Utility model content
A kind of surgical assistant system suitable for soft lens, comprising:
Operating device, for operating soft lens；
It is characterized by:
Surgical assistant system suitable for soft lens includes:
Feedback device, for feeding back the real-time reaction force of soft lens soft tissue suffered in motion process in human body,And reaction force is passed into operating device；
Wherein, operating device and feedback device are communicated to connect by wirelessly or non-wirelessly constituting so that feedback device is according to its behaviourMake device feedback information and generates the signal that user can be made to perceive or movement.
Further, feedback device includes:
Force snesor, for the pressure being subject to or pulling force to be converted to electric signal；
Operating device includes:
Operating stick, for for user's operation to control surgical assistant system；
Force application apparatus, for applying active force to operating stick according to the feedback of force snesor.
Further, suitable for the surgical assistant system of soft lens further include:
Elastic device, the impact for buffer operation device to soft lens；
Elastic device is set between two components of operating device or is set between operating device and soft lens.
Further, suitable for the surgical assistant system of soft lens further include:
Driving motor, for driving soft lens；
Operating stick controls the rotation of driving motor according to force snesor.
Further, operating device further include:
Horizontally moving device, for adjusting the linear motion of soft lens；
Rotating device, for adjusting the axial rotation motion of soft lens；
Soft lens bending apparatus, for adjusting the curvature of soft lens.
Further, soft lens bending apparatus includes:
Shifting part, for stirring the knob on soft lens；
Driving device, for driving shifting part；
Elastic device is set between shifting part and driving device.
Further, suitable for the surgical assistant system of soft lens further include:
Information collection portion for acquiring the visual pattern of soft lens leading portion, and is transferred to user to carry out respective operations；
The image information of soft lens front-end collection is passed to information collection for being connected with information collection portion by docking sectionPortion；
Wherein, information collection portion, operating device and feedback device are by wirelessly or non-wirelessly constituting communication connection；
Further, FRID label, data information of the FRID label to contain soft lens are provided in docking section.
Further, include: in information collection portion
Reading unit for reading the FRID label information in docking section, and feeds back to user.
Further, reading unit and operating device are communicated to connect by wirelessly or non-wirelessly constituting.
Further, the auxiliary mechanical arm system suitable for soft lens operation, comprising:
Operating console is the man-machine interactive system that patient manipulates that mechanical arm completes soft lens operation.
Auxiliary mechanical arm, four freedom degrees for completing operation requirement by operational order clamping soft lens head end move.
Further, the operating console includes:
Master control electrical apparatus, including handle, button etc., for receiving the control command of patient；
Touch display screen, for showing each freedom degree motion state of auxiliary mechanical arm and manipulator motion parameter setting；
Central controller for patient's operational order to be switched to electric signal, and combines force feedback signal, and control auxiliary is mechanicalSpeed, the angle of each freedom degree movement of arm；
Device for force feedback is operated, for by soft lens mirror body resistance feedback suffered in upper urinary tract motion process to patientOn control crank.
Further, operation device for force feedback includes:
Force sensors act on the force value of soft lens for measuring mechanical arm executing agency；
Force application apparatus, including control stick, linear guides, horizontally slidable force feedback effect block, feedback force snesor andHorizontal electric push rod, the force value measured according to force sensors act on equivalent force feedback to patient's control crank.
Further, auxiliary mechanical arm includes:
Mechanical arm pedestal: it is used for installing holder actuating arm and optical fiber transmission device, and can be by being mounted on pedestal bottomIdler wheel realize auxiliary mechanical arm overall movement；
Soft lens clamper for clamping on the robotic arm soft lens, and can realize the quick handling of soft lens；
Clamper actuating arm is located on the mechanical arm pedestal, for driving soft lens clamper, and then soft lens is driven to realizeThe movement of three degree of freedom；
Soft lens is sent to sheath fixed frame, is sent to sheath for fixing soft lens, drives when preventing soft lens from retreating and is sent to sheath movement；One endIt is connect with mechanical arm pedestal, the other end is connected with soft lens.
Optical fiber transmission device, the microfeed for optical fiber in performing the operation.
Further, clamper actuating arm includes:
Clamper horizontally moving device drives the slide block movement of screw pair, by servo motor for realizing clampingThe translation of device and soft lens along soft lens axis direction；
Clamper pivoting device, for realizing clamper and soft lens around the rotation of soft lens axis direction；
Soft lens is bent plectrum rotating device, including driving motor and plectrum folder, drives plectrum folder rotation by driving motor,And then soft lens bending plectrum rotation is driven, realize the bending to soft lens camera lens part.
Further, laser fiber transmission device includes:
Optical fiber transmission wheel group, including optical fiber transmission driving wheel and follower, optical fiber pass under master, by wheel friction and ExtrusionIt send；
Optical fiber transport motor, driving optical fiber transmission driving wheel determine angle rotation, realize the quantitative feeding of optical fiber；
Follower center adjusting device, including adjustment screw, locking nut and follower mounting bracket, it is passive for adjustingCenter is taken turns, and then adjusts the gap between main follower, realizes the adjustment to optical fiber transmit process frictional force.
The utility model it is achieved the utility model has the advantages that provide it is a kind of have remotely accurately control and have memory functionSuitable for the surgical assistant system of soft lens, accurate manipulation is realized.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.Following embodiment is only used for clearly illustrating thisThe technical solution of utility model, and cannot be used as a limitation the limitation protection scope of the utility model.
As shown in figures 1-13:
In the present embodiment, support device uses patient's chair type structure, and auxiliary device uses auxiliary mechanical arm, control deviceUsing console, to realize long-range operation.
In the present embodiment, the master & slave control system of console and auxiliary mechanical arm composition, picture system is by primaryProperty the included CCD miniature webcam of ureter electron flexible cystoscope and digital signal transmission system constitute, cost is only reuse typeThe 1% of soft lens.Disposable feature, which avoids, reuses scope bring cross-infection/pollution potential risk, exempts fromIn addition to cleaning/processing cost, maintenance cost is also thoroughly eliminated.
This programme replaces traditional man-hour manually hand-held formula manipulation soft lens to complete the mode of operation, change clamped by auxiliary mechanical arm it is softMirror, patient are remotely controlled operation to soft lens operation by operating console with sitting posture, and the operation for not only substantially improving patient is tiredLao Du eliminates many human factor bring uncertain factors, improves procedure efficiency, and X is used in operation moreover, alleviatingLine positions the accumulative radiation injury to patient.
The control logic figure of operating console as shown in Fig. 2, set central controller in operating console, respectively with each sensingDevice, steering engine and motor etc. are connected, and are jointly controlled.
As a specific embodiment, central controller is responsible for the reception, control and output of control signal, i.e. reception mouldBlock is responsible for receiving the operational order issued by patient in operation bench, and is translated into electric signal, is transmitted to control module.ControlModule decodes operation signal, and the control program pre-entered is combined to be modified operation, is transferred to output module；OutputModule receives the decoded signal from controller, and movement instruction is finally transmitted to mechanical arm, completes corresponding four freedom degreesThe operating process of movement.
As a specific embodiment, information collection portion is provided on auxiliary mechanical arm, for acquiring soft lens leading portionVisual pattern, and be transferred to user to carry out respective operations.The case where using disposable ureter electron flexible cystoscope for soft lensUnder, docking section is set on each soft lens, for being connected with information collection portion, the image information of soft lens front-end collection is transmittedGive information collection portion.In use, by by the docking section of disposable ureter electron flexible cystoscope and information collection portion by wired orIt wirelessly connects, reading unit can read the information of the FRID label inside docking section, to obtain current soft lensInformation, including size, length, manufacturer etc. information can be conducive to the concrete operations mode that operator grasps the soft lens, and withSituations such as patient performs the operation records on the regular payroll together, consults, traces, recalls so as to subsequent.If soft lens is to can be used repeatedly, mode of operation is identical.
This programme replaces traditional man-hour manually hand-held formula manipulation soft lens to complete the mode of operation, change seized on both sides by the arms by auxiliary mechanical arm it is softMirror, patient manipulate soft lens by console with sitting posture, not only substantially improve the surgical fatigue of patient, remove fromMany human factor bring uncertain factors, improve procedure efficiency, moreover, significantly reducing x-ray positioning to patient'sAccumulative radiation injury.
Console includes controller module and operating console, and control logic figure is as shown in Fig. 2, controller module packetCentral controller is included, is connected respectively with each sensor, motor etc., and jointly controlled.
As a specific embodiment, central controller is mechanical arm system " maincenter ", the reception of responsible control signal,Control and output, that is, receiving module is responsible for receiving the operational order issued by patient in operation bench, and is translated into telecommunicationsNumber, it is transmitted to control module.
Control module decodes operation signal, and the control program pre-entered is combined to modify operation, is transferred toOutput module；Output module receives the decoded signal from controller, and movement instruction is finally transmitted to mechanical arm, completes correspondingThe operating process of movement.
As a specific embodiment, as shown in Figure 1, being arranged whole device on auxiliary mechanical arm pedestal with advantageousIn moving for integral position.Patient is by manipulation operations control cabinet to realize the operation for entire auxiliary system.
Rotary drive motor is connected with turning moment sensor, to control the rotation of whole soft lens, is in the present embodimentDirectly control the integral-rotation of power acting sensor.The power acting sensor other end is connected with bracket, to pass for placing optical fiberDevice is sent, optical fiber transmission device is right since the precision of optical fiber transmission device is relatively high for finely tuning moving forward and backward for entire soft lensIt can be adapted in this kind operation.
As a specific embodiment, as shown in Figure 1, clamper actuating arm includes:
Clamper horizontally moving device drives the slide block movement of screw pair, by servo motor for realizing clampingThe translation of device and soft lens along soft lens axis direction.
Specific structure includes the translation servo-motors 2 of successively necklace, shifting servo motor mounting bracket 3, shock absorption coupler 4,Screw pair 5 changes soft lens front-rear position by movement of the nut 5.2 on lead screw 5.1.
Clamper pivoting device, for realizing clamper and soft lens around the rotation of soft lens axis direction.
Such as Fig. 2, specific structure includes the rotary drive motor 6 being sequentially connected, turning moment sensor 7, mounting bracket 8,Power acting sensor 9.By changing inotropic action sensor 9 along the rotation perpendicular to paper direction to driving rotary drive motor 6Turn.
Soft lens is bent plectrum rotating device, including driving motor and plectrum folder, drives plectrum folder rotation by driving motor,And then soft lens bending plectrum rotation is driven, realize the bending to soft lens camera lens part.
As a specific embodiment, laser fiber transmission device 10 includes:
Optical fiber transmission wheel group, including optical fiber transmission driving wheel and driven wheel, optical fiber pass under master, by wheel friction and ExtrusionIt send；
Optical fiber transport motor, driving optical fiber transmission driving wheel determine angle rotation, realize the quantitative feeding of optical fiber；
Driven wheel center adjusting device, including adjustment screw, locking nut and driven wheel mounting bracket, it is driven for adjustingCenter is taken turns, and then adjusts the gap between principal and subordinate wheel, realizes the adjustment to optical fiber transmit process frictional force.
Feedback device, for feeding back the real-time reaction force of soft lens soft tissue suffered in motion process in human body,And reaction force is passed into operating device, it can be surveyed by force snesor that soft lens therein is arranged and torque sensorResistance is measured, and is fed directly to central controller.
As a specific embodiment, relative to existing similar product, such as Fig. 4, in this programme on manipulation and control platformThe feedback device used including control stick 18, can be made to manipulate device for force feedback along the force feedback of the horizontal sliding of linear guides 25With block 24, the pull pressure sensor 21 and horizontal electric push rod 22 of the S type being sequentially connected with force feedback effect block 24, and it is horizontalElectric pushrod mounting base 23, control stick 18 are controlled as force application apparatus by doctor.It is equipped at left and right sides of force feedback effect block 24For feeling the travel switch 19 of stick position.
This structure is mainly for mechanical arm anterior-posterior translation and rotary motion, by the way that force snesor and torque are arranged on soft lensThe actual resistance of sensor measurement soft lens movement feeds back the force value measured to manipulation device for force feedback by central controllerOn, pull pressure sensor 21 is driven and then driving to horizontal electric push rod, and pass through after feeding back to force feedback effect block 24Control stick 18 enables the clinician to soft lens motion state in more acurrate perception slave, manipulates more accurately so as to realize.
As a specific embodiment, auxiliary mechanical arm in this programme by four motor drivers, four motors withAnd corresponding travel switch is constituted, and four freedom degree movements may be implemented, and is respectively as follows: 1) along the forward/backward straight of mirror body axisLine movement；2) rotary motion of mirror body axis is surrounded, rotation angle is ± 180 ° in the present embodiment；3) mirror body front end bending angleDegree, is determined by the front end bending angle of the disposable ureter electron flexible cystoscope configured；4) laser fiber is two-way along own axes(entrance/release) linear motion.
For soft lens mirror body along the forward/backward linear motion of axis, the rotary motion and mirror body front end around mirror body axis be curvedQu Yundong is directly driven by steering engine.Compared with existing system, the advantages of this power mechanism, is, improves rotation anglePrecision is controlled, the volume of mirror body rotation drive module is reduced, layout is also more compact reasonable.
As a specific embodiment, soft lens clamper is made by plate aluminum alloy materials, and using crab claw folder and V-arrangementFixture block, the fixture of more existing plastic material 3D printing manufacture and the clamper of buckle structure, clamping degree more meet system fortuneRow requires, and stability is good, easy to disassemble.
As a specific embodiment, optical fiber transmission device is by the driving wheel 10.2 that is installed in cabinet 10.4 and driven10.3 composition of wheel, wherein driving wheel is rotated by 10.1 Driven by Coaxial of servo motor, while angular transducer is coaxially pacified with driving wheelDress calculates optical fiber feeding length for measuring driving wheel rotation angle.Driven wheel, which is then mounted on, to be adjusted by adjustment screw 10.5Follower shaft on.By adjusting follower shaft position, the size of frictional force between two-wheeled can adjust, and then control optical fiber feedingWhen thrust size can be fixed locked by adjustment screw by locking nut 10.6 after the adjustment of adjustment screw position is complete, simultaneouslyCabinet is equipped with optical fiber pilot hole 10.7.By controlling the positive and negative rotation direction of driving wheel, protruding into and retracting for optical fiber is realized.Pass throughThe accurate precision and reliability to guarantee optical fiber transmission of driving motor angle, it is uncertain caused by avoiding because of artificial transmission.
As a specific embodiment, compared with the prior art, soft lens rotation and bending in this programme use rudderMachine driving.For traditional servo motor driving, steering engine structure is more compact, small in volume, fast response time,Output torque is big, easy to control, is more suitable for the accurate control of discontinuous rotation angle.In addition, under the premise of using steering engine,Soft lens plectrum is controlled by steering engine, for example plectrum movement angle ± 60 ° can be mapped to steering engine ± 120 °, so thatWhen being manipulated, can control to soft lens bending angle it is finer, sensitivity is higher, and 240 ° of steering engine of angular range is corresponding120 ° of angular range is moved to plectrum.If necessary to finer control, under technology allowed band, can continue to expand rudderThe range of machine.
As a specific embodiment, in the prior art, in control process, servo motor frequently rises operation benchImpact shake brought by stopping can pass to patient, this is not conducive to surgical procedure for the patient in art, andThis influence is greatly reduced by increasing elastic connecting device in this programme, specifically, the elasticity used in the present embodimentAttachment device is shock absorption coupler, by the shaft coupling bail of the left and right sides, the soft rubber pad and vulcanie of buffering energy-absorbingPad composition, as long as the feeling that other technical solution can reduce impact shake can all be replaced.
As a specific embodiment, need to be adjusted mechanical arm and patient's seat position in the course of surgery,Although can be realized the remote control of mechanical arm and patient's seat by control platform, wasted not in the upper still needs of calibrationFew time by the way that angular transducer is arranged at the pitch regulation of mechanical arm and patient's seat in the present embodiment, leads to thisThe controller module being transferred to corresponding pitch angle data in console is crossed, realizes long-range monitoring, to realizeThe gradient of vertical direction soft lens and the gradient of operating bed are almost the same, once the data difference of the two is more than to realize settingThreshold value can show tool using can also directly be provided with special display module on a display screen in acousto-optic alerting patternThe angle difference of body.
As a specific embodiment, for the convenience of the users, patient's seat has position angle memory function, specificallyBy angular transducer and the storage module realization in rotating part, the structure content of memory is constituted.Storage module can be rememberedThe rotation angle of patient's seat each time under record, and form a unique data flow with the time, controller module was according to shouldIn data flow and the information matches of patient, to form corresponding data, when operation receiveing person needs to check, directly manipulatingThe data are found on console angle is adjusted, and can be greatly facilitated the use with doctor in this way, can also be mentionedHigh whole working efficiency.
In addition, alternatively, the angle of the surgery location of patient and seat can be formed one group by storage moduleCorresponding data is recorded, and to count chair angle corresponding to different surgery locations, is facilitated required for later operationChair angle adjust data.
As another specific embodiment, by setting information acquisition portion with the vision figure for acquiring soft lens leading portionPicture, and be transferred to user to carry out respective operations, and be provided with the docking section to match simultaneously on soft lens, is used for and informationAcquisition portion is connected, and the image information of soft lens front-end collection is passed to information collection portion.FRID label is provided in docking section,FRID label is additionally provided with reading unit to contain the data information of soft lens, for reading the letter of the FRID label in docking sectionBreath, and feed back to user.
The relevant information performed the operation every time can be formed unique data and stored by such mode, meanwhile, can also haveIt is referred to conducive to the operation under other same situation.
It include 1 touch display screen, 2 manipulation hands on console control panel as a specific embodimentHandle and several buttons and indicator light.Wherein control crank can carry out the manipulation of front and rear, left and right both direction, while there is crawl on topReset button.
Button includes starting/stop button, and scram button moves horizontally reset button.
Indicator light includes powering on indicator light, run indicator and malfunction indicator lamp etc..As a specific embodiment, originallyAuxiliary system is mainly used for urology procedure, and whole system is in addition to carrying out soft lens under the angle of adjustment patient and mechanical armIt says, it is only necessary to which control is advanced and the bending of soft lens distal end, and the process of operation can be realized, and specifically implementation control is divided into followingSeveral steps:
1) after powering on, start-stop button is allocated to start bit, soft lens robot preparation, i.e. other buttons or handle phasePass movement is effective；
2) start-stop button is allocated to stop position, soft lens periods of robot operation stop, i.e., other buttons or handle on control panelRelevant action failure；
3) scram button is pressed, holds each driving motor power loss of mirror mechanical arm, latched position, patient can be square after lockingJust it manually takes over and operates soft lens；
4) handle 1 is stirred forward, and translation motor rotates forward, soft lens Forward；Handle 1, translation motor reversion, soft lens are stirred backwardIt moves back；Handle 1 is stirred to the left, and shank rotate steering wheel rotates forward；Handle 1, shank rotate steering wheel reversion, by lower handle 1 are stirred to the rightThe button of top side, shank rotate steering wheel are reset to zero-bit；Each freedom degree movement is designed with the control of limit position；
5) handle 2 is stirred forward, and bending steering engine rotates forward, and soft lens mirror body front end is bent upwards；Handle 2 is stirred backward, is bentSteering engine reversion, soft lens mirror body front end is bent downwardly；Handle 2 is stirred to the left, and optical fiber transmission wheel rotates forward, and optical fiber is quantitatively fed；To the rightHandle 2, the reversion of optical fiber transmission wheel are stirred, optical fiber is quantitatively retracted；The button of 2 top side of lower handle is pressed, shank bending steering engine is reset toZero-bit；
6) parameters such as the revolving speed of all motors, start stop mode and optical fiber single motion amount can be all arranged by touch screen；
7) system mode can be checked by panel leds and touch-screen display interface.Display screen can also show and holdThe soft lens spatial attitude of mirror mechanical arm, such as the height of soft lens, horizontal displacement, shank angle and hold mirror manipulator motion ginsengNumber, such as movement velocity.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the artFor art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these changeIt also should be regarded as the protection scope of the utility model into deformation.