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WO2025077811A1 - Structure de montage de canule chirurgicale et système de robot chirurgical - Google Patents

Structure de montage de canule chirurgicale et système de robot chirurgical Download PDF

Info

Publication number
WO2025077811A1
WO2025077811A1 PCT/CN2024/124077 CN2024124077W WO2025077811A1 WO 2025077811 A1 WO2025077811 A1 WO 2025077811A1 CN 2024124077 W CN2024124077 W CN 2024124077W WO 2025077811 A1 WO2025077811 A1 WO 2025077811A1
Authority
WO
WIPO (PCT)
Prior art keywords
operating rod
lock
surgical
main body
surgical cannula
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/124077
Other languages
English (en)
Chinese (zh)
Inventor
岳森
陈功
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Microport Medbot Group Co Ltd
Original Assignee
Shanghai Microport Medbot Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Microport Medbot Group Co Ltd filed Critical Shanghai Microport Medbot Group Co Ltd
Publication of WO2025077811A1 publication Critical patent/WO2025077811A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the mechanical transmission link is long, so that the installation structure occupies a large space at the end of the surgical robot arm, thereby reducing the working space of the surgical robot and increasing the complexity of the surgical operation;
  • a surgical cannula installation structure which includes:
  • At least two lock buckles all of which are arranged in the inner cavity of the main body, and at least two of which are arranged on both sides of the installation position of the main body corresponding to the surgical cannula, each of which is connected to the operating rod, and the lock buckles on both sides of the installation position are used to move away from each other under the drive of the operating rod to release the lock of the surgical cannula;
  • the elastic member is connected to the main body and is also connected to at least one of the operating rod and the lock.
  • the locks on both sides of the installation position are also used to move closer to each other under the action of the elastic member to lock the surgical cannula.
  • the sleeve channel is arranged at the installation position so as to allow a part of the structure of the surgical sleeve to be inserted into and withdrawn from the main body, and one end of the sleeve channel away from the inner cavity is set as a positioning end surface for positioning the surgical sleeve;
  • the operating rod and the lock are connected in a non-self-locking manner, each of the locks is connected to at least one of the elastic members, one end of each of the elastic members is connected to the main member, and the other end is connected to a corresponding one of the locks; or, the operating rod and the lock are connected in a self-locking manner, and the operating rod is connected to at least one of the elastic members.
  • the operating rod and the lock are connected in a non-self-locking manner, and the lock has a accommodating cavity and a clamping portion; each of the elastic members is arranged in the accommodating cavity of a corresponding one of the locks; the clamping portion is used to clamp the surgical cannula, and is also used to engage and connect with the surgical cannula.
  • the operating rod and the lock buckle are connected by a thread, or the operating rod and the lock buckle are connected by a matching sliding boss and a spiral groove.
  • the operating rod and the lock buckle are threadedly connected, and the operating rod and the lock buckle are in rolling contact.
  • the operating rod has a main body connected to the lock; the main body is defined with two first transmission parts, both of which are threaded structures, and the threads of the two first transmission parts have opposite rotation directions;
  • a sterile isolation plate is further included between the lock buckles on both sides of the installation position, and the sterile isolation plate has a plastic plate in contact with the lock buckles and the surgical cannula. The plastic plate can be deformed inwardly under the action of the lock buckles to clamp the surgical cannula.
  • the elastic restoring force of the elastic part can drive the lock buckle to move closer to each other to achieve the locking of the surgical cannula, the locking force is controllable, and the locking effect is good.
  • the surgical cannula installation structure of the present application can have a large locking force to ensure the reliability and stability of the locking, and only a small unlocking force is required to reliably unlock the surgical cannula.
  • FIG1 is a schematic diagram of a working scenario of the surgical robot system of the present application.
  • FIG3 is an exploded schematic diagram of a surgical cannula installation structure in one embodiment of the present application.
  • FIG5 is a schematic structural diagram of the operating lever in FIG3 ;
  • FIG6 is a schematic structural diagram of a lock buckle on one side of the installation position of the surgical cannula in FIG3 ;
  • FIG8 is a cross-sectional schematic diagram of the surgical cannula installation structure in FIG3 ;
  • FIG12 is an exploded schematic diagram of a surgical cannula installation structure in another embodiment of the present application.
  • FIG. 16 is a schematic structural diagram of the lock in FIG. 14 .
  • the core idea of the present application is to provide a surgical cannula installation structure and a surgical robot system to solve the problems existing in the installation of surgical cannulas, such as long mechanical transmission chain, large occupied space, and uncontrollable locking force and unlocking force.
  • the surgical robot system disclosed in the above-mentioned example is only a demonstration of an application scenario and not a limitation of the application scenario of the surgical robot system.
  • the surgical robot system is not limited to a master-slave remote-operated surgical robot, but can also be a single-end surgical robot system, that is, there is no master-slave control, and the operator directly operates the surgical robot at the patient end to perform the operation. This application is not limited to this.
  • FIG. 2 it is a schematic diagram of the assembly position of the surgical cannula installation structure of the present application.
  • the end 201a of the surgical robot arm 201 is used to assemble the surgical cannula installation structure, and the surgical cannula installation structure is used to install the surgical cannula 10.
  • the surgical cannula 10 according to the prior art, and this application will not elaborate on this.
  • the surgical cannula installation structure includes a main body 1, an operating rod 2, a lock 3 and an elastic member 4.
  • the elastic member 4 is any elastic element capable of storing elastic potential energy, such as a tension spring or a torsion spring or other elastic element.
  • the main body 1 is used to connect to the end 201a of the surgical robotic arm 201.
  • the main body 1 and the surgical robotic arm 201 can be integrated into one, or the main body 1 can be separately processed and formed and connected to the surgical robotic arm 201 through a suitable connection method, such as a screw connection or other alternative connection methods.
  • the main body 1 has an inner cavity 11, which is convenient for accommodating the operating rod 2, the lock 3 and the elastic member 4, and can also accommodate part of the structure of the surgical cannula 10 (i.e., the installation joint).
  • the surgical cannula 10 itself is provided with a mounting joint, through which the surgical cannula 10 is detachably connected to the surgical cannula mounting structure.
  • the operating rod 2 is rotatably connected to the main body 1, so that the operating rod 2 can rotate relative to the main body 1.
  • a part of the operating rod 2 is arranged in the inner cavity 11 of the main body 1, and the other part is arranged outside the main body 1.
  • the lock buckles 3 on both sides of the installation position can be driven by the operating rod 2 to move away from each other to the unlocked position, thereby releasing the lock on the surgical cannula 10.
  • the lock buckle 3 when the lock buckle 3 is in the unlocked position, in addition to releasing the lock, it can also be the unlocked state before installing the surgical cannula 10.
  • the lock buckles 3 When the surgical cannula 10 needs to be installed, the lock buckles 3 are first moved away from each other to the unlocked position, and then the partial structure of the surgical cannula 10 is inserted into the inner cavity 11 of the main body 1.
  • the operating rod 2 and the lock buckle 3 may be connected in a self-locking or non-self-locking manner.
  • the operating rod 2 and the lock buckle 3 are connected in a non-self-locking manner, which has higher transmission efficiency and is also conducive to reducing the number of elastic members 4, further reducing the volume and simplifying the structure.
  • the lock buckles 3 can be moved closer to each other to a locked position under the direct or indirect action of the elastic members 4.
  • the operating rod 2 and the lock buckle 3 are connected in a non-self-locking manner, so that the lock buckle 3 can be driven by the operating rod 2 to move away from each other, and conversely, the operating rod 2 can also be driven by the lock buckle 3 to reset.
  • each lock buckle 3 is directly driven by the elastic restoring force of a corresponding elastic member 4 to slide to the locked position.
  • the main body 1 is further provided with an operating rod channel 12, a lock channel 13 and a sleeve channel 14 which are connected to the inner cavity 11 and extend in directions perpendicular to each other.
  • These channels are respectively arranged on different sides of the main body 1, which can make the structure of the entire surgical sleeve installation structure more compact and smaller in size.
  • the sleeve channel 14 is arranged at the above-mentioned installation position so that a part of the structure of the surgical sleeve 10 can be inserted into and withdrawn from the main body 1 through the sleeve channel 14.
  • the other part of the operating rod 2 can be directly extended to the outside of the main body 1 through the operating rod channel 12 (see FIG.
  • the operating rod channel 12 can also limit the direction and position of the operating rod 2 being toggled.
  • the extension direction of the lock channel 13 is the same as the sliding direction of the lock 3, so that the lock 3 slides along the lock channel 13.
  • the inner cavity 11 of the main body 1 is connected to the outside through the operating rod channel 12, the lock channel 13 and the sleeve channel 14, which facilitates the installation of the operating rod 2, the lock 3, the elastic member 4 and the surgical sleeve 10.
  • the elastic member 4 is a spring 41, which is mainly a compression spring; each lock buckle 3 is directly connected to at least one spring 41, one end of each spring 41 is connected to the cover plate 5, and the other end is directly connected to a corresponding lock buckle 3.
  • the operating rod 2 and the lock buckle 3 are threadedly connected, and are non-self-locking connections, and there is no need to set a tension spring or torsion spring connected to the operating rod 2.
  • the lock buckles 3 on both sides of the installation position of the surgical sleeve 10 are close to each other under the action of the spring 41 and are in a locked position.
  • the operating rod 2 has an operating portion 21 for the operator to press and a main body 22 that is connected to the lock 3; the operating portion 21 extends out of the main body 1 through the operating rod channel 12; the main body 22 is defined with two first transmission parts 23, and the first transmission parts 23 are all threaded structures, and the threads of the two first transmission parts 23 have opposite directions.
  • the two first transmission parts 23 are bounded by the operating portion 21 and are arranged on both sides of the operating portion 21 along the rotation axis direction of the operating rod 2, but are not limited to this. In other embodiments, the two first transmission parts 23 can be arranged on the same side of the operating rod 2 along the rotation axis direction of the operating rod 2.
  • Each first transmission part 23 has at least one screw thread, and each first transmission part 23 can adopt a full circle of threads or a thread less than one circle, as long as a spiral transmission can be formed within the rotation range of the operating rod 2.
  • the thread in each first transmission part 23 can adopt a trapezoidal thread or other threads with similar functions, so as to form a non-self-locking spiral transmission with the lock 3.
  • the threads of the second transmission parts 31 of the lock buckles 3 arranged on both sides of the installation position of the surgical sleeve 10 have opposite rotation directions, so that the movement directions of the lock buckles 3 on both sides of the installation position are opposite.
  • two springs 41 apply forces in opposite directions to the two lock buckles 3, so that the two lock buckles 3 approach each other along their sliding directions.
  • the plastic plate 61 When in use, as shown in Figure 10, the plastic plate 61 is deformed inwardly under the action of the lock buckle 3 to clamp the surgical cannula 10.
  • the highly elastic soft material is a common material that can be recognized by those skilled in the art, and is not limited to this.
  • the internal structure of the surgical cannula 10 after installation can be seen in FIG10 .
  • the two lock buckles 3 are moved closer to each other under the action of the spring 41 connected thereto to clamp the sterile isolation plate 6 and the surgical cannula 10.
  • the clamped part of the surgical cannula 10 is provided with an undercut 101, and the locking contact surface 102 of the undercut 101 cooperates with the locking inclined surface 34 of the lock buckle 3 to lock.
  • the inclination direction of the locking contact surface 102 forms a small angle ⁇ with the sliding direction of the lock buckle 3, and the angle ⁇ enables the lock buckle 3 to have a larger locking force on the surgical sleeve 10.
  • the angle ⁇ can be 5° to 45°, and in this embodiment, ⁇ is 20°.
  • the installation process of the surgical cannula 10 is further described below with reference to FIG. 11 .
  • the installation of the surgical cannula 10 includes the following steps:
  • step (b) the sterile isolation plate 6 is installed. Specifically, the plastic plate 61 of the sterile isolation plate 6 is inserted into the inner cavity 11 of the main body 1 through the sleeve channel 14 until one side of the positioning plate portion 62 of the sterile isolation plate 6 is in contact with the positioning end surface 15 of the main body 1;
  • step (c) a portion of the surgical cannula 10 is inserted into the sterile isolation plate 6 until the side of the surgical cannula 10 is in contact with the other side of the positioning plate portion 62 of the sterile isolation plate 6;
  • step (d) the operating rod 2 is released, so that the two lock buckles 3 are moved closer to each other under the action of the spring 41 until the sterile isolation plate 6 and the surgical cannula 10 are locked. At the same time, the operating rod 2 is reset under the drive of the lock buckle 3.
  • the elastic member 4 uses a torsion spring 42, one end of which is fixed to the main body 1, and the other end is connected to the main body 22 of the operating rod 2.
  • the spring 41 connected to the lock buckle 3 may not be provided, or a spring 41 connected to the lock buckle 3 may be provided, and the more appropriate situation is to cancel the spring 41.
  • one or two torsion springs 42 may be provided. In this way, one end of the torsion spring 42 directly acts on the main body 1, and the other end directly acts on the operating rod 2, and there is always a locking direction force on the operating rod 2.
  • the motion transmission between the operating rod 2 and the lock buckle 3 is achieved by the cooperation of the sliding boss 24 and the spiral groove 35, that is, shape-fitting transmission is used.
  • the first transmission part 23 on the operating rod 2 adopting the structural form of the sliding boss 24, and the second transmission part 31 on the lock buckle 3 adopting the structural form of the spiral groove 35.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne une structure de montage de canule chirurgicale et un système de robot chirurgical. La structure de montage de canule chirurgicale comprend : un élément de corps principal (1), relié à une extrémité (201a) d'un bras de robot chirurgical (201) ; une tige de manœuvre (2), reliée de manière rotative à l'élément de corps principal (1), une partie de la tige de manœuvre (2) étant disposée dans une cavité interne (11) de l'élément de corps principal (1), et une autre partie de celle-ci étant disposée à l'extérieur de l'élément de corps principal (1) ; au moins deux éléments de fixation de verrouillage (3), tous disposés dans la cavité interne (11) de l'élément de corps principal (1), les éléments de fixation de verrouillage (3) étant agencés de part et d'autre d'une position de montage correspondant à une canule chirurgicale (10) sur l'élément de corps principal (1), chaque élément de fixation de verrouillage (3) étant relié de manière interactive à la tige de manœuvre (2), et les éléments de fixation de verrouillage (3) situés de part et d'autre de la position de montage étant entraînés par la tige de manœuvre (2) pour s'écarter l'un de l'autre afin de libérer le verrouillage de la canule chirurgicale (10) ; et des éléments élastiques (4), reliés à l'élément de corps principal (1) et également reliés à la tige de manœuvre (2) et/ou aux éléments de fixation de verrouillage (3), les éléments de fixation de verrouillage (3) situés de part et d'autre de la position de montage se rapprochant l'un de l'autre sous l'action des éléments élastiques (4) pour verrouiller la canule chirurgicale (10). La structure de montage de la canule chirurgicale permet de raccourcir une liaison de transmission mécanique, de réduire la taille de la structure de montage, d'augmenter l'espace de travail du robot chirurgical et de régler la force de verrouillage et la force de déverrouillage.
PCT/CN2024/124077 2023-10-12 2024-10-11 Structure de montage de canule chirurgicale et système de robot chirurgical Pending WO2025077811A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202311322815.7 2023-10-12
CN202311322815.7A CN117179905A (zh) 2023-10-12 2023-10-12 手术套管安装结构及手术机器人系统

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Publication Number Publication Date
WO2025077811A1 true WO2025077811A1 (fr) 2025-04-17

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PCT/CN2024/124077 Pending WO2025077811A1 (fr) 2023-10-12 2024-10-11 Structure de montage de canule chirurgicale et système de robot chirurgical

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CN (1) CN117179905A (fr)
WO (1) WO2025077811A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117179905A (zh) * 2023-10-12 2023-12-08 上海微创医疗机器人（集团）股份有限公司 手术套管安装结构及手术机器人系统

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CN106102642A (zh) * 2014-03-17 2016-11-09 直观外科手术操作公司 外科手术套管安装件及相关的系统和方法
CN206753233U (zh) * 2017-05-04 2017-12-15 江苏鸿基金属制品有限公司 一种双向锁闩
WO2018116045A1 (fr) * 2016-12-21 2018-06-28 Ethicon Llc Dispositifs et procédés de fixation de trocart
CN207686444U (zh) * 2017-12-18 2018-08-03 江苏赛纳嘉智能科技有限公司 一种智能监控门锁
CN113456237A (zh) * 2021-07-05 2021-10-01 深圳康诺思腾科技有限公司 一种套管适配器和手术机器人
CN113598957A (zh) * 2021-07-05 2021-11-05 深圳康诺思腾科技有限公司 一种套管适配器和手术机器人
CN115227403A (zh) * 2022-07-13 2022-10-25 上海微创医疗机器人（集团）股份有限公司 套管锁紧机构、套管安装装置及手术机器人
CN218391270U (zh) * 2022-07-28 2023-01-31 武汉联影智融医疗科技有限公司 锁紧机构及手术机器人
CN116098711A (zh) * 2023-01-12 2023-05-12 杭州唯精医疗机器人有限公司 套管安装件及使用其的手术机器人
CN116838691A (zh) * 2023-07-04 2023-10-03 上海微创医疗机器人（集团）股份有限公司 一种快换接口及手术机器人
CN117179905A (zh) * 2023-10-12 2023-12-08 上海微创医疗机器人（集团）股份有限公司 手术套管安装结构及手术机器人系统

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106102642A (zh) * 2014-03-17 2016-11-09 直观外科手术操作公司 外科手术套管安装件及相关的系统和方法
WO2018116045A1 (fr) * 2016-12-21 2018-06-28 Ethicon Llc Dispositifs et procédés de fixation de trocart
CN206753233U (zh) * 2017-05-04 2017-12-15 江苏鸿基金属制品有限公司 一种双向锁闩
CN207686444U (zh) * 2017-12-18 2018-08-03 江苏赛纳嘉智能科技有限公司 一种智能监控门锁
CN113456237A (zh) * 2021-07-05 2021-10-01 深圳康诺思腾科技有限公司 一种套管适配器和手术机器人
CN113598957A (zh) * 2021-07-05 2021-11-05 深圳康诺思腾科技有限公司 一种套管适配器和手术机器人
CN115227403A (zh) * 2022-07-13 2022-10-25 上海微创医疗机器人（集团）股份有限公司 套管锁紧机构、套管安装装置及手术机器人
CN218391270U (zh) * 2022-07-28 2023-01-31 武汉联影智融医疗科技有限公司 锁紧机构及手术机器人
CN116098711A (zh) * 2023-01-12 2023-05-12 杭州唯精医疗机器人有限公司 套管安装件及使用其的手术机器人
CN116838691A (zh) * 2023-07-04 2023-10-03 上海微创医疗机器人（集团）股份有限公司 一种快换接口及手术机器人
CN117179905A (zh) * 2023-10-12 2023-12-08 上海微创医疗机器人（集团）股份有限公司 手术套管安装结构及手术机器人系统

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