CN119970211A - Single-joint flexible bipolar grasping forceps, system and control method thereof, and electronic equipment - Google Patents
Single-joint flexible bipolar grasping forceps, system and control method thereof, and electronic equipment Download PDFInfo
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Abstract
本申请属于医疗器械技术领域，提供了一种单关节柔性双极抓钳、系统及其控制方法和电子设备，其中单关节柔性双极抓钳包括钳杆组件，钳杆组件的前端设置有固定齿和运动齿，固定齿与钳杆组件固定连接，运动齿与钳杆组件铰接，钳杆组件内部设置有柔性驱动组件，柔性驱动组件的一端与运动齿的一端连接，用于驱动运动齿转动，使运动齿靠近或远离固定齿。使用时，通过固定齿先接触病灶，然后再控制运动齿夹持闭合，夹合点位于固定齿处，避免了现有的柔性抓钳需要判断夹合点是否位于中线上的问题，准确度更高，可以精准捕捉微小目标，缩短手术时间，降低患者麻醉风险。
The present application belongs to the field of medical device technology, and provides a single-joint flexible bipolar grasping forceps, a system and a control method thereof, and an electronic device, wherein the single-joint flexible bipolar grasping forceps includes a forceps rod assembly, the front end of the forceps rod assembly is provided with a fixed tooth and a moving tooth, the fixed tooth is fixedly connected to the forceps rod assembly, the moving tooth is hinged to the forceps rod assembly, and a flexible driving assembly is provided inside the forceps rod assembly, one end of the flexible driving assembly is connected to one end of the moving tooth, and is used to drive the moving tooth to rotate so that the moving tooth approaches or moves away from the fixed tooth. When in use, the fixed tooth first contacts the lesion, and then controls the moving tooth to clamp and close, and the clamping point is located at the fixed tooth, which avoids the problem that the existing flexible grasping forceps need to judge whether the clamping point is located on the midline, and has higher accuracy, can accurately capture small targets, shorten the operation time, and reduce the patient's anesthesia risk.
Description
Technical Field
The application belongs to the technical field of medical appliances, and particularly relates to a single-joint flexible bipolar grasping forceps, a system, a control method of the system, electronic equipment and a readable storage medium.
Background
In the medical field, conventional rigid surgical instruments often encounter bottlenecks in facing the complex anatomy of the human body. The internal cavity and tissues of the human body are not in regular geometric shapes, and particularly in the fields of abdominal cavity, thoracic cavity and neurosurgery, the narrow and irregular operation space makes the rigid instrument difficult to flexibly touch the target part, and the risk of surrounding tissue injury is easily caused by forced operation. As the minimally invasive concept goes deep into the heart, the flexible transformation of medical instruments is a trend. The single-joint flexible instrument starts to be in a brand-new angle under the background, can be attached to the natural form of human tissues to a certain extent by utilizing the self flexible characteristic, for example, in laparoscopic surgery, compared with the traditional rigid grasping forceps, the single-joint flexible bipolar grasping forceps can more easily bypass the obstacles such as intestinal tracts and the like to grasp target tissues, and opens up a new path for minimally invasive surgery.
In head and neck surgery, throat tissues continuously fluctuate along with respiratory movements, the position of a nodule changes in real time, and a doctor only controls a clamping device by naked eye observation and experience, so that the small target of the nodule is difficult to accurately capture. The existing single-joint flexible bipolar grasping forceps are low in accuracy because the clamping points are located on the center line, and the judgment of the center line position is completely dependent on the experience of doctors in the operation, so that the operation time is prolonged, the anesthesia risk of patients is increased, and the damage to surrounding normal tissues can be caused by repeated mistaken clamping.
Therefore, there is a need to design a new single-joint flexible bipolar grasper to address the above-described challenges.
Disclosure of Invention
In order to achieve the above purpose, the technical scheme adopted by the application is that the single-joint flexible bipolar grasping forceps comprise a forceps rod assembly, wherein the front end of the forceps rod assembly is provided with fixed teeth and moving teeth, the fixed teeth are fixedly connected with the forceps rod assembly, the moving teeth are hinged with the forceps rod assembly, a flexible driving assembly is arranged in the forceps rod assembly, one end of the flexible driving assembly is connected with one end of the moving teeth and used for driving the moving teeth to rotate, so that the moving teeth are close to or far away from the fixed teeth.
Optionally, the clamp lever assembly includes a clamp head base lever, the clamp head base lever fixedly connected with an insulating member, the motion tooth with the insulating member is articulated, the fixed tooth with clamp head base lever fixed connection.
Optionally, the moving tooth is hinged to the insulating member by an insulating pin.
Optionally, the diameter of the insulating pin is 0.6 mm-1 mm.
Optionally, the flexible drive assembly includes fixed connection's in proper order motion push rod, push-and-pull steel wire, push-and-pull capillary and club, the motion push rod push-and-pull steel wire and push-and-pull capillary slidable set up in the clamp bar subassembly, the motion push rod keep away from push-and-pull steel wire's one end with the motion tooth articulates.
Optionally, an isolating layer is arranged on the inner side of the clamp head base rod and one end close to the insulating piece, and the moving push rod is positioned on the inner side of the isolating layer.
Optionally, the clamp rod assembly further comprises a flat wire spring, a fixed pipe and a fixed ring which are fixedly connected in sequence, wherein one end of the flat wire spring, which is far away from the fixed pipe, is fixedly connected with one end of the clamp head base rod, which is far away from the fixed teeth.
Optionally, the push-pull capillary is located inside the fixed ring and is in sliding connection with the fixed ring, and the push-pull steel wire sequentially passes through the fixed tube and the flat wire spring and is connected with the motion push rod.
The single-joint flexible bipolar grasping forceps comprise a first electrode and a second electrode, wherein the first electrode comprises fixed teeth, a forceps head base rod, a flat wire spring, a fixed tube and a fixed ring, and the second electrode comprises moving teeth, a moving push rod, a push-pull steel wire, a push-pull capillary tube and a club.
Optionally, insulating layers are arranged on the outer sides of the clamp head base rod, the flat wire spring, the fixing tube and the fixing ring.
Optionally, the outer sides of the moving teeth, the moving push rod, the push-pull steel wire, the push-pull capillary tube and the club are all provided with insulating layers.
Optionally, the front ends of fixed tooth with the motion tooth all are provided with clamping part, two the opposite side of clamping part is provided with the protruding tooth of interlock each other, and two the clamping part is annular structure.
Optionally, the maximum opening angle of the moving teeth is not less than 45 °.
In order to achieve the aim, in a second aspect, the application adopts the technical scheme that the single-joint flexible bipolar grasping forceps system comprises a control component, a power component and the single-joint flexible bipolar grasping forceps, wherein the control component is electrically connected with the power component, and the power component is connected with a forceps rod component of the single-joint flexible bipolar grasping forceps;
The control assembly is used for receiving a control instruction, controlling the power assembly to output power to the clamp rod assembly according to the control instruction, and driving the pose change and the movement teeth of the single-joint flexible bipolar grasping clamp to open and close.
Optionally, the control instruction is an acquired hand gesture and/or gesture change of the operator.
Optionally, the control assembly controls the power assembly to output power to the clamp rod assembly according to the control instruction so as to drive the pose change and the movement tooth opening and closing of the single-joint flexible bipolar grasping forceps, and the control assembly comprises:
The control assembly converts the control instruction into expected pose of the single-joint flexible bipolar grasping forceps and/or expected range of opening of the moving teeth and/or moving teeth closing information, when the expected pose of the single-joint flexible bipolar grasping forceps is provided, the expected pose of the single-joint flexible bipolar grasping forceps is input into a preset single-joint flexible bipolar grasping forceps pose model to obtain pose control information of the pose of the power assembly control forceps rod assembly, when the expected range of opening of the moving teeth is provided, the expected range of opening of the moving teeth is input into a preset single-joint flexible bipolar grasping forceps jaw model to obtain power control information of the power assembly control flexible driving assembly, and the power assembly is controlled according to the pose control information and/or the power control information and/or the moving teeth closing information.
Optionally, when the single-joint flexible bipolar grasper includes first and second energizable electrodes,
The electric knife excitation assembly is electrically connected with the control assembly and the first electrode and the second electrode respectively;
the control component is also used for receiving external signals and controlling the electric knife excitation component;
The electrotome excitation assembly is used for outputting corresponding excitation energy to the first electrode and/or the second electrode according to the control of the control assembly, so that the fixed teeth and/or the movable teeth realize bipolar electrocoagulation or bipolar electrotome.
In order to achieve the above purpose, in a third aspect, the present application provides a control method of a single-joint flexible bipolar grasper system, which is applied to the single-joint flexible bipolar grasper system, and includes the following steps:
acquiring a control instruction;
Converting the control instruction into the expected pose of the single-joint flexible bipolar grasping forceps and/or the expected range of opening the moving teeth and/or the moving teeth closing information;
Inputting the expected pose of the single-joint flexible bipolar grasping forceps into a preset single-joint flexible bipolar grasping pose model to obtain pose control information of the pose of a power assembly control forceps rod assembly;
inputting the expected range of opening the moving teeth into a preset single-joint flexible bipolar grasping forceps clamp model to obtain power control information of a power assembly for controlling the flexible driving assembly;
and controlling the pose change and/or the opening and closing of the motion teeth of the single-joint flexible bipolar grasping forceps according to the pose control information and/or the power control information and/or the motion tooth closing information.
In order to achieve the above object, according to a fourth aspect of the present application, an electronic device is provided, which includes a memory, a processor, and a program stored in the memory and capable of running on the processor, where the processor implements a control method of the single-joint flexible bipolar grasper system as described above when executing the program.
In order to achieve the above object and in a fifth aspect, the present application provides a computer readable storage medium having a program stored thereon, which when executed by a processor, implements a control method of a single joint flexible bipolar grasper system as described above.
Compared with the prior art, the single-joint flexible bipolar grasping forceps have the advantages that the front end of the forceps rod assembly is provided with the fixed teeth and the moving teeth, the fixed teeth are fixedly connected with the forceps rod assembly, the moving teeth are hinged with the forceps rod assembly, and the moving teeth are driven to rotate through the flexible driving assembly, so that the moving teeth are close to or far away from the fixed teeth, and the grasping forceps are opened and closed. When the flexible grasping forceps are used, the fixed teeth are firstly contacted with a focus, then the movable teeth are controlled to be clamped and closed, the problem that the existing flexible grasping forceps need to judge whether the clamping points are positioned on a middle line or not is avoided, the accuracy is higher, tiny targets can be accurately captured, the operation time is shortened, the anesthesia risk of a patient is reduced, and secondly, the flexible grasping forceps have the functions of clamping, pulling and coagulating, can simultaneously replace the clamping of a passive instrument and the coagulating of a monopolar instrument, reduce the steps of replacing the instrument in the operation process, save the operation time and improve the operation efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a single-joint flexible bipolar grasper provided by an embodiment of the present application;
fig. 2 is a schematic cross-sectional view of a single-joint flexible bipolar grasper according to an embodiment of the present application;
fig. 3 is a schematic view of a closed state of a single-joint flexible bipolar grasper according to an embodiment of the present application;
Fig. 4 is a schematic view of an open state of a single-joint flexible bipolar grasper according to an embodiment of the present application;
fig. 5 is a schematic diagram of stress analysis of a single-joint flexible bipolar grasper according to an embodiment of the present application;
fig. 6 is a schematic structural view of a fixed tooth and a moving tooth in a single-joint flexible bipolar grasper provided by an embodiment of the present application;
Fig. 7 is a schematic block diagram of a single-joint flexible bipolar grasper system provided in an embodiment of the present application.
Wherein, each reference sign in the figure:
1. Fixed teeth, 2 moving teeth, 3 clamp head base rods, 4 flat wire springs, 5 fixed pipes, 6 fixed rings, 7 moving push rods, 8 push-pull steel wires, 9 push-pull capillaries, 10, a club, 11, an insulating piece, 12, an isolating layer, 13 and an insulating pin.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1-5 together, a single-joint flexible bipolar grasper provided in an embodiment of the present application will now be described.
Referring to fig. 1, the single-joint flexible bipolar grasping forceps comprise a forceps rod assembly, wherein a fixed tooth 1 and a moving tooth 2 are arranged at the front end of the forceps rod assembly, the fixed tooth 1 is fixedly connected with the forceps rod assembly, the moving tooth 2 is hinged with the forceps rod assembly, a flexible driving assembly is arranged in the forceps rod assembly, one end of the flexible driving assembly is connected with one end of the moving tooth 2 and used for driving the moving tooth 2 to rotate along an axis hinged with the forceps rod assembly, and the moving tooth 2 is close to or far away from the fixed tooth 1.
In the prior art, during head and neck surgery, throat tissues continuously fluctuate along with respiratory movement, the position of a nodule changes in real time, and a doctor only controls a clamping instrument by naked eye observation and experience, so that the small target of the nodule is difficult to accurately capture. The existing single-joint flexible bipolar grasping forceps are low in accuracy because the clamping points are located on the center line, and the judgment of the center line position is completely dependent on the experience of doctors in the operation, so that the operation time is prolonged, the anesthesia risk of patients is increased, and the damage to surrounding normal tissues can be caused by repeated mistaken clamping.
According to the application, the front end of the clamp rod assembly is provided with the fixed teeth 1 and the moving teeth 2, the fixed teeth 1 are fixedly connected with the clamp rod assembly, the moving teeth 2 are hinged with the clamp rod assembly, and the moving teeth 2 are driven to rotate through the flexible driving assembly, so that the moving teeth 2 are close to or far from the fixed teeth 1, and the opening and closing of the grasping forceps are realized. When in use, medical staff firstly contacts the focus through the fixed teeth 1, and then controls the moving teeth 2 to clamp and close, thereby realizing the clamping of the focus. The clamping point of the single-joint flexible bipolar grasping forceps is positioned at the fixed tooth 1, so that the problem that the conventional flexible grasping forceps need to judge whether the clamping point is positioned on a middle line is solved, the experience of medical staff is not needed to be relied on, the accuracy is higher, the tiny targets can be accurately captured, the operation time is shortened, and the anesthesia risk of patients is reduced.
In some embodiments of the present application, referring to fig. 2-4, the clamp bar assembly includes a clamp head base bar 3, an insulator 11 fixedly connected to the clamp head base bar 3, a moving tooth 2 hinged to the insulator 11, and a fixed tooth 1 fixedly connected to the clamp head base bar 3. The single-joint flexible bipolar grasping forceps provided by the application can be electrified to realize the functions of an electrotome, grasping and coagulation, cut and stop bleeding of a focus, and can insulate the moving teeth 2 through the insulating piece 11 to prevent electric leakage caused by contact of two electrodes.
In some embodiments of the present application, the insulating member 11 is made of a ceramic material, and in other embodiments of the present application, the insulating member 11 may be made of other insulating materials, which is not limited by the present application.
In some embodiments of the application, referring to fig. 2, the moving tooth 2 is hinged to the insulator 11 by an insulating pin 13. The insulation effect can be further improved by the insulation pins 13.
In some embodiments of the present application, the insulating pin 13 is made of a ceramic material, alternatively, in other embodiments of the present application, the insulating pin 13 may be made of other insulating materials, which is not limited by the present application.
The applicant finds that the problem that the clamping force is weak exists in the traditional clamping pliers, so that the clamping force cannot be firmly fixed due to insufficient clamping force, the tissue is difficult to firmly clamp under the condition that the tissue is not damaged by clamping, the clamping force is difficult to accurately regulate and control between delicate balances, and the improvement of the surgical quality is seriously restricted.
In order to solve the above problem, in some embodiments of the present application, the diameter of the insulating pin 13 is 0.6-1 mm.
The dimensions of the single-joint flexible bipolar grasper provided by an embodiment of the present application are shown in fig. 5, in this embodiment, the diameter of the insulating pin 13 is 7mm, and the calculation relationship between the tail end pulling force and the clamping force lever is as follows:
;
From the above equation, it can be deduced that f=0.25F Pulling device , assuming a clamping force of 10N is required, i.e. f=10n, a pulling force of F Pulling device =40n is required to be provided. Torsion generated by the position of the insulating pin 13 under the clamping force of 10N The shear stress generated is as follows:
The allowable stress of the zirconia ceramic is 1200MPa at 20 ℃ and is far greater than the shearing stress, so that the insulating pin 13 with the diameter of 0.7mm can provide enough clamping force, is not easy to shear, and can firmly clamp the tissue under the condition that the tissue is not damaged by clamping.
Alternatively, the diameter of the insulating pin 13 may be 0.8mm, 0.9mm, 1mm, etc., and may be selected according to actual needs, and the present application is not limited thereto.
In some embodiments of the present application, referring to fig. 2-4, the flexible driving assembly includes a moving push rod 7, a push-pull steel wire 8, a push-pull capillary 9 and a club 10 which are sequentially and fixedly connected, wherein the moving push rod 7, the push-pull steel wire 8 and the push-pull capillary 9 are slidably arranged in the clamp rod assembly, and one end of the moving push rod 7 away from the push-pull steel wire 8 is hinged with the moving teeth 2.
Referring to fig. 3 and 4, in use, by pushing the club 10 to the left, the club 10 can drive the push-pull capillary 9, the push-pull wire 8 and the moving push rod 7 to move to the left, and the moving push rod 7 drives the moving teeth 2 to rotate around the insulating pin 13 in the clockwise direction, so that the moving teeth 2 are opened. Then the fixed teeth 1 are contacted with the focus, the club 10 moves to the right, the club 10 can drive the push-pull capillary 9, the push-pull steel wire 8 and the moving push rod 7 to move to the right, the moving push rod 7 drives the moving teeth 2 to rotate around the insulating pin 13 in the anticlockwise direction, so that the moving teeth 2 are closed, and the focus is clamped.
In some embodiments of the application, referring to fig. 2 and 3, the isolating layer 12 is provided on the inner side of the clamp head base rod 3 and on the end near the insulating member 11, and the moving push rod 7 is located on the inner side of the isolating layer 12. By arranging the isolating layer 12, the insulation piece 11 and the clamp head base rod 3 and the movement push rod 7 and the clamp head base rod 3 can be insulated, so that electric leakage is avoided.
In some embodiments of the present application, referring to fig. 1 and 2, the clamp bar assembly further comprises a flat wire spring 4, a fixed tube 5 and a fixed ring 6 which are fixedly connected in sequence, wherein one end of the flat wire spring 4 away from the fixed tube 5 is fixedly connected with one end of the clamp head base bar 3 away from the fixed teeth 1.
When the single-joint flexible bipolar grasping forceps are used, the fixing ring 6 can be connected with the support, the whole grasping forceps can be fixed, the club 10 can be connected with the handle, the club 10 is pushed and pulled through the handle, the flat wire spring 4 is telescopic and bent, and the single-joint flexible bipolar grasping forceps can be more suitable for structures of inner walls of an oral cavity or structures of other surgical parts, so that the single-joint flexible bipolar grasping forceps are convenient for surgery. The ball arm 10 can also be connected with other power devices, the other power devices provide pushing and pulling power for the ball arm, and the fixing ring 6 can also be fixedly connected with the mechanical arm, so that the ball arm is fixed on the mechanical arm, and the mechanical arm drives the whole single-joint flexible bipolar grasping forceps to move, so that the single-joint flexible bipolar grasping forceps move to the corresponding pose, and the detailed description is omitted here.
In some embodiments of the application, referring to fig. 2, a push-pull capillary 9 is located inside the fixed ring 6 and slidingly connected to the fixed ring 6, and a push-pull wire 8 sequentially passes through the fixed tube 5 and the flat wire spring 4 and is connected to the moving push rod 7.
The fixed tube 5, the flat wire spring 4 and the clamp head base rod 3 are respectively provided with a cavity with the diameter slightly larger than that of the push-pull steel wire 8, so that the radial deformation of the push-pull steel wire 8 is limited, the push-pull steel wire 8 can transmit pushing force and pulling force, the push-pull capillary 9 is made of hard materials and is in sliding connection with the fixed ring 6, the pushing force and the pulling force can be transmitted to the push-pull steel wire 8 along the axial direction of the push-pull steel wire, and then the push-pull steel wire 8 transmits the pushing force and the pulling force to the moving push rod 7, so that the moving teeth 2 are driven to be opened or closed.
In some embodiments of the application, referring to fig. 2, the single-joint flexible bipolar grasper comprises a first electrode and a second electrode, wherein the first electrode is electrically connected, the first electrode is composed of a fixed tooth 1, a base rod 3 of the grasper, a flat wire spring 4, a fixed tube 5 and a fixed ring 6, and the second electrode is composed of a movable tooth 2, a movable push rod 7, a push-pull wire 8, a push-pull capillary 9 and a club 10.
When the electric power tool is used, the first electrode can be electrified through the fixing ring 6, current is sequentially transmitted to the fixing teeth 1 through the fixing tube 5, the flat wire spring 4 and the clamp head base rod 3, the second electrode is electrified through the ball rod 10, and current is sequentially transmitted to the moving teeth 2 through the push-pull capillary 9, the push-pull steel wire 8 and the moving push rod 7. After the fixed teeth 1 and the moving teeth 2 are conductive, not only electric knife cutting can be performed, but also grabbing and coagulation functions can be realized.
In some embodiments of the present application, an insulating layer (not shown in the drawings) is disposed on the outer sides of the clamp head base rod 3, the flat wire spring 4, the fixing tube 5, the fixing ring 6 and the fixing teeth 1, and as one of the electrodes, the clamp head base rod 3, the flat wire spring 4, the fixing tube 5 and the fixing ring 6 can be prevented from being electrically damaged due to the fact that the clamp head base rod 3, the flat wire spring 4, the fixing tube 5 and the fixing teeth 1 are electrified when in use, and the insulating layer is disposed.
In some embodiments of the application, the outside of the moving teeth 2, the moving push rod 7, the push wire 8, the push capillary 9 and the cue 10 are all provided with an insulating layer (not shown in the figures). When the electric leakage prevention device is used, the moving teeth 2, the moving push rod 7, the push-pull steel wire 8, the push-pull capillary 9 and the ball rod 10 are used as the other electrodes, and electric leakage caused by contact between the two electrodes can be avoided by arranging the insulating layer.
In some embodiments of the present application, the thickness of the insulating layer on the fixed teeth 1 and the moving teeth 2 is 0.4mm, and the creepage distance is small, so that the focus can be easily resected and stopped by the fixed teeth 1 and the moving teeth 2.
In some embodiments of the present application, referring to fig. 6, the front ends of the fixed teeth 1 and the moving teeth 2 are provided with clamping portions, opposite sides of the two clamping portions are provided with mutually engaged convex teeth, and the two clamping portions are of annular structures.
Through setting up two portions of holding into annular structure, can reduce the area of contact of clamping part, under the circumstances of guaranteeing that the tissue is not injured by the clamp, reduce area of contact can improve the pressure of unit area, with the tissue centre gripping more firm.
In some embodiments of the present application, the maximum opening angle of the moving teeth 2 is not less than 45 °, and the angle is set to meet the clamping requirements of various lesions.
Referring to fig. 7, a single-joint flexible bipolar grasper system provided in an embodiment of the present application will now be described.
The single-joint flexible bipolar grasping forceps system comprises a control assembly, a power assembly and the single-joint flexible bipolar grasping forceps, wherein the control assembly is electrically connected with the power assembly, and the power assembly is connected with a forceps rod assembly of the single-joint flexible bipolar grasping forceps.
The control assembly is used for receiving a control instruction, and controlling the power assembly to output power to the clamp rod assembly according to the control instruction so as to drive the pose change and the movement teeth of the single-joint flexible bipolar grasping forceps to open and close.
It can be appreciated that since the jaw bar assembly includes a flexible drive assembly within the jaw bar assembly, the power assembly can control the pose change of the entire single-joint flexible bipolar grasper by controlling the jaw bar assembly, and can control the opening and closing of the moving teeth by the flexible drive assembly within the jaw bar assembly.
In some embodiments of the application, the control instructions may be collected operator hand gestures and/or pose changes, etc.
Therefore, the operation of hands can be simulated as much as possible, so that the control instrument is designed to be in accordance with human engineering, the operation personnel is also facilitated, the operation personnel does not need to learn the control instruction again, or the control mode is simplified, and the operation personnel can learn conveniently.
In some embodiments of the present application, the control assembly controls the power assembly to output power to the clamp bar assembly according to the control command, so as to drive the pose change and the movement tooth opening and closing of the single-joint flexible bipolar grasping forceps, and the method may include:
The control assembly converts the control instruction into expected positions and/or expected ranges of movement tooth opening and/or movement tooth closing information of the single-joint flexible bipolar grasping forceps, when the expected positions and the expected positions of the single-joint flexible bipolar grasping forceps are provided, the expected positions and the expected positions of the single-joint flexible bipolar grasping forceps are input into a preset single-joint flexible bipolar grasping forceps model to obtain position and position control information of the power assembly for controlling the positions and the positions of the forceps rod assembly, when the expected ranges of movement tooth opening are provided, the expected ranges of movement tooth opening are input into the preset single-joint flexible bipolar grasping forceps model to obtain power control information of the power assembly for controlling the flexible driving assembly, and the power assembly is controlled according to the position and position control information and/or movement tooth closing information respectively.
It can be understood that, because the pose control of the single-joint flexible bipolar grasping forceps is complex, if the pose control is completely calculated in real time by the site, a large amount of calculation force is consumed, and a large time delay is easily caused, in the above embodiment, the pose control information of the pose of the power assembly control forceps rod assembly and the power control information of the power assembly control flexible driving assembly are calculated by adopting a mode of presetting the single-joint flexible bipolar grasping forceps pose model and presetting the single-joint flexible bipolar grasping forceps jaw model, so that calculation steps are saved, the calculation efficiency of specific control information (comprising the pose control information of the pose of the power assembly control forceps rod assembly and the power control information of the power assembly control flexible driving assembly) is improved, the preset single-joint flexible bipolar grasping forceps pose model and the preset single-joint flexible bipolar grasping forceps jaw model are virtual models built in advance, and at least comprise the dimensions of various devices in the power assembly and the single-joint flexible bipolar grasping forceps, wherein the power assembly can be a combination of a mechanical arm and a motor, and the like.
In addition, the control command may be a control signal for indirectly controlling the power component, such as a gesture or an action, so that the control command needs to be converted and then used, and the conversion can be performed in various modes, such as a preset corresponding relation, and when the corresponding relation is preset, the gesture or the action of an operator (corresponding to a medical staff) and the gesture or the action of the single-joint flexible bipolar grasping forceps are correspondingly associated with the opening and closing of the motion teeth, so that the operator does not need to learn the control command again or adopt a new operation mode, and the description is omitted here.
In some embodiments of the present application, when the single-joint flexible bipolar grasper includes a first electrode and a second electrode that can be energized, and may further include an electric knife activation assembly, the control assembly is electrically connected to the electric knife activation assembly, and the electric knife activation assembly is electrically connected to the first electrode and the second electrode, respectively.
Here, the control assembly is also used for receiving external signals and controlling the electrotome excitation assembly;
And the electrotome excitation assembly is used for outputting corresponding excitation energy to the first electrode and/or the second electrode according to the control of the control assembly, so that the fixed teeth and/or the movable teeth realize monopolar electrocoagulation or bipolar electrocoagulation.
It should be understood that the external signal may be various excitation signals, such as a key signal sent by a key provided on the handle or a pedal signal sent by a pedal provided on the console or a control signal sent by other devices or apparatuses or modules, and so on, which will not be described in detail herein.
In particular, in some embodiments, the electrotome excitation assembly is configured to cause the stationary teeth and/or the movable teeth to achieve monopolar or bipolar electrocoagulation or monopolar or bipolar electrotome by outputting respective excitation energy to the first electrode and/or the second electrode in accordance with control of the control assembly.
A control method of the single-joint flexible bipolar grasper system provided in the embodiment of the present application will now be described.
The control method of the single-joint flexible bipolar grasping forceps system is applied to the single-joint flexible bipolar grasping forceps system and comprises the following steps of:
acquiring a control instruction;
Converting the control instruction into the expected pose of the single-joint flexible bipolar grasping forceps and/or the expected range of opening the moving teeth and/or the moving teeth closing information;
Inputting the expected pose of the single-joint flexible bipolar grasping forceps into a preset single-joint flexible bipolar grasping pose model to obtain pose control information of the pose of a power assembly control forceps rod assembly;
Inputting the expected range of opening the moving teeth into a preset single-joint flexible bipolar grasping forceps clamping model to obtain power control information of a power assembly for controlling the flexible driving assembly;
and controlling the pose change and/or the opening and closing of the motion teeth of the single-joint flexible bipolar grasping forceps according to the pose control information and/or the power control information and/or the motion tooth closing information.
It can be understood that the method for acquiring the control instruction is various, and can acquire the hand video information of the operator through video analysis to acquire gestures and/or actions as the corresponding control instruction, or acquire the corresponding control instruction through acquiring the mechanical signal or the electrical signal of the handle when the handle is adopted, or design the simulated glove, so that the operator wears the simulated glove, and acquire the corresponding control instruction through acquiring the electrical signal on the simulated glove. The specific implementation may be specifically designed according to specific situations, and will not be described in detail here.
The embodiment of the application also provides electronic equipment, which comprises a memory, a processor and a program stored on the memory and capable of running on the processor, wherein the control method of the single-joint flexible bipolar grasper system is realized when the processor executes the program.
The embodiment of the application also provides a computer readable storage medium, wherein a program is stored in the computer readable storage medium, and when the program is executed by a processor, the control method of the single-joint flexible bipolar grasper system is realized.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (20)
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