Disclosure of Invention
In order to solve the problems, the invention provides the precisely controlled manipulator-assisted hepatobiliary surgery stone removing equipment, which is convenient for adjusting and controlling the stone removing position, and repeatedly removing stones according to the stone removing requirement, thereby improving the stone removing accuracy and the stone removing efficiency.
In order to achieve the aim, the technical scheme is that the precisely controlled manipulator assisted liver and gall surgery stone removing device comprises a puncture tube for performing in-vivo puncture, wherein one end of the puncture tube is provided with an expansion mechanism for forming a supporting space in the body;
A driving shaft is in running fit with the center of the puncture tube, one side of the processing groove is communicated with a collecting port, a cutting mechanism for cutting internal tissues is in running fit with the driving shaft, and the cutting mechanism is in clearance fit with the collecting port;
the puncture tube is internally and fixedly connected with a camera for acquiring image data in real time, the camera is positioned at the top of the processing groove and corresponds to the position of the collecting port, and the camera is electrically connected with a control panel for displaying the image data in real time.
Further, one side of the puncture tube close to the collecting port is slidably matched with a shielding plate, the top of the shielding plate is fixedly connected with a push-pull rod, the push-pull rod is slidably matched with the puncture tube, and one end of the push-pull rod, far away from the processing groove, penetrates through the puncture tube.
Further, the cutting mechanism comprises a handle part and a cutter body, a rotating shaft is in running fit between one end of the handle part and one end of the driving shaft, which is close to the processing groove, and a torsion spring is sleeved on the rotating shaft;
One end of the handle part far away from the driving shaft is fixedly connected with a spring piece, two ends of the spring piece far away from the handle part are respectively fixedly connected with the cutter body, one end of the cutter body far away from the handle part is fixedly connected with a pull rope, one end of the stay cord far away from the cutter body penetrates through the driving shaft, and the stay cord is in sliding fit with the driving shaft;
when one end of the driving shaft, which is close to the processing groove, is parallel to the bottom of the collecting opening, the torsion spring and the spring piece are in a normal state, the handle part and the cutter body are positioned outside the puncture tube, and the adjacent cutter bodies are in an open state.
Further, a negative pressure pipe is arranged at the center of the driving shaft, and one end of the negative pressure pipe, which is far away from the processing groove, is communicated with a negative pressure pump;
One end of the puncture tube, which is close to the processing groove, is provided with a concave hole, one end of the driving shaft, which is close to the processing groove, is fixedly connected with a crushing block, and the crushing block corresponds to the concave hole.
Further, a top block is fixedly connected to the center of the concave hole and matched with the diameter of the negative pressure pipe, and a control button is fixedly connected to one end of the driving shaft, which is close to the concave hole, and is electrically connected with the negative pressure pump.
Further, the lengths of the adjacent cutter bodies are sequentially increased along the anticlockwise direction, and the end, away from the processing groove, of the driving shaft is fixedly connected with scale marks, and the positions of the scale marks correspond to the positions of the conductors.
Further, a sliding groove is formed in the cutter body, the sliding groove is positioned between the adjacent cutter bodies, a telescopic rod is arranged in the sliding groove, the output end of the telescopic rod is fixedly connected with a sliding block, and the sliding block is in sliding fit with the sliding groove;
The telescopic rod is provided with a telescopic rod, a negative pressure pipe is arranged on the telescopic rod, one end of the telescopic rod, which is far away from the sliding block, is communicated with the negative pressure pipe, a three-way electromagnetic valve is communicated between the air pipe, the negative pressure pipe and the outside, the three-way electromagnetic valve is used for controlling the communication condition between the air pipe, the negative pressure pipe and the outside, the three-way electromagnetic valve is electrically connected with a control panel, a spring is fixedly connected between the sliding block and one end of the cutter body, which is close to the handle part, and a telescopic matching rope is fixedly connected between the adjacent sliding blocks.
The pressure sensor is electrically connected with the control panel, one end of the expansion strip, which is close to the processing groove, is fixedly connected with the puncture tube, one end of the expansion strip, which is far away from the processing groove, is fixedly connected with the pushing part, the pushing part is in sliding fit with the puncture tube, one end of the pushing part, which is far away from the processing groove, is fixedly connected with the indicator lamp, and the indicator lamp corresponds to the position of the expansion strip;
the pressure sensor is used for measuring real-time pressure data in the process of contacting the expansion strip with external blood and meat in real time and sending the real-time pressure data to the control panel, the control panel is used for comparing the real-time pressure data with a set standard value, sending a starting instruction to a corresponding indicator lamp if the real-time pressure data is larger than the standard value, and sending a standby instruction to the corresponding indicator lamp if the real-time pressure data is smaller than the standard value.
Further, the control panel is also used for calculating the pressure difference corresponding to the real-time pressure data before and after the current time in the process of stone removal, comparing the pressure difference with a set fluctuation value, sending a flashing instruction to the indicator lamp if the pressure difference is larger than the fluctuation value, and sending a maintenance instruction to the indicator lamp if the pressure difference is smaller than the fluctuation value.
Further, the control panel is also used for inputting an viscera distribution model, a position to be operated and a puncture position, inputting the position to be operated and the puncture position into the viscera distribution model, and obtaining the maximum supporting force corresponding to each expansion strip;
and based on the puncture position facing the position to be operated as a reference direction, acquiring the maximum supporting force corresponding to each expansion mechanism based on the reference direction, and adjusting the standard value corresponding to each pressure sensor by the maximum supporting force.
The adoption of the scheme has the following beneficial effects:
1. according to the scheme, the external blood and meat is supported through the expansion mechanism so as to provide a processing space of the cutting knife and facilitate cutting treatment of the cutting knife, and meanwhile, the external blood and meat is supported through the expansion mechanism, so that the supporting stability of the puncture tube is kept in the process of separating the external blood and meat, the stability in the cutting process of the subsequent cutting knife is facilitated, and the stable taking-out treatment of the internal stones is facilitated.
2. According to the scheme, the real-time display is performed through the image data, so that a user can conveniently determine the stone taking position in the stone taking process, the accuracy of the stone taking position is improved, meanwhile, the camera hidden in the processing groove is utilized, the contact between the surface of the camera and the outside in the moving process of the puncture tube in the body is reduced, and the definition in the subsequent image acquisition process is improved.
3. According to the scheme, the telescopic cutting mechanism is utilized, the display processing is carried out through the image data, the contact condition of the cutting mechanism in the stone taking process and the external blood and meat is determined, stones in the external blood and meat are cut and obtained through the flexibly controlled cutting mechanism, the driving shaft is utilized to drive the cutting mechanism to rotate, the cutting mechanism is accurately controlled to cut stones in different directions, repeated stone taking is convenient to carry out, and stone taking accuracy and stone taking efficiency are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The following is a further detailed description of the embodiments:
Example 1:
As shown in figures 1 to 7 of the drawings, the precisely controlled manipulator assisted liver and gall surgery stone removing device comprises a puncture tube 1 for performing in-vivo puncture, wherein one end of the puncture tube 1 is provided with an expansion mechanism for forming a supporting space in the body, the expansion mechanism comprises a processing groove 11 arranged in the puncture tube 1, and a plurality of expansion strips 2 are in clearance fit in the processing groove 11.
The center of the puncture tube 1 is in running fit with a driving shaft 4, the driving shaft 4 is in sliding fit with a processing groove 11, one side of the processing groove 11 is communicated with a collecting opening 14, a cutting mechanism for cutting internal tissues is in running fit with the driving shaft 4, the cutting mechanism is in clearance fit with the collecting opening 14, one side of the puncture tube 1, which is close to the collecting opening 14, is in sliding fit with a shielding plate 3, the top of the shielding plate 3 is fixedly connected with a push-pull rod 31, the push-pull rod 31 is in sliding fit with the puncture tube 1, and one end, which is far away from the processing groove 11, of the push-pull rod 31 penetrates through the puncture tube 1.
The cutting mechanism comprises a handle part 5 and a cutter body 51, a rotating shaft is rotatably matched between one end of the handle part 5 and one end of the driving shaft 4, which is close to the processing groove 11, a torsion spring is sleeved on the rotating shaft, one end of the torsion spring is fixedly connected with the driving shaft 4, one end of the handle part 5, which is far away from the driving shaft 4, is fixedly connected with a spring piece (not shown in the figure), two ends of the spring piece, which are far away from the handle part 5, are respectively fixedly connected with the cutter body 51, one end of the cutter body 51, which is far away from the handle part 5, is fixedly connected with a pull rope 42, one end of the pull rope 42, which is far away from the cutter body 51, penetrates through the driving shaft 4, and the pull rope 42 is in sliding fit with the driving shaft 4. The lengths of the adjacent cutter bodies 51 are sequentially increased along the anticlockwise direction, and the end, far away from the processing groove 11, of the driving shaft 4 is fixedly connected with scale marks 43, and the positions of the scale marks 43 correspond to the positions of the conductors.
When one end of the driving shaft 4, which is close to the processing groove 11, is positioned above the collecting opening 14, the grab handle part 5 and the cutter body 51 are hidden inside the driving shaft 4, the torsion spring and the spring piece are both in a compressed state, and when one end of the driving shaft 4, which is close to the processing groove 11, is parallel to the bottom of the collecting opening 14, the torsion spring and the spring piece are both in a normal state, the grab handle part 5 and the cutter body 51 are positioned outside the puncture tube 1, and the adjacent cutter body 51 is in an open state.
The puncture tube 1 is also fixedly connected with a camera 15 for acquiring image data in real time, the camera 15 is positioned at the top of the processing groove 11, the camera 15 corresponds to the position of the collecting port 14, and the camera 15 is electrically connected with a control panel (not shown in the figure) for displaying the image data in real time.
The specific implementation process is as follows:
firstly, based on the position where stone is required to be fetched, the puncture tube 1 is pushed to the position close to the stone, the user can conveniently determine the stone fetching position in the stone fetching process by using image data acquired by the camera 15 so as to improve the accuracy of the stone fetching position, and meanwhile, the camera 15 in the processing groove 11 is shielded by the shielding plate 3 so as to reduce the contact between the surface of the camera 15 and the outside in the moving process of the puncture tube 1 in the body and improve the definition in the subsequent image acquisition process.
According to the display of image data and the determination of the position of stones, the push-pull rod 31 is utilized to drive the shielding plate 3 to slide in the puncture tube 1 so as to control the shielding plate 3 to seal the collecting opening 14, when the shielding plate 3 seals the collecting opening 14, the obstruction of external blood and meat entering the collecting opening 14 in the moving process of the puncture tube 1 is reduced, the smoothness in the moving process is ensured, and meanwhile, the shielding plate 3 is utilized to form a sealing space so as to reduce the falling of stones collected in the inside or the moving of residual blood or residual blood and meat in the inside, thereby improving the safety in the using process.
In the process of stone removal, in the process of sliding in the puncture tube 1 through the driving shaft 4, when one end of the driving shaft 4, which is close to the processing groove 11, is positioned above the collecting opening 14, the cutter body 51 is pulled back through the pull rope 42 so as to control the corresponding grab handle part 5 to be hidden in the driving shaft 4, so that the grab handle part 5 and the cutter body 51 are hidden and fixed, the puncture tube 1 is convenient to move, when one end of the driving shaft 4, which is close to the processing groove 11, is parallel to the bottom of the collecting opening 14, the compressed torsion spring drives the grab handle part 5 to rotate so as to drive the blade to rotate outwards of the collecting opening 14, the blade stretches out of the collecting opening 14, and at the moment, the spring leaf pushes the adjacent blade to stretch, and the blade pulls the pull rope 42 to stretch out.
In the process that the cutter body 51 stretches out, external blood and meat are scratched through the cutter body 51 to form an splayed wound so that stones in the blood and meat can fall off from the blood and meat, meanwhile, the cutter body 51 drives the pull rope 42 to contact the stones in the blood and meat, the pull rope 42 is pulled to drive the cutter body 51 to carry out pull-back treatment, and the cutter body 51 is rotated to enable the tops of the cutter body 51 to extrude the stones in the blood and meat, so that the stones in the blood and meat roll down to the inside of the processing groove 11 along the direction of the cutter body 51, and stone taking work is achieved.
When peripheral blood flesh exists a plurality of calculus, based on calculus position and position, cut the calculus that obtains in the external blood flesh through the cutting mechanism of nimble control, utilize driving shaft 4 to drive cutting mechanism and rotate to accurate control cutting mechanism cuts the processing to the calculus of different positions, is convenient for carry out repeated calculus of getting many times, improves calculus accuracy and calculus efficiency of getting. The cutter bodies 51 with sequentially changed lengths are used for conveniently replacing and cutting the cutter bodies 51 according to the depth of external blood and meat stones and length requirements, so that stones are conveniently separated and collected, and the indication conditions of the scale marks 43 are used for conveniently confirming the corresponding conditions of the cutter bodies 51 and the collecting ports 14, so that different cutter bodies 51 are conveniently controlled to cut, stone taking positions are conveniently regulated and controlled, and stone taking efficiency is improved.
Example 2:
The difference from embodiment 1 is that the center of the driving shaft 4 is provided with a negative pressure pipe 41, one end of the negative pressure pipe 41 far away from the processing groove 11 is communicated with a negative pressure pump, which is not shown in the figure, and the negative pressure pump is not described in detail in the embodiment, one end of the puncture pipe 1 near the processing groove 11 is provided with a concave hole 12, one end of the driving shaft 4 near the processing groove 11 is fixedly connected with a breaking block, and the breaking block corresponds to the concave hole 12.
The center of the concave hole 12 is fixedly connected with a top block 13, the diameter of the top block 13 is matched with that of the negative pressure pipe 41, and one end of the driving shaft 4, which is close to the concave hole 12, is fixedly connected with a control button (not shown in the figure) which is electrically connected with the negative pressure pump.
The stone extraction process comprises the following specific implementation steps of continuously sucking the periphery of the collecting port 14 by utilizing negative pressure suction generated by the negative pressure pipe 41 so as to be convenient for adsorbing and fixing stones in the stone extraction process, keeping the knife body 51 fixed by utilizing the pull rope 42 so as to push the driving shaft 4 to squeeze the inside of the concave hole 12, squeezing and crushing the stones in the concave hole 12, facilitating subsequent recovery treatment of the stones through the negative pressure pipe 41, reducing residual stones in the stone extraction process, and facilitating continuous recovery treatment of the stones.
Meanwhile, the ejector block 13 is adopted to penetrate into the interior of the negative pressure pipe 41, and as the stones or sundries such as dirty blood and the like in the interior of the negative pressure pipe 41 enter the side of the negative pressure pipe 41, which is close to the processing groove 11, firstly, the ejector block 13 is adopted to push the stones possibly accumulated in the interior of the negative pressure pipe 41 to dredge, so that the smoothness of the interior of the negative pressure pipe 41 is kept, the stones accumulated in the interior of the processing groove 11 are conveniently and continuously collected, and the working efficiency in the stone extraction process is improved.
Example 3:
The difference from embodiment 2 is that the cutter body 51 is provided with a chute 52, the chute 52 is located between adjacent cutter bodies 51, a telescopic rod 54 is disposed in the chute 52, in this embodiment, the telescopic rod 54 is of an existing syringe structure, the embodiment is not described in detail, the output end of the telescopic rod 54 is fixedly connected with a sliding block, the sliding block is in sliding fit with the chute 52, one end of the telescopic rod 54 far away from the sliding block is communicated with an air pipe (not shown in the figure), one end of the air pipe far away from the telescopic rod 54 is communicated with the negative pressure pipe 41, a three-way electromagnetic valve is communicated between the air pipe, the negative pressure pipe 41 and the outside, the outside is not shown in the figure, the outside is a processing groove 11, the three-way electromagnetic valve is used for controlling the communication condition between the air pipe and the negative pressure pipe 41 and the outside, the three-way electromagnetic valve is electrically connected with a control panel, a spring 55 is fixedly connected between the sliding block and one end of the cutter body 51 near the handle portion 5, and a telescopic matching rope 53 is fixedly connected between the adjacent sliding blocks.
The control panel is communicated with the negative pressure pipe 41 through the air pipe by the three-way electromagnetic valve, the negative pressure generated between the inside of the telescopic rod 54 and the outside is utilized to pull the output end of the telescopic rod 54 to retract against the resistance of the spring 55, the obstruction of the cutter body 51 in the cutting process with the outside blood and meat is reduced, the smoothness of the cutter body 51 in the cutting process is ensured, the reset spring 55 pushes the sliding block to move in the sliding groove 52 in the communicating process of the telescopic rod 54 and the outside through the air pipe, and the matching rope 53 between the adjacent sliding blocks is utilized to carry out carrying treatment on the stone bottom in the blood and meat so as to drive the stone to be recovered into the processing groove 11, and the stone taking is facilitated.
Example 4:
The difference with the embodiment 3 is that the side of the expansion strip 2 far away from the processing groove 11 is fixedly connected with a pressure sensor which is electrically connected with a control panel, one end of the expansion strip 2 near the processing groove 11 is fixedly connected with the puncture tube 1, one end of the expansion strip 2 far away from the processing groove 11 is fixedly connected with a pushing part 21, the pushing part 21 is in sliding fit with the puncture tube 1, one end of the pushing part 21 far away from the processing groove 11 is fixedly connected with an indicator lamp 22, and the indicator lamp 22 corresponds to the position of the expansion strip 2.
The pressure sensor is used for measuring real-time pressure data in the process of contacting the expansion strip 2 with external blood and meat in real time and sending the real-time pressure data to the control panel, the control panel is used for comparing the real-time pressure data with a set standard value, sending a starting instruction to the corresponding indicator lamp 22 if the real-time pressure data is larger than the standard value, and sending a standby instruction to the corresponding indicator lamp 22 if the real-time pressure data is smaller than the standard value.
For example, the real-time pressure data is compared to control the corresponding indicator lamp 22 to work, and the indicator lamp 22 is used for indicating to confirm whether the expansion strip 2 of the current extending part is in contact with the outside, so as to judge whether the puncture tube 1 forms a stable support or not based on the lighting condition of the indicator lamp 22, thereby improving the reference basis for the subsequent stone extraction operation.
The control panel is also used for calculating the pressure difference corresponding to the real-time pressure data before and after the current time in the process of stone removal, comparing the pressure difference with a set fluctuation value, sending a flashing instruction to the indicator lamp 22 if the pressure difference is larger than the fluctuation value, and sending a maintenance instruction to the indicator lamp 22 if the pressure difference is smaller than the fluctuation value.
For example, in the process of fixedly supporting the puncture tube 1, when the cutter body 51 collides with stones in the body, the stones can exert a reaction force through the cutter body 51 to push the puncture tube 1 to move, so that the pressure sensor on the expansion strip 2 is correspondingly extruded and changed, and accordingly whether the cutter body 51 performs corresponding stone removal operation or not is judged based on real-time pressure data, and then the indication lamp 22 is used for flashing and reminding, so that the stones can be recovered and processed conveniently.
Example 5:
The difference from embodiment 4 is that the control panel is further used for inputting an organ distribution model, a position to be operated and a puncture position, inputting the position to be operated and the puncture position into the organ distribution model, obtaining the maximum supporting force corresponding to each expansion bar 2, obtaining the maximum supporting force corresponding to each expansion mechanism based on the puncture position facing the position to be operated as a reference direction and based on the reference direction, and then adjusting the standard value corresponding to each pressure sensor with the maximum supporting force.
For example, the organ distribution model, the position to be operated and the puncture position are input for knowing the supportable position and the non-supportable position, the extrusion damage to the organ when the expansion strip 2 is supported is reduced by adjusting the maximum supporting force, and the real-time reminding is carried out through the indicator lamp 22, so that the damage to the organ in the body by the support is reduced under the condition that the supporting strength is maintained by a user.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.