CN106377316B - Operation equipment for thyroid minimally invasive surgery - Google Patents
Operation equipment for thyroid minimally invasive surgery Download PDFInfo
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- CN106377316B CN106377316B CN201610828313.5A CN201610828313A CN106377316B CN 106377316 B CN106377316 B CN 106377316B CN 201610828313 A CN201610828313 A CN 201610828313A CN 106377316 B CN106377316 B CN 106377316B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
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Abstract
The invention provides a thyroid minimally invasive surgery operation device, which relates to a minimally invasive surgery robot platform and comprises a surgery executing mechanism, an imaging system and a control platform, wherein the surgery executing mechanism comprises a first operating platform and a second operating platform, the first operating platform comprises a first operating platform body and a second operating platform body, the second operating platform body comprises a first operating platform body, the second operating platform body and a: the operation executing mechanism comprises a base and two four-degree-of-freedom micro mechanical arms arranged on the base; the imaging system comprises a camera and a terminal display which are arranged on the base; the console comprises a desktop and two manual operating levers; the terminal display is arranged on the desktop; the two manual operation levers are arranged on a table top and can be respectively controlled by the left hand and the right hand of a doctor and transmit the hand action of the doctor to the operation executing mechanism. The equipment of the invention can optimize the operation visual field, improve the action accuracy of a surgeon during operation and help to reduce the fatigue degree of the surgeon.
Description
Technical Field
The invention relates to surgical medical equipment, in particular to minimally invasive thyroid surgery operation equipment.
Background
Thyroid diseases mostly occur in young women, and the operation effect (especially the cosmetic effect such as scars) is very important for young women, while the operation scar about 8-10 cm is left on the neck in the traditional thyroidectomy, and the long scar at the exposed part can cause strong psychological pressure. Therefore, it is a difficult problem for thyroid surgeons to reduce the size of the surgical incision and to transfer the incision to a hidden location. Although "small incision open thyroidectomy" reduces the neck incision to 5cm, its cosmetic effect is still unsatisfactory. The gradually developed endoscopic thyroid surgery has good cosmetic effect and is popular with patients, but the development of the endoscopic thyroid surgery is still careful because the endoscopic thyroid surgery is in the initial stage of development.
The contradiction between the minimal invasion and the extra injury and the way of establishing the operation space, the neck organs are different from the thoracic organs and the abdominal organs, and natural cavities can be used as the operation space; moreover, the thyroid anatomy is delicate and complex. Therefore, there is a series of contradictions between the "miniaturization", "concealment" of the incision and the "safety" of the operation and how to reduce the extra damage caused by establishing the operation space, and for this reason, various approaches and methods have been developed to establish the operation space. Currently, the approaches to creating surgical operating spaces can be broadly divided into two categories, namely: the cervical and thoracic approaches.
The endoscopic (or minimally invasive) thyroid surgery on the neck leaves only 2-3 cm scars on the neck, and the cosmetic effect of the thyroid surgery is obviously superior to that of the traditional thyroid surgery. However, some patients feel extremely unsatisfactory even with a small scar. Some scholars then attempt to transfer the surgical incision to the hidden chest.
The thoracic route is mainly the subclavian, axillary and mammary routes. The disadvantage is that the additional trauma associated with flap detachment is large and CO 2 is required to maintain the surgical operating space. Each approach has its own advantages and disadvantages: the breast approach has good beautifying effect but large wound; the cervical approach is less traumatic, but the cosmetic effect is less. Relatively speaking, transmammary endoscopic thyroid surgery requires high endoscopic techniques.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a thyroid minimally invasive surgery operation device which uses a small-size minimally invasive surgery robot function end to assist operation, ensures the safety and reliability of the operation, reduces the burden of a surgeon as much as possible, and meets the requirement of a patient on postoperative cosmetology.
The invention provides a thyroid minimally invasive surgery operation device which is divided into three parts: actuating mechanism, imaging system and operation panel, wherein: the executing mechanism is a surgical robot mechanism, the tail end of the executing mechanism is a functional end and is used for working in the body of a patient; the imaging system is used for displaying a real-time image of the operation working area of the executing mechanism and providing a necessary visual field for a doctor; the control table is connected with the executing mechanism, and a doctor operates through the control table to control the executing mechanism to complete a surgical task; wherein:
the actuating mechanism comprises a multi-degree-of-freedom mechanical arm, a functional end and a base, wherein:
the functional end is arranged at the tail end of the multi-degree-of-freedom mechanical arm and is connected with the tail end of the multi-degree-of-freedom mechanical arm through the base; the multi-degree-of-freedom mechanical arm is used for carrying the functional end, finely adjusting the overall pose of the functional end, positioning the functional end, and placing or extracting the functional end into or out of a patient body through a wound;
two four-degree-of-freedom micro-arms are arranged in the functional end, wherein: the two four-degree-of-freedom miniature arms have the same structure and are both multi-joint series mechanisms, each joint corresponds to 1 degree of freedom, each joint is a multi-lamination type joint, and the motion of each joint is controlled by a driving cable in the four-degree-of-freedom miniature arm; the tail ends of the two four-degree-of-freedom micro arms are respectively provided with a surgical cutter, and the actions of the two surgical cutters are respectively controlled by driving cables in the two four-degree-of-freedom micro arms;
two tensioning mechanisms are mounted on the base, and driving cables in the four-degree-of-freedom micro-arm are connected to the two tensioning mechanisms respectively and do not interfere with each other.
Preferably, the two tensioning mechanisms are respectively provided with five output shaft end connectors which are used for respectively and correspondingly controlling four joints of the two four-degree-of-freedom miniature arms and a surgical tool at the tail end of the four-degree-of-freedom miniature arm.
Preferably, the imaging system comprises a 3D camera and a terminal display; the console comprises a display mounting plate and two mechanical arm operating rods; wherein:
the double mechanical arm operating rods are divided into a left mechanical arm operating rod and a right mechanical arm operating rod, the left mechanical arm operating rod and the right mechanical arm operating rod are operated by the left hand and the right hand of a doctor respectively, and the actions of the left hand, the right hand and the arms of the doctor are transmitted to two four-freedom-degree miniature arms at the functional end through the left mechanical arm operating rod and the right mechanical arm operating rod respectively so as to finish clamping, shearing, expanding, stripping or sintering operations;
the 3D camera is arranged on a base of the function end, the terminal display is arranged on a display mounting plate of the operating table, the 3D camera and the two four-degree-of-freedom miniature arms are arranged in the body of a patient side by side, and real-time images of an operation area are transmitted back to the terminal display, so that a necessary visual field is provided for a doctor; compared with the conventional endoscopic surgery, the operation mode is more intuitive and comfortable.
More preferably, the double operating rods, i.e. the left and right mechanical arm operating rods, respectively have five output shaft ports, which respectively correspond to four joints of the two four-degree-of-freedom micro arms and the end surgical tool.
More preferably, the double operating rods are connected with the two four-degree-of-freedom micro arms through a set of flexible shaft joints respectively, so that the four-degree-of-freedom micro arms can be conveniently drawn out and replaced at any time according to operation needs.
More preferably, after the four-degree-of-freedom micro arm is replaced, the joint of the four-degree-of-freedom micro arm needs to be disconnected from the joint of the left or right mechanical arm operating rod, a new joint of the four-degree-of-freedom micro arm needs to be connected with the joint of the left or right mechanical arm operating rod, and then the new four-degree-of-freedom micro arm needs to be installed on the base; after the state of the new four-degree-of-freedom micro arm is adjusted by the doctor through the left or right mechanical arm operating rod, the new four-degree-of-freedom micro arm is placed into the body of the patient through the multi-degree-of-freedom mechanical arm and reaches the operation area, so that the operation process is continued.
In the invention, the manual operating rod is connected with the four-degree-of-freedom miniature arm through a group of flexible shafts and joints thereof so as to be quickly disconnected or reconnected as required at any time. Each hand-operated lever is provided with 5 output end flexible shaft joints which respectively correspond to 4 degrees of freedom (joints) of the single four-degree-of-freedom miniature arm and 1 tail end surgical cutter. When the four-degree-of-freedom micro arm is required to perform a certain action, only the fingers or arms of a doctor are required to move to drive the flexible shaft joint to rotate by a corresponding angle. The motion of the flexible shaft joint is transmitted into the tensioning mechanism arranged on the base through the flexible shaft to drive the corresponding driving cables, so that each joint of the four-freedom-degree miniature arm is driven to move respectively, and the required action is further completed.
If the current four-degree-of-freedom micro arm cannot complete a certain surgical operation due to limitation of a surgical tool, the posture of the four-degree-of-freedom micro arm can be adjusted through a manual operating rod so as to be drawn out conveniently; after the drawing-out, rapidly detaching the four-degree-of-freedom micro arm from the base, and then disconnecting the joint of the four-degree-of-freedom micro arm from the joint of the hand operating rod; selecting a proper standby four-degree-of-freedom micro arm, installing the standby four-degree-of-freedom micro arm on the base, and then connecting the joint of the standby four-degree-of-freedom micro arm with the joint of the manual operating rod. And (3) adjusting the replaced standby four-degree-of-freedom micro arm to a proper posture by a doctor through a hand operating rod, repositioning and placing the standby four-degree-of-freedom micro arm into an operation area through the multi-degree-of-freedom mechanical arm, and then completing the required operation. The above procedure may need to be repeated several times throughout the procedure.
Compared with the prior art, the invention has the following beneficial effects:
in order to improve the effect of thyroid surgery and limit the size of a surgical tool aiming at the conditions of smaller operation space and higher risk of additional injury, the invention uses a small-size minimally invasive surgery robot functional end to assist operation, thus being beneficial to coping with narrow operation space, reducing trauma and having better beautifying effect; various spare micro arms can be quickly replaced at any time, the requirements of different operations are met, and the operation time is shortened; and an independent operating table and a more visual operating mode are adopted, so that the operating precision and the comfort of doctors are improved, and the error risk is reduced.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a four-degree-of-freedom micro-arm in an operating apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of a handle structure of a hand lever in an operating device according to an embodiment of the present invention;
fig. 3a, 3b show two views of an arm part of a hand lever in an operating device according to an embodiment of the invention in different orientations;
FIG. 4 is a schematic view of a base structure of the operation equipment according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a functional end of an operating device according to an embodiment of the present invention;
FIG. 6a is a schematic diagram of an actuator of the operating equipment according to one embodiment of the present invention;
FIG. 6b is a schematic view of the structure of the operation table in the operation equipment according to one embodiment of the present invention;
in the figure:
1. the hand-operated table comprises a cutter, 2, a miniature arm joint, 3, a miniature arm joint, 4, a miniature arm joint, 5, a miniature arm joint, 6, a knob, 7, a first flexible shaft joint, 8, a second flexible shaft joint, 9, a handle frame, 10, a handle, 11, a rotating handle, 12, a third flexible shaft joint, 13, a swinging arm, 14, a hand elbow seat, 15, a fourth flexible shaft joint, 16, a hand-operated lever base, 17, a fifth flexible shaft joint, 18, a tensioning mechanism, 19, a sixth flexible shaft joint, 20, a seventh flexible shaft joint, 21, an eighth flexible shaft joint, 22, a ninth flexible shaft joint, 23, a tenth flexible shaft joint, 24, a base, 25, a camera, 26, a functional end, 27, a multi-degree of freedom mechanical arm, 28, a hand-operated lever (left/right symmetry), 29, a terminal display screen and 30, a table top.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to 6, a minimally invasive thyroid surgery operating apparatus includes: actuating mechanism, imaging system and operation panel, wherein:
the executing mechanism is a surgical robot mechanism, the tail end of the executing mechanism is a functional end, and the front end part of the functional end is used for working in the body of a patient;
the imaging system is used for displaying a real-time image of the operation working area of the executing mechanism and providing a necessary visual field for a doctor;
the control table is connected with the executing mechanism, and a doctor operates through the control table to control the executing mechanism to complete a surgical task.
As shown in fig. 1, 4, 5 and 6a, the actuator comprises a multi-degree-of-freedom mechanical arm 27, a base 24 and a functional end 26, and the four-degree-of-freedom micro-arm is arranged in the functional end 26 and is used in pairs.
The multi-degree-of-freedom mechanical arm 27 is connected with a group of paired micro arms through the base 24; the tail ends of a group of micro-arms are provided with different cutters 1 which are key parts for executing operation actions, and the multi-degree-of-freedom mechanical arm 27 is used for positioning, fine adjustment, insertion and extraction of the micro-arms. According to the needs of operation, a plurality of groups of miniature arms are prepared in advance and are matched with a plurality of cutters 1, and the cutters are respectively used for clamping, shearing, cutting, sintering and the like.
As a preferred embodiment, the four-degree-of-freedom micro-arm includes: miniature arm joint 2, miniature arm joint 3, miniature arm joint 4, miniature arm joint 5, every joint corresponds 1 degree of freedom, and every joint is many laminated joints, and the motion of every joint all passes through drive cable control in the miniature arm of four degrees of freedom, cutter 1 at the end of the miniature arm also by drive cable control in the miniature arm of four degrees of freedom.
In a preferred embodiment, two tensioning mechanisms 18 are mounted on the base 24, and the driving cables in the two four-degree-of-freedom micro arms are respectively connected to the two tensioning mechanisms 18 and do not interfere with each other. The input end of each tensioning mechanism 18 is provided with five flexible shaft joints, namely, the flexible shaft joints 19-23; and the output end respectively controls the micro arm joint 2, the micro arm joint 3, the micro arm joint 4, the micro arm joint 5 and the cutter 1 at the tail end of the micro arm of each four-degree-of-freedom micro arm correspondingly.
Further, in an embodiment, the four-degree-of-freedom micro arm is configured with a group of micro hands for standby, only the cutter arranged at the tail end of each micro hand is different, so as to meet different operation requirements, and the specific connection and installation mode of each micro hand is the same as that of the four-degree-of-freedom micro arm. If the end cutter of the currently assembled four-degree-of-freedom micro arm is difficult to complete a certain step of operation, a proper one or a pair of micro arms are selected from the spare micro arms for replacement, namely, each four-degree-of-freedom micro arm, the end cutter of the four-degree-of-freedom micro arm and the corresponding tensioning mechanism are replaced as a whole.
As shown in fig. 4, 5 and 6b, the imaging system comprises a camera 25 and a terminal display screen 29, the operating table comprises a table top 30, the terminal display screen 29 is mounted on the table top 30 of the operating table through a display mounting plate, and the camera 25 is mounted on the base 24 and is placed in the operation area or drawn out together with the miniature arm; the images taken by the camera 25 may be remotely transmitted back to the terminal display screen 29 to provide the surgeon with the necessary field of view.
As shown in fig. 6b, a pair of hand levers 28 (i.e. left and right mechanical arm levers) is installed on the operation table, and the doctor respectively transmits the movements of his left and right hands and arms to a set of four-degree-of-freedom micro-arms through the left/right symmetrical hand levers 28, so as to complete the fine operation movements. Compared with the conventional endoscopic surgery, the operation mode is more intuitive and comfortable.
As a preferred embodiment, a pair of hand levers 28 and a group of four-degree-of-freedom micro-arms are respectively connected through a group of flexible shafts and joints thereof, and can be quickly disconnected or reconnected as required at any time. Each hand operating rod 28 is provided with 5 output end flexible shaft joints which respectively correspond to the single cutter 1 at the tail ends of 4 degrees of freedom and 1 micro arm of the four-degree-of-freedom micro arm.
In a preferred embodiment, one of the hand levers 28 is divided into a handle portion and an arm portion, wherein:
the handle part comprises a handle frame 9, a grip 10 and a third flexible shaft joint 12, the grip 10 is provided with a knob 6 and a first flexible shaft joint 7, and the handle frame 9 is provided with a rotating handle 11 and a second flexible shaft joint 8; a gear pair is arranged between the shaft where the knob 6 is arranged and the shaft where the first flexible shaft joint 7 is arranged, so that the movement of the knob 6 can be transmitted to the first flexible shaft joint 7, and the movement is controlled by the thumb of a doctor; a gear pair is arranged between the shaft of the rotary handle 11 and the shaft of the second flexible shaft joint 8, so that the movement of the rotary handle 11 can be transmitted to the second flexible shaft joint 8, and the movement is controlled by the index finger of a doctor. The third flexible shaft joint 12 and the handle frame 9 are synchronous and can relatively rotate with the swing arm 13, and the rotation action is realized by the rotation action of the whole hand and the forearm of the doctor relative to the elbow;
the arm part comprises a swing arm 13, a hand and elbow seat 14, a fourth flexible shaft joint 15, a hand lever base 16 and a fifth flexible shaft joint 17. The hand lever base 16 is arranged below the tabletop 30, and the fifth flexible shaft joint 17 and the hand toggle seat 14 are synchronous and can rotate relative to the hand lever base 16; the fourth flexible shaft joint 15 and the swing arm 13 are synchronous and can rotate relative to the hand and elbow seat 14; these two relative rotational movements are controlled by the physician's forearm and forearm respectively.
When the four-degree-of-freedom micro arm is required to perform a certain action, the fingers or arms of a doctor are only required to move to drive each flexible shaft joint to rotate by a corresponding angle. The movement of the flexible shaft joint is transmitted to the tensioning mechanism 18 arranged on the base 24 through the flexible shaft and drives the corresponding driving cables, so that the micro arm joint 2, the micro arm joint 3, the micro arm joint 4, the micro arm joint 5 and the cutter 1 of the micro arm are driven to move respectively, and the required action is completed.
If the current micro-arm cannot complete a certain operation because of the limitation of the tool 1, the posture of the micro-arm can be adjusted by the hand lever 28 (left/right) for extraction, after extraction, the micro-arm is quickly detached from the base 24, and then all the components (i.e. the flexible shafts) connected to the flexible shaft joint on the tensioning mechanism 18 are disconnected; selecting a proper spare micro arm, installing the spare micro arm on the base 19, and then reconnecting the flexible shaft joint on the tensioning mechanism 18 (after replacement) according to the condition before replacement; the doctor adjusts the spare micro-arm to a proper posture through the hand operating rod 28, and then the spare micro-arm is repositioned and placed in the operation area through the multi-degree-of-freedom mechanical arm 27, and then the required operation is completed. The above procedure may need to be repeated several times throughout the procedure.
On one side of the console, the surgeon needs to transfer hand and arm movements to the functional end 26 via a hand lever 28 (left/right). The specific implementation mode is as follows:
the left hand and the right hand of the doctor correspond to the left hand operating lever and the right hand operating lever 28 respectively; taking the right hand as an example, the grip 10 on the right hand operating lever 28 is held, the index finger of the right hand operates the rotary handle 11, the thumb of the right hand operates the knob 6, the right elbow is placed on the elbow seat 14, the rotation of the right small arm relative to the right elbow drives the third flexible shaft joint 12, the swing of the right small arm drives the fourth flexible shaft joint 15, and the rotation of the right large arm drives the fifth flexible shaft joint 17; the rotary motion of the first to fifth flexible shaft joints 7, 8, 12, 15 and 17 can be transmitted to flexible shaft joints 19 to 23 arranged on the tensioning mechanism 18 through flexible shafts respectively; the tensioning mechanism 18 is mounted on a base 24; the flexible shaft joints 23, 22, 21, 20 and 19 respectively correspond to the four-degree-of-freedom miniature arm joints 5, 4, 3 and 2 and the cutter 1. Thus, 5 movements of the surgeon's right arm and hand are transferred to the 5 joints of the micro-arm, i.e., the four-degree-of-freedom micro-arm joints 5, 4, 3, 2 and the tool 1, in a one-to-one correspondence.
The above embodiment is the implementation process of the basic operation mode of the present invention. The equipment operation mode related by the invention has the advantages that the equipment operation mode can enable the hands and arms of a surgeon to be always in a more natural and labor-saving state in the operation process, can realize intuitive and accurate control, and effectively reduce the fatigue degree of the surgeon; in addition, the diameter of the used miniature arm is less than 7mm, the outer diameter of the functional end is not more than 20mm, the requirement of minimally invasive surgery is completely met, the reduction of surgical wounds is facilitated, and the requirement of a patient on wound beautification is met.
The surgical equipment uses the minimally invasive surgical arm with small volume, which is beneficial to reducing the wound and improving the accuracy of the operation of doctors; independent operation panel and two action bars then help improving the comfort level, reduce doctor's tired sense, reduce the error risk.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (3)
1. A thyroid minimally invasive surgery operation device is characterized in that: the surgical operating apparatus includes: actuating mechanism, imaging system and console, wherein: the executing mechanism is a surgical robot mechanism, and the tail end of the executing mechanism is a functional end; the imaging system is used for displaying a real-time image of the operation working area of the executing mechanism; the control table is connected with the executing mechanism and controls the executing mechanism to complete a surgical task;
the actuating mechanism comprises a multi-degree-of-freedom mechanical arm, a functional end and a base, wherein:
the functional end is arranged at the tail end of the multi-degree-of-freedom mechanical arm and is connected with the tail end of the multi-degree-of-freedom mechanical arm through the base; the multi-degree-of-freedom mechanical arm is used for carrying the functional end, finely adjusting the overall pose of the functional end, positioning the functional end, and placing or extracting the functional end into or out of a patient body through a wound;
two four-degree-of-freedom micro-arms are arranged in the functional end, wherein: the two four-degree-of-freedom miniature arms have the same structure and are both multi-joint series mechanisms, each joint corresponds to 1 degree of freedom, each joint is a multi-lamination type joint, and the motion of each joint is controlled by a driving cable in the four-degree-of-freedom miniature arm; the tail ends of the two four-degree-of-freedom micro arms are respectively provided with a surgical cutter, and the actions of the two surgical cutters are respectively controlled by driving cables in the two four-degree-of-freedom micro arms;
two tensioning mechanisms are mounted on the base, and driving cables in the two four-degree-of-freedom micro arms are respectively connected to the two tensioning mechanisms and do not interfere with each other;
each tensioning mechanism is provided with five flexible shaft joints which are used for respectively and correspondingly controlling four joints of each four-degree-of-freedom miniature arm and a tail end surgical tool;
the imaging system comprises a 3D camera and a terminal display; the console comprises a display mounting plate and two mechanical arm operating rods; wherein:
the double mechanical arm operating rods are divided into a left mechanical arm operating rod and a right mechanical arm operating rod, the left mechanical arm operating rod and the right mechanical arm operating rod are operated by the left hand and the right hand of an operator respectively, and the actions of the left hand, the right hand and the arms of the operator are transmitted to two four-freedom-degree miniature arms at the functional end through the left mechanical arm operating rod and the right mechanical arm operating rod respectively so as to finish clamping, shearing, expanding, stripping or sintering operations;
the 3D camera is arranged on a base of the function end, the terminal display is arranged on a display mounting plate of the console, the 3D camera and the two four-degree-of-freedom miniature arms are arranged in the body of a patient side by side, and real-time images of an operation area are transmitted back to the terminal display, so that a necessary visual field is provided for a doctor;
the left mechanical arm operating rod and the right mechanical arm operating rod are respectively provided with five flexible shaft joints which respectively correspond to four joints of two four-degree-of-freedom miniature arms and a tail end surgical cutter;
the mechanical arm operating rod comprises a handle part and an arm part, wherein the handle part comprises a handle frame, a grip and a third flexible shaft joint; arm portion includes swing arm, hand elbow rest, fourth flexible axle joint, hand lever base and fifth flexible axle joint, wherein:
the handle frame is provided with a rotating handle and a second flexible shaft joint; a gear pair is arranged between a shaft where the knob is arranged and a shaft where the first flexible shaft joint is arranged, and the motion energy of the knob is transmitted to the first flexible shaft joint; a gear pair is arranged between a shaft where the rotating handle is arranged and a shaft where the second flexible shaft joint is arranged, and the motion energy of the rotating handle is transmitted to the second flexible shaft joint; the third flexible shaft joint and the handle frame are synchronous and can rotate relative to the swing arm;
the fifth flexible shaft joint and the elbow seat are synchronous and can rotate relative to the hand operating rod base; the fourth flexible shaft joint and the swing arm are synchronous and can rotate relative to the elbow seat.
2. The minimally invasive thyroid surgery operating device according to claim 1, wherein: when the four-degree-of-freedom micro arm needs to perform a certain action, the fingers or arms of an operator move to drive the flexible shaft joint to rotate by a corresponding angle, the movement of the flexible shaft joint is transmitted into the tensioning mechanism arranged on the base through the flexible shaft and drives the corresponding driving cables, so that the four joints of the micro arm are respectively driven to move, and the required action is further completed.
3. The minimally invasive thyroid surgery operating device according to any one of claims 1 to 2, wherein: the diameter of the four-degree-of-freedom micro arm is less than 7mm, and the outer diameter of the functional end is not more than 20 mm.
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| CN201610828313.5A CN106377316B (en) | 2016-09-18 | 2016-09-18 | Operation equipment for thyroid minimally invasive surgery |
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| CN201610828313.5A CN106377316B (en) | 2016-09-18 | 2016-09-18 | Operation equipment for thyroid minimally invasive surgery |
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| WO2018154824A1 (en) * | 2017-02-22 | 2018-08-30 | オリンパス株式会社 | Endoscope operation unit and endoscope including same |
| CN115005976B (en) * | 2022-08-03 | 2022-11-18 | 杭州德适生物科技有限公司 | Intelligent manipulator for surgical operation |
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