation angle is 60 °, and the instrument switching command is generated accordingly. Alternatively, the rotation direction of the switching device 112 may be a rotation direction in which the rotation angle is small when the position to be selected is rotated to the operation position. For example, switching from the selection position to the operation position requires 60 ° of clockwise rotation of the switching device 112, and switching from the selection position to the operation position may be 300 ° of counterclockwise rotation, and a rotation direction having a smaller rotation angle is generally a preferable rotation direction, i.e., clockwise rotation. Of course, the above determination of the rotation direction is only an alternative scheme provided in the embodiment of the present disclosure, and the specific determination scheme of the control parameter may be determined according to a specific application scenario, which is not limited in this disclosure.

In an alternative embodiment of the present disclosure, the arrangement of the plurality of surgical instruments 111 on the switching device 112 may be: the switching device 112 may be provided with a plurality of instrument mounting slots, each of which mounts at least one surgical instrument 111. Specifically, among the instrument mounting grooves, at least one instrument mounting groove is located at the operation position such that the surgical instrument 111 required to perform the surgical operation is mounted in the instrument mounting groove located at the operation position to enable the surgical instrument 111 to perform the surgical operation at the operation position. The plurality of instrument mounting grooves may be uniformly arranged on the switching device 112 or may be unevenly arranged on the switching device 112, and this is not a limitation in the present specification.

Based on the above-described structure of the switching device 112, optionally, when a plurality of instrument mounting slots are configured on the switching device 112, if the instrument mounting slot in which the designated surgical instrument 111 is located required for the determined surgical operation is located at the to-be-selected position, and not only the designated surgical instrument 111 but also other surgical instruments 111 are mounted in the instrument mounting slot, an instrument switching instruction may be first generated according to the difference between the to-be-selected position and the operation position, and the instrument mounting slot in which the designated surgical instrument 111 is located is rotationally moved to the operation position. Then, the control parameters of the switching device 112 are determined according to the mounting positions of the designated surgical instrument 111 and the other surgical instruments 111 on the instrument mounting grooves, respectively, and the instrument switching command is generated again to move the designated surgical instrument 111 to the operation position.

In an alternative embodiment of the present disclosure, the instrument mounting slot may be configured with a first mounting identifier and the surgical instrument 111 may be configured with a second mounting identifier, wherein a correspondence exists between the first mounting identifier and the second mounting identifier, which may be determined prior to performance of the surgical procedure. When the surgical instrument 111 is mounted on the switching device 112 through the instrument mounting groove, the surgical instrument 111 to be mounted can be mounted in the instrument mounting groove only when the first mounting mark is matched with the second mounting mark by matching the first mounting mark of the instrument mounting groove with the second mounting mark of the surgical instrument 111 to be mounted.

In an alternative embodiment of the present disclosure, as shown in fig. 3A, the robotic arm 1 includes a stationary base 14, and the surgical instrument assembly 11 is disposed on the stationary base 14. The surgical device assembly 11 further includes a slider 113 and a clamping device 114, where the clamping device 114 is used to clamp the switching device 112, and it can be seen that moving the clamping device can move the switching device 112, and thus, moving the switching device 112 can drive the surgical device 111 to move. The slider 113 is slidably connected to the fixed base 14, and the clamping device 114 is slidably connected to the slider 113.

Based on the above structure, when the slider 113 slides on the fixed base 14, the clamping device 114 is driven to slide along the extending direction of the fixed base 14, so as to drive the surgical instrument 111 to slide along the extending direction of the fixed base 14. When the clamping device 114 slides on the sliding block 113, the surgical instrument 111 is driven to slide along the extending direction of the fixed base 14. It is understood that the extending direction of the fixed base 14 refers to a direction parallel to the axis of the fixed base 14. It can be seen that, based on the above two-level sliding structure, when the extending direction of the fixed base 14 is aligned with the surgical path, the surgical instrument 111 can slide on the fixed base 14 through the slider 113 and/or the clamping device 114 can slide on the slider 113 to reach the designated portion of the patient to perform the surgical operation.

In an alternative embodiment of the present disclosure, the mechanical arm 1 is further provided with an auxiliary instrument assembly 12, and the auxiliary instrument assembly 12 includes at least a working sleeve 121 and an endoscope 122. The working cannula 121 is used for opening the puncture wound, and establishing a surgical channel from the outside to the diseased part of the patient so as to prevent the surgical instrument 111 from touching other parts which are not allowed to perform surgical operation; the endoscope 122 is used to acquire real-time images of the affected area to assist in the surgical operation of the surgical instrument 111.

Wherein, the installation position of the working cannula 121 on the mechanical arm 1 is located on the first axis, the installation position of the endoscope 122 on the mechanical arm 1 is located on the second axis, and the installation position of the surgical instrument 111 requiring to perform the surgical operation on the mechanical arm 1 is located on the third axis, and the spatial position relationship among the first axis, the second axis and the third axis may be coincident (as shown in fig. 3B) or parallel (as shown in fig. 3C). Thus, in the surgical process, the axes of the working sleeve 121, the endoscope 122 and the surgical instrument 111 needing to perform the surgical operation are aligned and planned to obtain a surgical path, and the working sleeve 121, the endoscope 122 and the surgical instrument 111 needing to perform the surgical operation can be ensured to move on the surgical path without multiple alignments, so that the difficulty of the surgical operation is reduced, and the efficiency and accuracy of the surgical operation are improved.

In particular, as shown in fig. 3C, when the spatial positional relationship among the first axis, the second axis, and the third axis is such that the three axes are parallel to each other, the distance between any two axes among the first axis, the second axis, and the third axis is not greater than a preset threshold. This is because the working channel established by the working cannula 121 has a certain width, and even if the second axis of the endoscope 122 does not coincide with the axis of the working cannula 121, the working cannula 121 can be accessed without secondary alignment when the endoscope 122 is inserted into the working cannula 121, as long as the distance between the first axis and the second axis is not greater than a preset threshold. The endoscope 122 is the same as the surgical instrument 111, and as long as the distance between the second axis on which the endoscope 122 is located and the third axis on which the surgical instrument 111 is located is not greater than a preset threshold, when the surgical instrument 111 enters the instrument channel of the endoscope 122, the instrument channel of the endoscope 122 can be directly entered without secondary alignment, thereby improving the efficiency and accuracy of the surgical operation. Of course, it is also possible to determine whether the surgical instrument needs to be secondarily aligned to access the instrument channel of the endoscope 122 by limiting the distance between the first axis and the third axis, i.e., when the distance between the first axis and the third axis is not greater than a preset threshold, the surgical instrument 111 may be directly accessed to the instrument channel of the endoscope 122 without secondarily aligning. The first axis, the second axis, and the third axis may or may not be on the same plane, and this is not a limitation in the present specification.

The preset threshold may be determined according to at least two of the size of the surgical instrument 111, the size of the instrument channel of the endoscope 122, the size of the endoscope 122, and the size of the working channel established by the working cannula 121, which may, of course, be determined by an operator before surgery, and is not limited in this specification.

In addition, in an alternative embodiment of the present disclosure, the surgical device further includes a positioning device 3, as shown in fig. 4, where the positioning device 3 may be mounted on a device located on one side of the operating table, may be separately suspended directly above the patient (above the operating table), may be disposed on any other device in the surgical environment, and may be disposed near the operating table at a position suitable for collecting the positioning mark, so as to obtain the position of the positioning mark disposed near the diseased portion of the patient, on the mechanical arm 1, and on the scanning device 4. The positioning mark may be an optical positioning mark of light emitted or reflected by an infrared light emitting device, a light emitting Diode (LIGHT EMITTING Diode, LED), a passive reflecting sphere, or the like, or may be other types of positioning marks, and in this embodiment of the present disclosure, the positioning device 3 generates the emitted or reflected light by receiving the positioning mark, so as to capture the position of any device configured with the positioning mark.

In an alternative embodiment of the present disclosure, the surgical device further comprises a scanning device 4, and the operator may scan the affected part of the patient through the scanning device 4 in the surgical environment (e.g., an intraoperative computed tomography (Computed Tomography, CT), a three-dimensional (3D) C-arm X-ray machine, etc.). The scanning device 4 sends the scanning result to the control device 2, and can simulate the three-dimensional image of the affected part of the patient, and upload the three-dimensional image to the control device 2 for display, so as to provide reference for the operation of the operator. In addition, a third positioning marker 41 may be provided on the scanning device 4 to enable the acquisition device 3 to determine the position of the scanning device 4 and to determine the relative position between the scanning device 4 and the patient based on the position of the patient, as shown in fig. 5.

The procedure for performing a surgical operation based on the above-described surgical device is described in detail below with reference to the accompanying drawings.

The first link is: prior to the start of the operation, the patient is positioned on the operating table in a prone position for the operator and the surgical equipment to perform the surgical operation on the diseased portion of the patient.

The second link is: when the patient is confirmed to be in place, the affected part of the patient is scanned by the scanning device 4 to obtain a scanning result (X-ray or CT image), and the scanning device 4 may send the scanning result to the control device 2 to provide reference and assistance for the subsequent operation.

In an alternative embodiment of the present disclosure, the second positioning mark 5 is disposed within a preset range of the affected part of the patient, and the third positioning mark 41 may be disposed on the scanning device 4. The position of the first positioning mark 13, and the position of the third positioning mark 41 are acquired and transmitted by the positioning device 3. The control device 2 is configured to determine a relative position of the scanning device 4 and the patient according to the position of the second positioning mark 5 and the position of the third positioning mark 41, and register the scanning result according to the relative positions of the scanning device 4 and the patient. And then, according to the registered scanning result, the three-dimensional software in the control device 2 simulates a three-dimensional image of the diseased part of the patient under the coordinate system of the operation environment, and the three-dimensional image is optionally displayed on the display 22 of the control device 2, so that reference is provided for the operation of an operator.

And the third link: the control device 2 further comprises a planning module (not shown in the figure) which can plan a surgical path, a designated position allowing each surgical instrument 111 in the surgical instrument assembly 11 to be switched, and a surgical position allowing each surgical instrument 111 to perform a surgical operation according to the position of the diseased part of the patient and the registered scanning result of the diseased part determined by the positioning device 3. Wherein, the operation path at least comprises a puncture position and a puncture direction when the working channel is established. Through the pre-planned operation path, the designated position and the operation position, the aim of ensuring safe operation and simultaneously minimizing the trauma to the body of the patient is fulfilled.

In addition, since the area (such as nerve root, spinal cord, etc.) near the affected part of the patient is often very dangerous when the patient is operated, once the operation error is very likely to cause other complications to the patient and even threaten the life safety of the patient, the control device 2 can further plan a safe operation area that allows the operation of the surgical instrument 111 as a designated area according to the registered scan result of the affected part, and relatively, other areas except the designated area are all defined as dangerous areas, which are areas that do not allow any operation of the surgical instrument 111.

Optionally, on the basis of planning the designated area, a dangerous area can be planned according to the position of the mechanical arm 1 determined by the positioning device 3, where the dangerous area is an area where the surgical instrument 111 is not allowed to perform the surgical operation. Generally, during a surgical procedure, the surgical instrument 111 can only be moved within a prescribed range and angle, which ensures that the surgical instrument 111 performs a surgical procedure only in a designated area and does not enter a dangerous area.

Fourth step: the control device 2 can plan the actions to be executed by the mechanical arm 1, and further control the surgical instrument 111 carried by the mechanical arm 1 to execute the surgical operation. The mechanical arm 1 may be configured with a positioning mark, in particular, at least one first positioning mark 13 may be configured on the surgical instrument 111, so that the positioning device can determine the position of the surgical instrument 111 by acquiring the position of the first positioning mark 13 on the surgical instrument 111, thereby monitoring the behavior and the action of the surgical instrument 111 in real time.

Alternatively, since a plurality of surgical instruments 111 are disposed in the surgical instrument assembly 11, each surgical instrument 111 may be disposed with a first positioning mark 13, and in practical applications, different first positioning marks 13 may be disposed on different surgical instruments 111, so that when the positioning device obtains the positions of the plurality of first positioning marks 13, it is able to distinguish which surgical instrument 111 is indicated by the first positioning mark 13.

Fifth link: on the premise that the control device 2 determines the operation path and the positioning device arranged on the mechanical arm 1 can acquire the position of the mechanical arm 1 through the positioning device, the planning device built in the control device 2 can plan the action required to be executed by the mechanical arm 1.

Specifically, in the surgical apparatus provided in the present specification, the robot arm 1 may have a plurality of degrees of freedom, and thus, in one or more embodiments of the present specification, the robot arm 1 may change the pose of the surgical instrument assembly 11 and the auxiliary instrument assembly 12 mounted on the robot arm 1 by adjusting the pose of the robot arm 1 in response to the positioning instruction transmitted by the control device 2. Taking the example that the mechanical arm 1is mounted on the base 6 in a hanging manner, as shown in fig. 6A, the surgical equipment further comprises the base 6 and a hanging platform 61, wherein the head end of the hanging platform 61 is mounted on the base 6; the robot arm 1is suspended at the end of the suspension platform 61.

Optionally, the mechanical arm 1 further includes a positioning mechanism 15, where the positioning mechanism 15 includes at least a first arm 151, a second arm 152, a third arm 153, and a fourth arm 154; the mechanical arm 1 is hoisted at the tail end of the suspension platform 61 through the positioning mechanism 15.

Wherein a first end of the first arm 151 is fixed to an end of the suspension platform 61, and a second end of the first arm 151 is rotatably connected to a first end of the second arm 152; a first end of the third arm 153 is connected to a second end of the second arm 152, and a second end of the third arm 153 is rotatably connected to a first end of the fourth arm 154; the second end of the fourth arm 154 is rotatably connected to a rotating member 143 provided on the stationary base 14 of the robot arm 1.

As shown in fig. 6A, in response to the first positioning instruction sent by the control device 2, the mechanical arm 1 controls the first arm 151 to rotate around the end of the suspension platform 61, so as to drive the positioning mechanism 15 and the mechanical arm 1 connected to the positioning mechanism 15 to rotate, so as to drive the surgical instrument 111 included in the surgical instrument assembly 11 configured on the fixed base 14 to rotate around the end of the surgical instrument 111, and drive the working sleeve 121 included in the auxiliary instrument assembly 12 configured on the fixed base 14 to rotate around the end of the working sleeve 121.

As shown in fig. 6B, in response to the second positioning instruction sent by the control device 2, the mechanical arm 1 controls the third arm 153 to rotate about the second end of the second arm 152, drives the fourth arm 154 connected to the third arm 153 to move, and drives the mechanical arm 1 connected to the fourth arm 154 to move, so that the surgical instrument 111 included in the surgical instrument assembly 11 mounted on the fixed base 14 swings about the distal end of the surgical instrument, and drives the working sleeve 121 included in the auxiliary instrument assembly 12 configured on the fixed base 14 to swing about the distal end of the working sleeve 121.

In the above-described aspect, the first positioning instruction and the second positioning instruction may be generated and transmitted by the control device 2 according to the position of the robot arm 1, the connection relationship between the robot arm 1 and the suspension platform 61, and the installation position of the surgical instrument assembly 11 on the robot arm 1. By the above-mentioned scheme, the mechanical arm 1 can control itself to move to the space position indicated by the first positioning instruction and the second positioning instruction, and only the axis of the surgical instrument 111 in the surgical instrument assembly 11, which needs to perform the surgical operation, coincides with the surgical path.

The above-mentioned positioning process of the robot arm 1 is described only by taking the example that the robot arm 1 is mounted on the base 6 in a hanging manner, and the mounting manner of the robot arm 1 is not described only in a hanging manner, but also in a floor-type mounting manner. The specific installation mode can be determined according to the specific application scenario, and the installation mode of the mechanical arm 1 on the base 6 is not limited in this specification.

Optionally, since the surgical instrument 111 is mounted on the mechanical arm 1, the purpose of limiting the movement of the surgical instrument 111 within a specified range and angle can be achieved by limiting the swing of the mechanical arm 1, so as to ensure that the surgical instrument 111 on the mechanical arm 1 cannot leave a specified area, thereby further ensuring the safety of the operation.

Sixth link: the control device 2 may send a control instruction to the mechanical arm 1 according to the determined surgical path planned for the diseased part, so that the mechanical arm 1 takes a surgical operation on the designated area in response to the control instruction. In the embodiment of the present disclosure, the manipulator 1 is optionally configured with the surgical instrument assembly 11 and the auxiliary instrument assembly 12, so that the manipulator 1 may perform not only surgical operations by the surgical instrument 111 in the surgical instrument assembly 11, but also preoperative and intraoperative assistance by the procedure of the surgical operations by the auxiliary instrument assembly 12. Wherein, the preoperative assistance may include puncturing, installing the working cannula 121, and controlling the working cannula 121 to perform tilting, rotating, etc.; intraoperative assistance may include controlling the working cannula 121 to perform tilting, rotating, etc., and controlling the surgical instrument 111 to perform advancing, retracting, rotating, tilting, surgical procedures, etc.

Specifically, the robotic arm 1 may include a stationary base 14, and the auxiliary instrument assembly 12 and the surgical instrument assembly 11 may be disposed on the stationary base 14.

Wherein the auxiliary instrument assembly 12 comprises a first auxiliary slide 124, a first auxiliary gripping device 125 and a second auxiliary gripping device 126; the first auxiliary slide block 124 slides on the fixed base 14, and the first auxiliary clamping device 125 and the second auxiliary clamping device 126 are respectively connected with the first auxiliary slide block 124 in a sliding manner; the first auxiliary slide block 124 slides on the fixed base 14 to drive the first auxiliary clamping device 125 and the second auxiliary clamping device 126 to slide along the extending direction of the fixed base 14, so that the tool clamped by the first auxiliary clamping device 125 and the second auxiliary clamping device 126 slides along the extending direction of the fixed base 14.

The tools held by the first auxiliary holding device 125 and the second auxiliary holding device 126 may be a puncture tool 123, a working cannula 121, an endoscope 122, or the like. The following describes in detail the process of the first auxiliary clamping device 125 clamping the puncture tool 123, and the working cannula 121 to establish a working channel, and the second auxiliary clamping device 126 clamping the endoscope 122, respectively:

The process of puncturing the patient with the puncturing tool 123 held by the first auxiliary holding device 125: as shown in fig. 7A, when the patient is on the operating table and the robot arm 1 swings to a position suitable for performing the surgical operation, the first auxiliary clamping device 125 clamps the puncture tool 123, and, in response to the puncture command sent from the control device 2, punctures in the puncture direction planned in advance from the puncture position planned in advance so that the head end of the puncture tool 123 reaches the designated area, and a puncture wound is formed. Since the operation to be performed later requires insertion of an instrument such as the working cannula 121 through the puncture wound, the puncture wound may be obtained by puncturing the puncture channel by the puncture tool 123 with the reaming tool after puncturing the puncture tool 123. Of course, the puncture tool 123 itself may also have the functions of puncturing and reaming, and the puncture tool 123 used in the embodiment of the present disclosure may be any currently available puncture tool 123 having the functions of puncturing and reaming, and the specific material and puncturing and reaming method of the puncture tool 123 are not limited in this disclosure.

Further, for a puncture wound formed by puncturing and reaming, the operator can replace the puncturing tool 123 with the working cannula 121 or withdraw the puncturing tool 123 leaving the working cannula 121 on its outermost layer. As shown in fig. 7B, the working cannula 121 is inserted into the puncture wound in the puncture direction 9 such that the head end of the working cannula 121 is located in the designated area.

For the process of clamping the endoscope 122 and placing the endoscope 122 into the puncture wound by the second auxiliary clamping device 126: as shown in fig. 7C, after the working cannula 121 is placed, the endoscope 122 may be clamped by the second auxiliary clamping device 126, and in response to an endoscope control instruction sent by the control device 2, the first auxiliary slider 124 slides on the fixed base 14 to drive the endoscope 122 to be inserted into the working cannula 121, and the endoscope 122 may collect a real-time image of the designated area and send the real-time image of the designated area to the control device 2, so that an operator performs a surgical operation on the designated area through the control device 2 according to the real-time image of the designated area.

It will be appreciated that the above-mentioned first auxiliary clamping device 125 and second auxiliary clamping device 126 each have 3 or more degrees of freedom in clamping different instruments, i.e. the actions of advancing, retracting, tilting, rotating, etc. of the instruments can be completed. The actions performed by the plurality of auxiliary instruments included in the auxiliary instrument assembly 12 may be determined according to the operator and the actual application scenario, which is not limited in this specification.

Seventh link: after a working channel is established through working cannula 121 and endoscope 122 is placed within working cannula 121, slide 113 can be controlled to slide on stationary base 14 and/or clamping device 114 can be controlled to slide on slide 113 to advance surgical instrument 111 required for a surgical procedure into an instrument channel in endoscope 122, as shown in FIG. 7D, to reach a designated area for performing the surgical procedure. In this process, it is necessary to determine whether the surgical instrument 111 currently located at the operation position is a designated surgical instrument 111 required for the surgical operation, and if so, the control device 2 may directly generate an instrument movement instruction for controlling the designated surgical instrument 111 to move along the surgical path to reach the designated area by the mechanical arm 1. If not, determining a to-be-selected position of the designated surgical instrument 111 required by the surgical operation, determining a control parameter of the switching device 112 according to the to-be-selected position and the operating position of the designated surgical instrument 111, and generating the instrument switching instruction according to the control parameter to move the designated surgical instrument 111 to the operating position, wherein the control parameter includes at least one of a moving direction, a moving distance and a rotating angle.

Eighth link: in the surgical procedure, since different surgical operations can be performed by different surgical instruments 111, the robot arm 1 can control the surgical instrument 111 to retract to a designated position where surgical switching can be performed after the surgical instrument 111 required for the current surgical operation completes the current surgical operation, and to move to the surgical position again after switching to the designated surgical instrument 111 required for the next surgical operation to continue the next surgical operation.

In this process, the control device 2 may first determine whether the surgical instrument 111 has completed the surgical operation according to the current operation performed by the surgical instrument 111 required for the current surgical operation, and if not, wait for the surgical instrument 111 to complete the surgical operation, and if so, generate a return instruction to move the surgical instrument 111 to the designated position. The designated surgical instrument 111 required for the next surgical operation is determined, and an instrument switching instruction is generated according to the selected position and the operation position where the designated surgical instrument 111 required for the next surgical operation is located, so that the designated surgical instrument 111 required for the next surgical operation is moved to the operation position. Further, the instrument movement command is generated again, the designated surgical instrument 111 currently located at the operation position is controlled to move to the operation position, and the operation is performed.

In practical applications, the eighth link and the ninth link may be repeated multiple times, so as to achieve the purpose of completing multiple different operations by using multiple different surgical instruments 111 in the current surgical procedure.

In an alternative embodiment of the present disclosure, the surgical device provided in the present disclosure may control the apparatus 2 to implement master-slave control in response to control instructions generated by an operation of an operator.

Specifically, the control device 2 further includes a display 22 and a human-computer interaction unit 21.

The display 22 may display images used for assisting an operator to control the mechanical arm 1 and the used images, and the operator may control the mechanical arm 1 to move, control the auxiliary device assembly 12 to puncture, place and rotate the working cannula 121, place the endoscope 122, control the surgical device 111 in the surgical device assembly 11 to perform a surgical operation, etc. by performing man-machine interaction with the man-machine interaction unit 21, as shown in fig. 8, which is a schematic diagram of a control device provided in the present specification.

Specifically, the display 22 mounted on the control device 2 is used to display the scanning result (CT image or X-ray image) of the affected part of the patient, the three-dimensional image generated by the control device 2 and the real-time image of the affected part acquired by the endoscope 122, or further information, such as Electrocardiogram (ECG) or electrophysiological monitoring information of the patient, may be additionally displayed, so as to provide a reference for the operator to perform the operation. As shown in fig. 8, the scan result of the affected part of the patient may be displayed on the display area 221, the three-dimensional image generated by the control device 2 may be displayed on the display area 222, and the real-time image of the affected part in the wound on the patient body acquired by the endoscope 122 may be displayed on the display area 223. The three-dimensional image generated by the control device 2 shown in the display area 222 may be a three-dimensional image of the endoscope 122, the surgical instrument 111, and the affected part of the patient simulated by the control device 2 through built-in designated three-dimensional software.

The human-computer interaction unit 21 may include a touch screen 211 and/or a lever 212, and wherein the lever 212 may include an auxiliary lever 2121 and an operation lever 2122.

The auxiliary control rod 2121 can be controlled to rotate, press, tilt to gear actions in different forward, backward, left and right directions, etc., to generate different control commands for the endoscope 122 in the auxiliary instrument assembly 12 for controlling the movement, rotation or tilting of the endoscope 122.

The operation control lever 2122 can also be controlled to rotate, press, tilt to gear movements in four directions, i.e., front, back, left, and right, etc., to generate different control commands for the tertiary instrument in the operation position in the surgical instrument assembly 11 for controlling the movements of the surgical instrument 111 to perform movements, rotations, tilts, and surgical operations.

Further, an operator may input operation motions through the auxiliary control lever 2121 and/or the operation control lever 2122 by referring to images on the display 22, and generate different types of control instructions according to different operation motions of different control levers.

Optionally, the control lever may be further split into a plurality of sub-control levers according to different control functions and respectively configured in the control device 2, so that the operation action input by the single control lever is split into different sub-control levers, and although the complexity of the operation is improved due to the increase of the number of the control levers, the difficulty of master-slave control operation is reduced due to the fact that each sub-control lever can correspond to the action of a single instrument, and the efficiency of the operation is still improved to a certain extent.

In addition, an auxiliary foot brake 25, an operation foot brake 26, and an emergency stop foot brake 27 may be provided in association with the operations of the auxiliary lever 2121 and the operation lever 2122.

Specifically, when the operator steps on the auxiliary foot brake 25, the operator can control the auxiliary control lever 2121 to finely adjust the angle and position of the light source and the camera at the distal end of the endoscope 122, and if the operator does not step on the auxiliary foot brake 35, the operator cannot operate the endoscope 122 even if he operates the auxiliary control lever 2121.

When the operator steps on the operating foot brake 26, the operator can control the operating control rod 2122 to operate the surgical instrument 111, adjust the position of the surgical instrument 111 on the patient, achieve fine adjustment of the angle and position of the surgical instrument 111, and control the surgical instrument 111 to complete the corresponding operation. If the operator does not depress the operating foot brake 26, the operator cannot operate the control lever 24, so that safety is ensured.

In addition, the control device 2 is further provided with an emergency stop foot brake 27, and once the operator finds the mechanical arm 1 and/or an operation abnormality occurs during execution of a puncture command, a rotation command, or a surgical operation command, and the mechanical arm 1 and/or an operation abnormality occurs when the operator performs a manual operation by the control device 2, the operator can press the emergency stop foot brake 27 to stop the movement of the mechanical arm 1.

Of course, the operator may manually adjust the angle and position of the endoscope 122 and the arm of the surgical instrument 111 in the wound slightly according to the specific operation condition, and manually operate the surgical instrument 111 to perform the surgical treatment on the affected part, which is not limited in this specification.

In an alternative embodiment of the present disclosure, a patient may be scanned during surgery with an intraoperative CT or C-type X-ray arm to obtain intraoperative X-ray images of a designated region within a diseased portion of the patient. Since scanning of the CT or C-type X-ray arm during surgery may cause a certain radiation in the surgical environment, a protection device may be placed at the periphery of the control device 2 in order to protect the physical safety of the operator, for example, the protection device may be a radiation protection plate having a weight of > =0.5 mmPb equivalent or a lead glass device, thereby preventing the operator from the radiation in the surgical environment.

In an alternative embodiment of the present disclosure, the surgical device capable of performing the UBE operation may be further configured by disposing the manipulator arm 1A and the auxiliary manipulator arm 1B on the base 6, disposing the surgical instrument assembly 11 on the manipulator arm 1A, and disposing the auxiliary instrument assembly 12 on the auxiliary manipulator arm 1B, as shown in fig. 9. The auxiliary mechanical arm 1B is provided with an auxiliary instrument assembly 12, and the working sleeve 121 and the endoscope 122 are sequentially arranged for a patient by controlling the auxiliary mechanical arm 1B so as to acquire real-time images of a designated area of the patient and send the real-time images to the control device 2. The surgical instrument 111 included in the surgical instrument assembly 11 configured by the operation robot arm 1A is introduced into the patient from another puncture wound other than the puncture wound where the working cannula 121 is located and reaches a designated area, and the surgical operation is performed on the designated area in response to a pre-planned surgical operation or an operation performed by the operator through the control device 2.

In order to facilitate understanding of the above surgical device, the present disclosure also provides a schematic flow chart of a surgical method, so as to illustrate a manipulation method of the above surgical device during an actual surgical procedure, as shown in fig. 10.

Fig. 10 is a schematic flow chart of a method of operating a minimally invasive surgical device provided in the present specification, including the following steps:

s100: a designated surgical instrument required for the surgical procedure is determined.

In general, the control device may be a computer host equipped with specified software (such as three-dimensional software, planning software, etc.), and is connected to the mechanical arm, the positioning device, the scanning device 4, etc. deployed in the surgical environment by a wired or wireless manner. The surgical method provided in the embodiments of the present specification may be performed by a control device.

In practical application, when a patient is in place and the mechanical arm reaches a preset position, a worker establishes a working channel and places an endoscope, and then performs operation by controlling a surgical instrument to enter a diseased part of the patient. Before the surgical instrument is controlled to perform the affected part, it is required to determine whether the surgical instrument located at the operation position is a surgical instrument required for the current surgical operation, and if so, an instrument control instruction may be generated by the control device to complete the surgical operation. If not, the designated surgical instrument required for the surgical procedure needs to be determined and switched to the operative position.

In the embodiment of the present specification, the manner of determining the specific surgical instrument required for the surgical operation may be determined according to the order of use of the surgical instruments stored in the control device in advance, or may be determined by a man-machine interaction unit configured by the operator through the control device, which is not limited in the present specification.

S102: and generating an instrument switching instruction according to the designated surgical instrument, and sending the instrument switching instruction to a mechanical arm, so that the mechanical arm responds to the instrument switching instruction, controls a surgical instrument assembly configured on the mechanical arm to move to a designated position, and controls a switching device in the surgical instrument assembly to move so as to switch the designated surgical instrument in a to-be-selected position in the surgical instrument assembly to an operation position.

After the designated surgical instrument is determined, an instrument switching instruction can be generated according to the selected position and the operation position of the designated surgical instrument, wherein the instrument switching instruction can comprise control parameters of the switching device.

S104: and generating and sending a control instruction according to the position of the designated surgical instrument, so that the mechanical arm responds to the control instruction, controls the surgical instrument assembly to move to a surgical position, and executes a surgical operation corresponding to the control instruction through the designated surgical instrument.

After determining that a designated surgical instrument is located at an operation position, a control device sends a control instruction to the mechanical arm, so that the mechanical arm responds to the control instruction sent by the control device to control the surgical instrument contained in a surgical instrument assembly configured on the mechanical arm to perform a surgical operation on the designated area.

Based on the surgical method shown in fig. 10, a control device sends a control instruction to the mechanical arm according to the mechanical arm, the position of a designated area and the first operation action of an operator, so that the mechanical arm responds to the control instruction to control surgical instruments contained in a surgical instrument assembly to perform surgical operation on the designated area, and the control device responds to the second operation action of the operator to send an instrument switching instruction to the mechanical arm, so that the mechanical arm controls each surgical instrument configured on the switching device to switch according to the instrument switching instruction. Therefore, the operation equipment can realize the rapid switching among a plurality of surgical instruments, so that the operation of manually replacing the surgical instruments in the operation by operators is avoided in the operation scene which needs to be completed by using a large number of surgical instruments, the accuracy of the operation is further improved, and the operation burden of the operators is relieved.

The surgical methods provided above for one or more embodiments of the present disclosure also provide a corresponding surgical device, based on the same considerations, as shown in fig. 11.

Fig. 11 is a schematic view of a surgical device provided in the present specification, specifically including:

a determination module 200 for determining a designated surgical instrument required for a surgical procedure;

An instrument switching instruction generating module 202, configured to generate an instrument switching instruction according to the specified surgical instrument, and send the instrument switching instruction to a mechanical arm, so that the mechanical arm responds to the instrument switching instruction, controls a surgical instrument assembly configured on the mechanical arm to move to a specified position, and controls a switching device in the surgical instrument assembly to move, so as to switch the specified surgical instrument in a candidate position in the surgical instrument assembly to an operation position;

And the control instruction generating module 204 is configured to generate and send a control instruction according to the position of the designated surgical instrument, so that the mechanical arm responds to the control instruction, control the surgical instrument assembly to move to a surgical position, and execute a surgical operation corresponding to the control instruction through the designated surgical instrument.

The present specification also provides a computer readable storage medium storing a computer program operable to perform the surgical method provided in fig. 10 above.

Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present description, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.

In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable GATE ARRAY, FPGA)) is an integrated circuit whose logic functions are determined by user programming of the device. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented with "logic compiler (logic compiler)" software, which is similar to the software compiler used in program development and writing, and the original code before being compiled is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but HDL is not just one, but a plurality of kinds, such as ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language), and VHDL (Very-High-SPEED INTEGRATED Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application SPECIFIC INTEGRATED Circuits (ASICs), programmable logic controllers, and embedded microcontrollers, examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.

Claims (19)

1. Surgical apparatus, characterized in that it comprises a robotic arm (1), a control device (2); a surgical instrument assembly (11) is arranged on the mechanical arm (1), and the surgical instrument assembly (11) comprises a plurality of surgical instruments (111) arranged on a switching device (112);

   The control device (2) is used for determining a designated surgical instrument (111) required by a surgical operation, generating an instrument switching instruction according to the designated surgical instrument (111) and sending the instrument switching instruction to the mechanical arm (1); generating and transmitting control instructions according to the position of the designated surgical instrument (111);

   The mechanical arm (1) is used for responding to an instrument switching instruction sent by the control device (2), controlling the surgical instrument assembly (11) to move to a designated position, and controlling the switching device (112) to move so as to switch the designated surgical instrument (111) positioned at a standby position of the surgical instrument assembly (11) to an operation position; in response to a control instruction transmitted by the control device (2), the surgical instrument assembly (11) is controlled to move to a surgical position, and a surgical operation corresponding to the control instruction is performed by the designated surgical instrument (111).
2. Surgical device according to claim 1, characterized in that the switching means (112) switch the designated surgical instrument (111) from the alternative position to the operating position in a manner comprising at least one of rotation and translation.
3. The surgical device of claim 1, wherein the switching means (112) further comprises an operating assembly (1121);

   the switching device (112) is controlled to move in response to an operation action input by an operator through the operation member (1121).
4. Surgical device according to claim 1, characterized in that the mechanical arm (1) is further provided with an auxiliary instrument assembly (12), the auxiliary instrument assembly (12) comprising at least a working cannula (121) and an endoscope (122);

   The mounting position of the working cannula (121) on the mechanical arm (1) is located on a first axis, the mounting position of the endoscope (122) on the mechanical arm (1) is located on a second axis, and the mounting position of the surgical instrument (111) on the mechanical arm (1) is located on a third axis;

   wherein the first axis, the second axis and the third axis are coincident or parallel to each other.
5. The surgical device of claim 4, wherein a distance between any two of the first axis, the second axis, and the third axis is no greater than a preset threshold when the first axis, the second axis, and the third axis are parallel to one another.
6. Surgical device according to claim 1, characterized in that the switching means (112) are provided with a plurality of instrument mounting slots, each instrument mounting slot being provided with at least one surgical instrument (111); one of the instrument mounting grooves provided on the switching device (112) is located at the operation position, and the remaining instrument mounting grooves are located at the standby position.
7. Surgical device according to claim 6, characterized in that the control means (2) are adapted to generate the instrument switching instruction and to send it to the robotic arm (1) depending on the mounting positions of the designated surgical instrument (111) and the current surgical instrument (111) on the instrument mounting slot, respectively, when the designated surgical instrument (111) and the current surgical instrument (111) are mounted in the same instrument mounting slot.
8. Surgical device according to claim 1, characterized in that the control means (2) are adapted to determine control parameters of the switching means (112) depending on the position to be selected of the designated surgical instrument (111) and the operating position, the instrument switching instructions being generated depending on the control parameters, the control parameters comprising at least one of a direction of movement, a distance of movement and an angle of rotation.
9. Surgical device according to claim 1, characterized in that it further comprises positioning means (3); a first positioning mark (13) is arranged on the surgical instrument (111), and a second positioning mark (5) is arranged in a preset range of a diseased part of a patient;

   The positioning device (3) is used for acquiring the positions of the first positioning mark (13) and the second positioning mark (5) and sending the positions to the control device;

   The control device (2) is used for determining the designated position allowing each surgical instrument (111) in the surgical instrument assembly (11) to be switched and the surgical position allowing each surgical instrument (111) to perform a surgical operation according to the position of the second positioning mark (5).
10. Surgical device according to claim 9, characterized in that it further comprises scanning means (4), said scanning means (4) being configured with a third positioning marker (41);

    the scanning device (4) is used for scanning the patient and obtaining a scanning result of a diseased part of the patient and sending the scanning result to the control device (2);

    the positioning device (3) is used for acquiring and transmitting the position of the third positioning mark (41);

    The control device (2) is used for determining the relative position of the scanning device (4) and the patient according to the position of the second positioning mark (5) and the position of the third positioning mark (41); registering the scan results according to the relative positions of the scanning device (4) and the patient.
11. Surgical device according to claim 2, characterized in that the robotic arm (1) further comprises a stationary base (14); the surgical instrument assembly (11) further comprises a slider (113) and a clamping device (114); the clamping device (114) clamps the switching device (112), the clamping device (114) is in sliding connection with the sliding block (113), and the sliding block (113) is in sliding connection with the fixed base (14);

    The sliding block (113) is used for driving the clamping device (114) to slide along the extending direction of the fixed base (14) when sliding on the fixed base (14) so as to drive the surgical instrument (111) to slide along the extending direction of the fixed base (14);

    The clamping device (114) is used for driving the surgical instrument (111) to slide along the extending direction of the fixed base (14) when the sliding block (113) slides.
12. Surgical device according to claim 11, characterized in that the control means (2) are adapted to determine a surgical path for the surgical operation of the surgical instrument (111) on the diseased site, depending on the surgical instrument assembly (11) and the position of the diseased site of the patient; generating a movement instruction according to the operation path and sending the movement instruction to the mechanical arm (1);

    The mechanical arm (1) is used for moving according to the received moving instruction, so that the extending direction of the fixed base (14) is parallel to the operation path, and the operation instrument (111) reaches the affected part along the operation path.
13. Surgical device according to claim 1, characterized in that the control means (2) further comprise a human-machine interaction unit (21);

    The human-computer interaction unit (21) is configured to determine the designated surgical instrument (111) in response to an operation by an operator.
14. Surgical device according to claim 13, characterized in that the man-machine interaction unit (21) comprises a touch screen (211) and/or a control lever (212).
15. Surgical device according to any of claims 1 to 14, characterized in that it further comprises a base (6) and a suspension platform (61), the head end of the suspension platform (61) being mounted on the base (6); the mechanical arm (1) is hoisted at the tail end of the suspension platform (61).
16. Surgical device according to any of claims 1 to 14, characterized in that it further comprises a base (6); the mechanical arm (1) is mounted on the base (6).
17. A surgical method, wherein the method is applied to a control device, the method comprising:

    Determining a designated surgical instrument required for a surgical procedure;

    Generating an instrument switching instruction according to the appointed surgical instrument, and sending the instrument switching instruction to a mechanical arm, so that the mechanical arm responds to the instrument switching instruction, controls a surgical instrument assembly configured on the mechanical arm to move to an appointed position, and controls a switching device in the surgical instrument assembly to move so as to switch the appointed surgical instrument positioned at a to-be-selected position in the surgical instrument assembly to an operation position;

    And generating and sending a control instruction according to the position of the designated surgical instrument, so that the mechanical arm responds to the control instruction, controls the surgical instrument assembly to move to a surgical position, and executes a surgical operation corresponding to the control instruction through the designated surgical instrument.
18. A surgical device for use with a control device, the surgical device comprising:

    a determination module for determining a designated surgical instrument required for a surgical procedure;

    The device switching instruction generation module is used for generating a device switching instruction according to the appointed surgical device and sending the device switching instruction to the mechanical arm, so that the mechanical arm responds to the device switching instruction, controls a surgical device assembly arranged on the mechanical arm to move to an appointed position, and controls a switching device in the surgical device assembly to move so as to switch the appointed surgical device in a to-be-selected position in the surgical device assembly to an operation position;

    And the control instruction generation module is used for generating and sending a control instruction according to the position of the designated surgical instrument, so that the mechanical arm responds to the control instruction, controls the surgical instrument assembly to move to the surgical position, and executes the surgical operation corresponding to the control instruction through the designated surgical instrument.
19. A computer readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of claim 17.