CN114391955B - Incision closure and closure nail removal medical robot - Google Patents

Abstract

The invention discloses an incision closure and closure nail removal medical robot. The robotic system generally includes a motion module, an execution module, a control module, and the like. The motion module adopts a mechanical arm and other devices to send the execution module to a required position for relevant operation. The multi-purpose camera in the control module is used for collecting images of the incision or the closed nail, and the computer control system positions the incision or the closed nail according to the collected images, plans the path of the execution module and drives the motion module. The execution module comprises an incision closing device, a nail feeding device and a nail dismounting device, and can respectively finish the operations of reducing the incision width or closing the incision, nailing a closing nail into the incision and dismounting the closing nail. The system has the advantages of replacing the traditional manual operation, realizing the automation of the incision closing and closed nail removing process, improving the operation precision, reducing the infection in the open operation and the like.

Description

Incision Closure and Closure Pin Removal Medical Robot

technical field

The invention relates to a medical robot for incision closing and closing nail removal, belonging to the technical field of robots, and in particular to the design of a robot system.

Background technique

The following description and examples are not admitted to be prior art by virtue of their inclusion in this section.

Open surgery often creates various incisions that need to be closed promptly after surgery. The more commonly used method in actual scenarios is to manually close with medical tools according to the experience of the surgeon. The problems of this method include contagiousness and uneven distribution of closing nail spacing. Robotic surgery can avoid many drawbacks in traditional surgery and is an important means to promote the development of medical practice. At present, the theory and technology of medical robotic surgery are in the stage of vigorous development, in intestinal anastomosis, blood collection, vaginal cuff closure, tumor resection, tissue palpation, soft tissue grasping, laser ablation, biopsy, gastrointestinal screening, soft tissue Some achievements have been made in medical operations such as resection. Therefore, medical robots for incision closure have attracted the attention of the medical community due to their advantages such as reducing infection.

SUMMARY OF THE INVENTION

The following description of various system embodiments is not to be construed in any way to limit the subject matter of the appended claims.

The present invention proposes a medical robot for incision closure and closure nail removal, and a robot system with this structural feature is generally divided into a motion module, an execution module, and a control module. The motion module uses a device such as a robotic arm to send the execution module to the required position for related operations. The multi-eye camera in the control module is used to collect the image of the incision or the closed nail, and the computer control system locates the incision or the closed nail according to the collected image, plans the movement path of the execution module, and drives the movement module. The execution module includes an incision closing device, a nail feeding device, and a nail removing device, which can respectively reduce the width of the incision or close the incision, insert the closure nail at the incision, and remove the closure nail.

Incision closure and closure nail removal medical robot, generally including a robotic arm, a connecting piece, a connecting piece B, a nail feeding device, an incision closing device, a multi-eye camera, a nail-removing device, a waste nail box, tissue, a multi-eye Camera, computer control system, air pump, A trachea, B trachea, the nail feeding device includes the nail feeding device fixing part, the nail pressing plate driving part, the pressing nail plate, the closing nail, the shell, the nail pushing plate, the nail pushing plate driving part, the cutout The closing device includes a fixed part of the incision closure device, a linear module driving part, A linear module guide rail, A linear module moving end, B linear module moving end, B linear module guide rail, B linear module driving part, A Suction cup fixing parts, B suction cup fixing parts, A suction cup, B suction cup, the nail removal device includes nail removal device fixing parts, C linear module driving parts, D linear module driving parts, C linear module guide rails, C linear module moving parts End, A grasping device, D linear module guide rail, D linear module moving end, B grasping device, telescopic device.

The incision closure and closure nail removal medical robot can be generally divided into motion module, execution module, control module and other parts.

In the control module, the multi-eye camera is used to collect the images of the incision or the closed nail to obtain relevant information (specifically, the width, position, shape, etc. of the incision are obtained in the incision closing stage, and the position and shape of the closed nail are obtained in the nail removal stage, etc.) , the computer control system analyzes the position and shape of the object to be operated (incision or closed nail) according to the image collected by the multi-eye camera, plans the motion path of the corresponding execution module, and drives the motion module.

The motion module uses a device such as a robotic arm to send the execution module to the required position for related operations.

In the incision closure device of the execution module, the suction cup sucks the skin on both sides of the incision through the air pump, and is driven by the linear module (including the linear module driver, the linear module guide and the linear module moving end). Opposite linear movement to reduce the width of the incision or close the incision, and prepare for the subsequent work of nailing the closure nail. In the nail feeding device, the nail pressing plate moves linearly along the inner wall of the casing under the action of the corresponding driving member, and presses the closed nail currently in the gap position of the casing into the skin at the incision; The nail plate is retracted, and the push nail plate moves linearly along the inner wall of the casing under the action of the corresponding driving member, and sends the next closed nail to the gap. In the nail removal device, the grasping device fixes both ends of the closed nail, the movable end of the telescopic device presses the middle part of the closed nail to deform it, and at the same time the grasping device is pulled upward to complete the removal of the closed nail.

The waste staple box is used to store closed staples removed from the skin to avoid the hidden dangers caused by random disposal.

The advantages of the present invention are:

(1) It can replace manual operation and realize the automation of incision closure and closure nail removal;

(2) It can reduce the infectivity during open surgery;

(3) Improve the precision of the incision closing operation, so that the distance between the closing nails is evenly distributed.

Description of drawings

Other objects and advantages of the present invention will become apparent upon reading the following detailed description with reference to the accompanying drawings therein:

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structural diagram of the nail feeding device of the present invention;

Figure 3 is a schematic structural diagram of the incision closure device of the present invention;

Fig. 4 is the structural diagram of the nail removing device of the present invention;

Fig. 5 is the operation flow chart of the incision closure of the present invention and nailing the closure nail;

Fig. 6 is the working flow chart of the closing nail dismantling of the present invention;

Among them: 1-Robot arm, 2-A connector, 3-B connector, 4-Nail feeding device, 5-Incision closing device, 6-A multi-eye camera, 7-Nail removal device, 8-Waste nail box, 9-Tissue, 10-B multi-eye camera, 11-Computer control system, 12-Air pump, 13-A trachea, 14-B trachea, 401-Nail feeding device fixing piece, 402-Nail-pressing plate driver, 403-Pressure Nail Board, 404-Close Nail, 405-Shell, 406-Push Nail Plate, 407-Push Nail Plate Drive, 501-Incision Closure Fixture, 502-A Linear Module Drive, 503-A Linear Module Guide , 504-A linear module mobile end, 505-B linear module mobile end, 506-B linear module guide rail, 507-B linear module driver, 508-A suction cup fixing piece, 509-B suction cup fixing piece, 510-A suction cup, 511-B suction cup, 701-Nail removal device fixing part, 702-C linear module driver, 703-D linear module driver, 704-C linear module guide, 705-C linear module Mobile end, 706-A grasping device, 707-D linear module guide rail, 708-D linear module mobile end, 709-B grasping device, 710-Telescopic device.

Furthermore, it is noted that the drawings are not necessarily to scale and that certain features may be drawn on a larger scale than others to illustrate their identity.

Detailed ways

While the invention is amenable to various modifications and alternative forms, specific embodiments thereof are illustrated by way of example in the drawings and will herein be described in detail. It should be understood, however, that the drawings and detailed description thereof are not intended to limit the invention to the particular form disclosed, but on the contrary, the intention is to cover the spirit and scope of the invention as defined by the appended claims. All modifications, equivalents and substitutions within the scope.

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

The present invention is a medical robot for incision closure and closure nail removal. As shown in Figures 1 to 4, the robot system generally includes a robotic arm 1, a connector 2, a connector 3, a nail feeding device 4, and an incision closure device 5. A multi-eye camera 6, nail removal device 7, waste nail box 8, tissue 9, B multi-eye camera 10, computer control system 11, air pump 12, A trachea 13, B trachea 14, the nail feeding device 4 includes nail feeding The device fixing member 401, the nail pressing plate driving member 402, the nail pressing plate 403, the closing nail 404, the casing 405, the nail pushing plate 406, the nail pushing plate driving member 407, the incision closure device 5 includes the incision closure device fixing member 501, a straight line Module driver 502, A linear module guide rail 503, A linear module mobile end 504, B linear module mobile end 505, B linear module guide rail 506, B linear module driver 507, A suction cup fixing piece 508, B suction cup fixing member 509, A suction cup 510, B suction cup 511, nail removal device 7 includes nail removal device fixing member 701, C linear module driving member 702, D linear module driving member 703, Linear module moving end 705 , A grasping device 706 , D linear module guide rail 707 , D linear module moving end 708 , B grasping device 709 , telescopic device 710 .

In the medical robot for incision closure and staple removal, the robotic arm 1 , the waste staple box 8 , the tissue 9 , the computer control system 11 , and the air pump 12 are placed at the designated positions on the platform for related operations. The nail feeding device 4 and the incision closing device 5 are respectively installed on the B connector 3 , and the B connector 3 and the nail removing device 7 are fixed to the end of the mechanical arm 1 through the A connector 2 . The A multi-eye camera 6 and the B multi-eye camera 10 are respectively installed on the A connector 2 and the designated position of the platform to ensure that the image acquisition task can be performed normally.

In the nail feeding device 4 , the nail feeding device fixing member 401 is connected with the B connecting member 3 , so that the entire nail feeding device 4 is fixed at the end of the mechanical arm 1 . The shell 405 with notches is fixed on the fixing member 401 of the nail feeding device. One side of the housing 405 is provided with a nail-pressing plate driver 402 , the moving end of which is connected with the nail-pressing plate 403 , so as to ensure that the nail-pressing plate 403 can move linearly along the inner wall of the side casing 405 . One side of the housing 405 is provided with a driving member 407 for a nail pushing plate, the moving end of which is connected with the nail pushing plate 406 to ensure that the nail pushing plate 406 moves linearly along the inner wall of the side casing 405 . The closure pins 404 are placed side-by-side between the notch and the pusher plate 406 .

In the incision closure device 5 , the incision closure device fixing member 501 is connected to the B connector 3 , so that the entire incision closure device 5 is fixed at the end of the robotic arm 1 . A linear module driver 502 and A linear module guide 503 are installed on one side of the incision closing device fixing member 501 , and the moving end 504 of the A linear module can move linearly along the A linear module guide 503 . The nail suction cup fixing member 508 equipped with the nail suction cup 510 is fixedly connected with the moving end 504 of the nail straight line module, so as to ensure that the nail suction cup 510 can perform linear movement. B linear module moving end 505, B linear module guide rail 506, B linear module driving part 507, B suction cup fixing part 509, B suction cup 511 are installed on the other side of the incision closing device fixing part 501 in the same way. The air pump 12 is connected to the A suction cup 510 and the B suction cup 511 through the A gas pipe 13 and the B gas pipe 14 respectively.

In the nail removal device 7 , the nail removal device fixing member 701 is fixedly connected with the nail connector 2 , so that the entire nail removal device 7 is fixed at the end of the mechanical arm 1 . The C linear module driving member 702 , the D linear module driving member 703 , the C linear module guide rail 704 , and the D linear module guide rail 707 are respectively installed on the fixing member 701 of the nail removing device. The moving end 705 of the straight-line module C of the fixing device A grabbing device 706 and the moving end 708 of the straight-line module D of the grabbing device 709 being fastened to B can make a straight line along the straight-line module guide rail 704 and the straight-line module guide rail 707 respectively. sports. The distance between the first grasping device 706 and the second grasping device 709 is approximately the same as the width of the closed nail. The telescopic device 710 is installed on the fixing member 701 of the nail removing device, and is located between the first grasping device 706 and the second grasping device 709 .

The computer control system 11 exchanges data with the robotic arm 1 , the driving device, and the image acquisition device in the robot system through cable connection or wireless transmission.

The described incision closure and closure nail removal medical robot can be modified according to specific needs for use in other non-medical scenarios.

For the robotic arm 1, other motion devices can be selected or designed according to specific requirements.

The A-multi-eye camera 6 and B-multi-eye camera 10 can be selected from other types of positioning methods and/or different numbers of positioning devices according to specific requirements, including but not limited to structured light scanning devices, laser scanning devices, and visible light imaging devices. , infrared imaging devices, etc.

In the described nail feeding device 4, different forms (including but not limited to electromagnets, pneumatics, hydraulics, etc.) can be selected for the driving in various places according to specific needs; meanwhile, for the nail feeding device 4, a skin stapler can be used according to specific needs. Or its deformed structure, or adopt other different mechanical structures to realize the function of nailing the closure nail into the skin.

For the incision closure device 5, various forms of driving can be selected according to specific needs (including but not limited to electromagnets, pneumatics, hydraulics, etc.); at the same time, for the incision closure device 5, other forms can be designed according to specific needs. The function of grasping or adsorbing the skin and gathering the two ends of the incision is realized.

In the described nail removal device 7, different forms (including but not limited to electromagnets, pneumatics, hydraulics, etc.) can be selected according to specific needs for driving; meanwhile, for the nail removal device 7, a nail removal device can be used according to specific requirements. Or its deformed structure, or design other structures, so as to realize the function of the closed nail deforming to make it separate from the incision.

For the waste staple box 8, the container form and fixing method can be selected according to specific requirements, and the waste staple box can also be omitted according to specific requirements.

Above, such disclosure should not be construed to necessarily limit the design approaches described herein, the components/components/parts of the systems described herein may have any size and shape, depending on the design specifications of these devices. The structures employed to effectuate the various operations may include all possible ranges encompassed and any combination thereof as well as any combination among different species.

Work process: typical work process

Robotic systems can replace manual operations to complete three operations, namely incision closure, insertion of closure nails at the incision, and removal of closure nails. Usually, the insertion of closure nails should be performed immediately after the incision is closed.

When the incision is closed and the staples are inserted, as shown in Figure 5, the multi-eye camera captures the incision image and transmits it to the computer control system. The computer control system analyzes the position, width and shape of the incision, and plans the incision closure device and the shape of the incision. The movement path of the nail feeding device, and drive the mechanical arm and other devices to send the incision closing device and the nail feeding device to the vicinity of the incision starting point. The incision closure device works, the suction cups are adsorbed on the skin on both sides of the incision, and the two ends of the incision are brought together under the drive of the linear module. When the width of the incision is reduced to a certain extent, the suction cup stops moving, the nail feeding device works, the nail pressing plate drives the closed nails into the skin through pressure under the driving of the linear module, and at the same time, the nailing plate pushes down under the driving of the linear module. A closing nail is delivered to the work area. After completing the incision closing work at the current position, the incision closing device and the nail feeding device return to the initial state, and the motion module sends them to the next work point. Repeat the above process until the entire incision is closed.

When the closed nail is removed, as shown in Figure 6, the image of the closed nail is first acquired by the multi-eye camera and transmitted to the computer control system. The computer control system analyzes the position and shape of the closed nail, and plans the movement path of the nail removal device. And drive the mechanical arm and other devices to send the nail removal device to the vicinity of the closed nail to be removed. When the nail-removing device works, the grabbing device pulls the two ends of the closing nail upwards, and the telescopic device presses down the middle part of the closing nail, so that the closing nail is deformed and then removed. The computer control system drives the motion module to dispose of the dismantled waste nails into the waste nail box. Repeat the above process until all closure pins have been removed.

Those skilled in the art having the benefit of this disclosure will appreciate and appreciate that the examples in this specification are not limited. Further modifications and alternative embodiments of the various aspects of the invention will be apparent to those skilled in the art.

This specification is to be interpreted as illustrative only, and is intended to teach one skilled in the art the general manner of carrying out the invention. It is to be understood that the forms of the invention shown and described herein are adopted as presently preferred embodiments. Elements and materials may be substituted for the embodiments illustrated and described herein, parts and processes may be reversed, and certain features of the invention may be utilized independently, all of which would come to one skilled in the art having the benefit of a description of the invention It will become obvious later. Changes may be made in elements described herein without departing from the spirit and scope of the invention as set forth in the following claims.

Claims (1)

1. Incision closure and closure nail removal medical robot, characterized in that the robot system generally comprises a robotic arm (1), a connector (2), a connector (3), a nail feeding device (4), an incision A closing device (5), a polycular camera (6), a nail removal device (7), a waste nail box (8), a polycular camera (10), a computer control system (11), an air pump (12), a trachea (13) B-trachea (14), the nail feeding device (4) includes a nail feeding device fixing member (401), a nail pressing plate driving member (402), a nail pressing plate (403), a closing nail (404), A casing (405), a nail pusher plate (406), a nail pusher plate driving member (407), and the incision closure device (5) includes an incision closure device fixing member (501), a linear module driving member (502), a nail Linear module guide rail (503), A linear module moving end (504), B linear module moving end (505), B linear module guide rail (506), B linear module driver (507), A suction cup fixing (508), B suction cup fixing member (509), A suction cup (510), B suction cup (511), and the nail removal device (7) includes a nail removal device fixing member (701), a C linear module drive member ( 702), D linear module driver (703), C linear module guide rail (704), C linear module moving end (705), A grasping device (706), D linear module guide rail (707), D The moving end of the linear module (708), the B grabbing device (709), and the telescopic device (710); In the medical robot for incision closure and closure nail removal, the robotic arm (1), the waste nail box (8), the computer control system (11), and the air pump (12) are placed at a designated position on the platform for related operations; the The nail feeding device (4) and the incision closing device (5) are respectively installed on the second connecting piece (3), and the second connecting piece (3) and the nail removing device (7) are fixedly connected by the first connecting piece (2). At the end of the robotic arm (1); the A-polyocular camera (6) and the B-polyocular camera (10) are respectively installed on the A-connector (2) and the designated position of the platform to ensure normal operation. image acquisition tasks; In the nail feeding device (4), the nail feeding device fixing member (401) is connected with the B connecting member (3), so that the entire nail feeding device (4) is fixed on the mechanical arm (1) The shell (405) with a notch is fixed on the fixing member (401) of the nail feeding device; one side of the shell (405) is equipped with the nail pressing plate driving member (402), Its moving end is connected with the nail press plate (403) to ensure that the nail press plate (403) can move linearly along the inner wall of the casing (405) on this side; the other side of the casing (405) The nail pushing plate driving member (407) is installed on the side, and its moving end is connected with the nail pushing plate (406) to ensure that the nail pushing plate (406) is along the inner wall of the casing (405) on the side Make a linear motion; the closure nail (404) is placed side by side between the gap and the push nail plate (406); In the incision closure device (5), the incision closure device fixing member (501) is connected with the B connecting member (3), so that the entire incision closure device (5) is fixed to the mechanical arm (1) The end of the first straight line module driver (502) and the first straight line module guide rail (503) are installed on one side of the incision closure device fixing member (501), and the first straight line module moving end (504) Linear motion can be made along the guide rail (503) of the nail linear module; the nail suction cup fixing member (508) equipped with the nail suction cup (510) is fixedly connected to the moving end (504) of the nail linear module , in order to ensure that described A suction cup (510) can do linear motion; described B linear module moving end (505), B linear module guide rail (506), B linear module driver (507), B suction cup fixing part (509), B suction cup (511) is installed on the other side of the incision closure device fixing member (501) in the same way; the air pump (12) passes through the A trachea (13), B trachea (14) respectively ) is connected with described A suction cup (510), B suction cup (511); In the nail removal device (7), the nail removal device fixing member (701) is fixedly connected with the nail connecting member (2), so that the entire nail removal device (7) is fixed on the mechanical arm (1). ); the C linear module driver (702), the D linear module driver (703), the C linear module guide rail (704), and the D linear module guide rail (707) are respectively installed on the described nail removal On the device fixing member (701); the moving end (705) of the linear module of the C linear module fixedly connected to the grasping device A (706), and the moving end of the linear module D of the grasping device B (709) being fixed (708) Linear motion can be performed along the C linear module guide rails (704) and D linear module guide rails (707) respectively; The distance is approximately the same as the width of the closing nail (404); the telescopic device (710) is installed on the fixing member (701) of the nail-removing device, and is located on the first grabbing device (706) and the second grabbing device (706) between devices (709); The computer control system (11) exchanges data with the robotic arm (1), the driving device and the image acquisition device in the robot system through cable connection or wireless transmission.

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