CN108606839A - A kind of long-range skull micro wound surgery systems for burst accident - Google Patents
A kind of long-range skull micro wound surgery systems for burst accident Download PDFInfo
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- CN108606839A CN108606839A CN201810489243.4A CN201810489243A CN108606839A CN 108606839 A CN108606839 A CN 108606839A CN 201810489243 A CN201810489243 A CN 201810489243A CN 108606839 A CN108606839 A CN 108606839A
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- 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
- A61B34/35—Surgical robots for telesurgery
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1695—Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
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- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Dentistry (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Gynecology & Obstetrics (AREA)
- Neurosurgery (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of long-range skull micro wound surgery systems for burst accident, belong to medical robot technical field, including removable CT, operating robot and operating bed, are as follows：Step 1, CT scan carry out in patient transfer to operating bed CT scan to patient by removable CT, the image data of scanning are uploaded to remote expert consultation system；Step 2, expert consultation, Remote carries out surgery planning after analyzing patient's CT data, and surgery planning is issued to operative site；Step 3, operation start, and operating robot is fixed on operating bed side, and Minimally Invasive Surgery is carried out according to surgery planning operation robot.Above-mentioned technical proposal by order to ensure scene operation precision requirement, the structure of operating robot is improved, then it is combined with telesurgery systems, it solves the problems, such as that patients with cerebral hemorrhage can not be given treatment in gold therapeutic time, it is worn with robot localization replacement is blind, improves operation precision.
Description
Technical field
The present invention relates to a kind of long-range skull micro wound surgery systems for burst accident, belong to medical robot technology neck
Domain.
Background technology
Minimally Invasive Surgery, as the term suggests being exactly the operation of microtrauma, Minimally Invasive Surgery is small with wound, pain is light, restores fast
Superiority.Minimally Invasive Surgery is just increasingly being recognized as a kind of effective alternative solution of conventional open surgery.Its operation wound and
Postoperative complications are less, this just shortens consultation time, saves correlative charges.Simultaneously, moreover it is possible to so that patient is faster restored, in life
Reason and psychological aspects have huge meaning.
When encountering burst accident, the wounded often occurs cannot give treatment to and miss emergency time window in time, such as brain
It is cerebral hemorrhage gold therapeutic time that several hours are interior after bleeding occurs, and after traffic accident occurs, or great nature occurs again
Under disaster or war conditions, the wounded is difficult often to be sent to the hospital for treatment of having ready conditions in time, and directly carry out at the scene open
Operations on cranium and brain risk it is very big, therefore cerebral hemorrhage once occurs, sees repeatly in the case that cannot in time give treatment to and lose life
It is not fresh.For this purpose, a kind of surgery systems can be used for burst accident of design, directly can carry out development first aid in the scene of the accident, it is right
Saving has important value for the life of the wounded.
China's medical resource is unevenly distributed, and in neurosurgery, Tele medicine can be utilized to keep outer suburbs poor
Patient Deng medical backward areas can perform the operation under the guidance of first-class expert at home, and outer suburbs small towns is enable to carry out nerve
Surgical operation is possibly realized.But neurosurgery is to the more demanding of doctor, even if obtaining other side by remote transmission
The surgery planning of first-class expert, if we doctor operation there is deviation, also can to operation be smoothed out cause it is unfavorable
It influences, and is neurosurgery the reason of essence to precise requirements height.And for this kind of operations on cranium and brain of cerebral hemorrhage, if
It is worn by doctor is blind, success rate of operation is relatively low, this is also counteracted gives first aid to the wounded after unexpected accident in gold therapeutic time.
Invention content
To solve problems of the prior art, the present invention provides a kind of long-range skull micro wound surgery systems, will be remote
Journey surgery systems are combined with micro-wound operation robot, solve in open surgery perform the operation precision it is inadequate, low success rate of problem.
Specific technical solution is as follows：
A kind of long-range skull micro wound surgery systems for burst accident, including removable CT, operating robot and operation
Bed, is as follows：
Step 1, CT scan carry out in patient transfer to operating bed CT scan to patient by removable CT, will sweep
The image data retouched is uploaded to remote expert consultation system；
Step 2, expert consultation, Remote carries out surgery planning after analyzing patient's CT data, and surgery planning is issued
To operative site；
Step 3, operation start, and operating robot is fixed on operating bed side, according to surgery planning operation machine
People carries out Minimally Invasive Surgery.
As an improvement of the above technical solution, photographic device, the photographic device opponent are provided on the removable CT
The patient's condition in art bed region is monitored, and monitoring information is uploaded to remote expert consultation system.
As an improvement of the above technical solution, the remote expert consultation system is the use communicated to connect with operating robot
Family terminal, the user terminal are mobile phone, tablet or computer.
As an improvement of the above technical solution, it is provided with pedestal below the operating bed, between the operating bed and pedestal
It is connected with fixed frame, the operating bed is provided with robot with fixed frame side and docks bayonet, and the operating robot side is set
It is equipped with the butt joint that bayonet mating connection is docked with robot.
As an improvement of the above technical solution, there is working face on the operating robot, be provided on the working face
Mechanical arm, the mechanical arm tail end are provided with guider.
As an improvement of the above technical solution, the mechanical arm includes the first joint assembly, second joint component, third pass
It saves component, the 4th joint assembly and the 5th joint assembly, is provided on first joint assembly and is fixedly connected with working face
Chassis, the guider are set on the 5th joint assembly.
As an improvement of the above technical solution, the 4th joint assembly includes the 4th socket joint, the 4th joint shaft, coding
Device, encoder holder and clutch, the rotation of the 4th joint shaft of the clutch control.
As an improvement of the above technical solution, the conduit for being directed toward encoder is provided in the 4th socket joint, it is described
The rotary motion trace of conduit and the 4th joint shaft is in evacuation state.
As an improvement of the above technical solution, it is provided with display on the working face.
As an improvement of the above technical solution, the working face both sides extend outward to form handle, the operating robot
Bottom is provided with idler wheel.
The present invention is improved in order to ensure the requirement of scene operation precision the structure of operating robot, then will
It combines with telesurgery systems, solves the problems, such as that patients with cerebral hemorrhage can not be given treatment in gold therapeutic time, uses machine
People's positioning replacement is blind to wear, and reduces operating time, improves operation precision, advantageous effect is notable.
Description of the drawings
Fig. 1 is a kind of front view of long-range skull micro wound surgery systems for burst accident of the invention.
Fig. 2 is a kind of vertical view of long-range skull micro wound surgery systems for burst accident of the invention.
Fig. 3 is the structural schematic diagram of operating robot in the present invention.
Fig. 4 be the present invention operating robot in mechanical arm structural schematic diagram.
Specific implementation mode
As shown in Figure 1, Figure 2, the present invention provides a kind of long-range skull micro wound surgery systems for burst accident, including it is removable
Dynamic CT10, operating robot 20 and operating bed 30, are as follows：
Step 1, CT scan carry out CT scan by removable CT10 by patient transfer to operating bed 30 to patient,
The image data of scanning is uploaded to remote expert consultation system；
Step 2, expert consultation, Remote carries out surgery planning after analyzing patient's CT data, and surgery planning is issued
To operative site；
Step 3, operation start, and operating robot 20 are fixed on 30 side of operating bed, according to surgery planning operation
Robot 20 carries out Minimally Invasive Surgery.
In above step, it is provided with photographic device 11 on removable CT10, photographic device 11 can be to 30 region of operating bed
Patient or the wounded's situation be monitored, and monitoring information is uploaded into remote expert consultation system, remote expert consultation system
For the user terminal communicated to connect with operating robot 20, which can be mobile phone, tablet or computer.Wherein communication link
The progress of the transmission modes such as wire transmission, wireless transmission may be used in the method for connecing.
30 lower section of operating bed is provided with pedestal 31, and fixed frame 32 is connected between the operating bed 30 and pedestal 31.Due to
The surgery systems of the present invention are mainly used for burst accident scene, in order to improve the accuracy of operating robot 20, need to ensure hand
Art robot 20 is fixed in the course of surgery, is connect for this purpose, can pass through operating robot 20 with operating bed 30
Structure is mounted together, such as following snap-in structure may be used：Operating bed 30 is provided with robot pair with 32 side of fixed frame
Connect bayonet 33,20 side of operating robot is provided with the butt joint 26 that the mating connection of bayonet 33 is docked with robot, and when use is logical
Operating robot 20 and operating bed 30 are connected as an entirety, carried by the cooperation for crossing robot docking bayonet 33 and butt joint 26
The stability of high operating robot 20.
Further, as shown in Figure 3, Figure 4, there is working face 22 on operating robot 20, be arranged on working face 22 organic
Tool arm 21,21 end of mechanical arm are provided with guider 212, and mechanical arm 21 includes the first joint assembly 213, second joint component
214, third joint assembly 215, the 4th joint assembly 216 and the 5th joint assembly 217 are provided on first joint assembly 213
The chassis 218 being fixedly connected with working face 22, guider 212 are set to the 4th joint assembly 216 on the 5th joint assembly 217
Including the 4th socket joint 2161, the 4th joint shaft 2162, encoder 2163, encoder holder 2164 and clutch 2165, clutch
Device 2165 controls the rotation of the 4th joint shaft 2162.Wherein, operating robot 20 of the invention can also be only with mechanical arm 21
Structure, or using the space five-freedom mechanical arm (Patent No. number 201720522013.4) of my company research and development, when use
Mechanical arm is affixed directly on operating bed 30, is then operated on it using laptop, and space is more saved, using more
It is flexible.
It can add the external equipments such as display 23, control panel, keyboard and mouse on working face 22, it can be on working face 22
Using waterproofing design, the protection to the host in operating robot 20 is improved.Mechanical arm 21 is arranged on working face 22, mechanical arm
21 are formed using five joint assemblies, be respectively the first joint assembly 213, second joint component 214, third joint assembly 215,
4th joint assembly 216 and the 5th joint assembly 217, the structure that 217 end of the 5th joint assembly is connect with guider 212.
Each joint assembly is both provided with encoder and clutch, and the effect of wherein encoder is by the angular displacement of rotation axis or straight line position
Transfer changes electric signal into, and clutch is then the combination for controlling rotation axis, realizes the control to rotation axis.In multiple joint assemblies
Encoder and clutch coordinated, you can realize mechanical arm being accurately positioned in three dimensions.Guider 212 can root
Connection drill bit 2121 or pumping device are selected according to surgery planning, such as in operation of opening cranium, the completion space of mechanical arm 21 is fixed
Behind position, the depth of drill bit is controlled by guider 212.It is easy to implement by all parts of adjusting guide device 212 and patient
Head distance reduces the precision problem that end error band comes.
After carrying out space orientation using operating robot 20, by robot automatic punch, have to robot software and hardware
The relevant hardware of higher requirement, wherein mechanical structure ensures the space orientation of robot without dead angle, and mechanical arm rotation is flexible, soft
In terms of part, robot precision's scaling methods of my company's research and development early period may be used, and (number of patent application is：
201710330218.7)。
Further, the conduit 2166 for being directed toward encoder 2163, conduit 2166 are provided in the 4th socket joint 2161
It is in evacuation state with the rotary motion trace of the 4th joint shaft 2162.Conduit 2166 can avoid that encoder 2163 and clutch occurs
The problem of lead-out wire of device 2165 and the 4th joint shaft 2162 rub, improves equipment reliability of operation.
22 both sides of working face extend outward to form handle 24, and 20 bottom of operating robot is provided with idler wheel 25, the handle of both sides
Hand 24 can push convenient for users to traction, and the effect of the idler wheel 25 of bottom is auxiliary robot movement, 20 bottom of operating robot
Adjusting height can be arranged in portion, to be matched to the operating bed 30 of different height.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (10)
1. a kind of long-range skull micro wound surgery systems for burst accident, which is characterized in that including removable CT (10), operation
Robot (20) and operating bed (30), are as follows：
Step 1, CT scan carry out CT scan by removable CT (10) by patient transfer to operating bed (30) to patient,
The image data of scanning is uploaded to remote expert consultation system；
Step 2, expert consultation, Remote carries out surgery planning after analyzing patient's CT data, and surgery planning is issued to hand
Art scene；
Step 3, operation start, and operating robot (20) are fixed on operating bed (30) side, according to surgery planning operation
Robot (20) carries out Minimally Invasive Surgery.
2. a kind of long-range skull micro wound surgery systems for burst accident as described in claim 1, which is characterized in that described
Be provided with photographic device (11) on removable CT (10), the photographic device (11) to the patient's condition in operating bed (30) region into
Row monitoring, and monitoring information is uploaded into remote expert consultation system.
3. a kind of long-range skull micro wound surgery systems for burst accident as described in claim 1, which is characterized in that described
Remote expert consultation system is the user terminal communicated to connect with operating robot (20), and the user terminal is mobile phone, tablet
Or computer.
4. a kind of long-range skull micro wound surgery systems for burst accident as described in claim 1, which is characterized in that described
It is provided with pedestal (31) below operating bed (30), fixed frame (32), institute are connected between the operating bed (30) and pedestal (31)
It states operating bed (30) fixed frame (32) side is provided with robot and dock bayonet (33), operating robot (20) side is set
It is equipped with the butt joint (26) that bayonet (33) mating connection is docked with robot.
5. a kind of long-range skull micro wound surgery systems for burst accident as claimed in claim 4, which is characterized in that described
There is working face (22) on operating robot (20), mechanical arm (21), the mechanical arm are provided on the working face (22)
(21) end is provided with guider (212).
6. a kind of long-range skull micro wound surgery systems for burst accident as claimed in claim 5, which is characterized in that described
Mechanical arm (21) includes the first joint assembly (213), second joint component (214), third joint assembly (215), the 4th joint
Component (216) and the 5th joint assembly (217), are provided on first joint assembly (213) and working face (22) is fixed connects
The chassis (218) connect, the guider (212) are set on the 5th joint assembly (217).
7. a kind of long-range skull micro wound surgery systems for burst accident as claimed in claim 6, which is characterized in that described
4th joint assembly (216) includes the 4th socket joint (2161), the 4th joint shaft (2162), encoder (2163), encoder branch
Frame (2164) and clutch (2165), the clutch (2165) control the rotation of the 4th joint shaft (2162).
8. a kind of long-range skull micro wound surgery systems for burst accident as claimed in claim 7, which is characterized in that described
The conduit (2166) for being directed toward encoder (2163), the conduit (2166) and the 4th are provided in 4th socket joint (2161)
The rotary motion trace of joint shaft (2162) is in evacuation state.
9. a kind of long-range skull micro wound surgery systems for burst accident as claimed in claim 5, which is characterized in that described
Display (23) is provided on working face (22).
10. a kind of long-range skull micro wound surgery systems for burst accident as claimed in claim 5, which is characterized in that institute
It states working face (22) both sides and extends outward to form handle (24), operating robot (20) bottom is provided with idler wheel (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810489243.4A CN108606839A (en) | 2018-05-21 | 2018-05-21 | A kind of long-range skull micro wound surgery systems for burst accident |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810489243.4A CN108606839A (en) | 2018-05-21 | 2018-05-21 | A kind of long-range skull micro wound surgery systems for burst accident |
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| Publication Number | Publication Date |
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| CN108606839A true CN108606839A (en) | 2018-10-02 |
Family
ID=63663965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810489243.4A Pending CN108606839A (en) | 2018-05-21 | 2018-05-21 | A kind of long-range skull micro wound surgery systems for burst accident |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111202651A (en) * | 2020-01-20 | 2020-05-29 | 武汉联影智融医疗科技有限公司 | Operation auxiliary robot system, supporting unlocking mechanism and unlocking method thereof |
| CN111613318A (en) * | 2020-05-12 | 2020-09-01 | 上海上实龙创智慧能源科技股份有限公司 | System and method for remote surgery |
| CN112603716A (en) * | 2020-11-30 | 2021-04-06 | 鲁朝康 | Medical treatment operation guide equipment |
| CN114668432A (en) * | 2022-03-29 | 2022-06-28 | 吉林大学 | Integral type surgical robot is diagnose through natural chamber way |
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| CN103961178A (en) * | 2013-01-30 | 2014-08-06 | 深圳先进技术研究院 | Remote surgical planning and navigating system |
| US20150133963A1 (en) * | 2006-05-17 | 2015-05-14 | Hansen Medical, Inc. | Robotic instrument system |
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| CN107184275A (en) * | 2017-07-25 | 2017-09-22 | 吉林大学 | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery |
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
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| US20030125716A1 (en) * | 1996-02-20 | 2003-07-03 | Yulun Wang | Method and apparatus for performing minimally invasive cardiac procedures |
| US20150133963A1 (en) * | 2006-05-17 | 2015-05-14 | Hansen Medical, Inc. | Robotic instrument system |
| CN103961178A (en) * | 2013-01-30 | 2014-08-06 | 深圳先进技术研究院 | Remote surgical planning and navigating system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111202651A (en) * | 2020-01-20 | 2020-05-29 | 武汉联影智融医疗科技有限公司 | Operation auxiliary robot system, supporting unlocking mechanism and unlocking method thereof |
| CN111613318A (en) * | 2020-05-12 | 2020-09-01 | 上海上实龙创智慧能源科技股份有限公司 | System and method for remote surgery |
| CN112603716A (en) * | 2020-11-30 | 2021-04-06 | 鲁朝康 | Medical treatment operation guide equipment |
| CN114668432A (en) * | 2022-03-29 | 2022-06-28 | 吉林大学 | Integral type surgical robot is diagnose through natural chamber way |
| CN114668432B (en) * | 2022-03-29 | 2024-06-07 | 吉林大学 | Integrated surgical robot for diagnosis and treatment through natural cavity |
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Application publication date: 20181002 |
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