阅读说明：本技术 内窥镜手术器械更换方法 (Endoscopic surgical instrument replacement method ) 是由 王炳强 王淑林 孙之建 于 2021-01-20 设计创作，主要内容包括：本发明涉及一种内窥镜手术器械更换方法,其解决现有腹腔镜手术机器人的手术器械更换方法安全性低的技术问题,其通过弹簧针检测有手术器械安装,然后控制系统执行安装器械程序,控制系统向快换接口中的驱动电机发送信号,控制驱动电机带动器械转接座的中间连接轮逆时针转动至限位处,再控制驱动电机带动器械转接座的中间连接轮运动至命令位置数值,当驱动电机转至命令位置数值时停止转动；最后控制系统向器械安装指示灯发送信号将指示灯点亮,手术器械安装完成。本发明广泛用于腹腔镜手术机器人系统。(The invention relates to an endoscopic surgical instrument replacing method, which solves the technical problem of low safety of the surgical instrument replacing method of the existing laparoscopic surgical robot, and the method detects that a surgical instrument is installed through a spring needle, then a control system executes an instrument installing program, the control system sends a signal to a driving motor in a quick-change interface, controls the driving motor to drive a middle connecting wheel of an instrument adapter to rotate anticlockwise to a limiting position, controls the driving motor to drive the middle connecting wheel of the instrument adapter to move to a command position value, and stops rotating when the driving motor rotates to the command position value; and finally, the control system sends a signal to the instrument installation indicator lamp to light the indicator lamp, so that the installation of the surgical instrument is completed. The invention is widely applied to the laparoscopic surgery robot system.)

1. An endoscopic surgical instrument exchange method, comprising the steps of:

the method comprises the following steps: pressing down a button of the surgical instrument on the surgical instrument, disconnecting a circuit between a spring needle on the quick-change interface and a chip in the surgical instrument, disconnecting a return signal, and turning off an instrument installation indicator light;

step two: the control system sends a signal to a driving motor which is arranged in the quick-change interface and used for controlling the closing of the surgical instrument, controls the opening of an end effector of the surgical instrument and avoids interference of holding tissues when the instrument is withdrawn;

step three: recording the position value X of the current quick-change interface₀The specific process is that variable P is defined, and reading X of encoder of lifting motor is read₀Assigning the reading to a variable P, wherein the value recorded by the variable P is the position value of the quick-change interface;

step four: when the current surgical instrument is pulled out, the control system sends a signal to a lifting motor of the instrument lifting seat to control the quick-change interface to ascend to the top end of the instrument lifting seat;

step five: installing a new surgical instrument manually, and detecting an instrument return signal by a control system;

step six: the system executes an instrument installation program, the control system sends a signal to a driving motor in the quick-change interface, the driving motor is controlled to drive a middle connecting wheel of the instrument adapter to rotate anticlockwise to a limiting position, then the driving motor is controlled to drive the middle connecting wheel of the instrument adapter to move to a command position value, and the driving motor stops rotating when the driving motor rotates to the command position value;

step seven: the control system sends a signal to the instrument installation indicator lamp to light the indicator lamp, and the installation of the surgical instrument is completed;

step eight: pressing a control button of the quick-change interface to manually push the instrument downwards;

step nine: the system reads the position value X of the current quick-change interface in real time₁And the position value X recorded by the control system₀By comparison, when X₁＜X₀When the surgical instrument is inserted to a depth smaller than the recorded position, the surgical instrument can randomly select a stop position according to the requirement;

step ten: up to X₁＝X₀And the control system sends a signal to the lifting motor of the instrument lifting seat to stop the lifting motor from rotating and stop the surgical instrument moving downwards, namely the surgical instrument is replaced.

2. An endoscopic surgical instrument exchange method, comprising the steps of:

the method comprises the following steps: after the power-on initialization of the surgical robot is completed, the control system sends signals to the spring needle on the quick-change interface at regular time, when a surgical instrument is installed, the spring needle is conducted with a chip in the surgical instrument through a conductive copper sheet on the instrument conversion seat, and the control system detects a return signal to indicate that the surgical instrument is installed for the first time;

step two: the control system executes an instrument installation program, sends a signal to a driving motor in the quick-change interface, controls the driving motor to drive an intermediate connecting wheel of the instrument adapter to rotate anticlockwise to a limiting position, controls the driving motor to drive the intermediate connecting wheel of the instrument adapter to move to a command position value, and stops rotating when the driving motor rotates to the command position value;

step three: and the control system sends a signal to the instrument installation indicator lamp to light the indicator lamp, so that the installation of the surgical instrument is completed.

Technical Field

The invention relates to the technical field of minimally invasive surgery robots, in particular to a method for replacing an endoscopic surgical instrument.

Background

The minimally invasive surgical robot is designed to be operated in an operating room by a doctor under an endoscope, and is controlled by the doctor to operate the surgical instrument to perform an operation. The doctor sits in front of the doctor operation panel, and through watching the 3D image display, operates the doctor arm, and the doctor can utilize the accurate control surgical instruments of patient arm to carry out various operation actions like ordinary operation.

Referring to the invention patent application publication Nos. CN105286999A, CN105286989A, surgical instruments may perform various functions including clamping, cutting, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, and the like.

The quick-change device for the surgical instrument adopts a structure in an invention patent application with the application publication number of CN111700683A or a utility model patent with the patent number of 201920794599.9, or a structure in a utility model with the patent number of 201922031305.

During the operation, the surgeon needs to frequently replace the surgical instruments to complete the operations of clamping, cutting, separating, suturing and knotting, so the rapidity and safety of replacing the surgical instruments have a great influence on the whole operation, wherein the safety of replacing the surgical instruments is one of the key problems in the research of the laparoscopic surgical robot. At present, most surgical instruments of laparoscopic surgical robots are replaced only by hands, and the positions of quick-change interfaces are controlled, so that the method has no guarantee on the distance between the tail ends of the instruments before and after the instruments are replaced and the positions of focuses, and the safety of instrument replacement is greatly reduced.

Disclosure of Invention

The invention aims to solve the technical problem of low safety of the surgical instrument replacing method of the existing laparoscopic surgical robot, and provides the endoscopic surgical instrument replacing method which is convenient, simple and quick to operate and has a memory function on the last insertion position of the instrument.

The invention provides an endoscopic surgical instrument replacement method, which comprises the following steps:

the method comprises the following steps: pressing down a button of the surgical instrument on the surgical instrument, disconnecting a circuit between a spring needle on the quick-change interface and a chip in the surgical instrument, disconnecting a return signal, and turning off an instrument installation indicator light;

step two: the control system sends a signal to a driving motor which is arranged in the quick-change interface and used for controlling the closing of the surgical instrument, controls the opening of an end effector of the surgical instrument and avoids interference of holding tissues when the instrument is withdrawn;

step three: recording the position value X of the current quick-change interface₀The specific process is that variable P is defined, and reading X of encoder of lifting motor is read₀Assigning the reading to a variable P, wherein the value recorded by the variable P is the position value of the quick-change interface;

step four: when the current surgical instrument is pulled out, the control system sends a signal to a lifting motor of the instrument lifting seat to control the quick-change interface to ascend to the top end of the instrument lifting seat;

step five: installing a new surgical instrument manually, and detecting an instrument return signal by a control system;

step six: the system executes an instrument installation program, the control system sends a signal to a driving motor in the quick-change interface, the driving motor is controlled to drive a middle connecting wheel of the instrument adapter to rotate anticlockwise to a limiting position, then the driving motor is controlled to drive the middle connecting wheel of the instrument adapter to move to a command position value, and the driving motor stops rotating when the driving motor rotates to the command position value;

step seven: the control system sends a signal to the instrument installation indicator lamp to light the indicator lamp, and the installation of the surgical instrument is completed;

step eight: pressing a control button of the quick-change interface to manually push the instrument downwards;

step nine: the system reads the position value X of the current quick-change interface in real time₁And the position value X recorded by the control system₀By comparison, when X₁＜X₀When the surgical instrument is inserted to a depth smaller than the recorded position, the surgical instrument can randomly select a stop position according to the requirement;

step ten: up to X₁＝X₀The control system sends a signal to the lifting motor of the instrument lifting seat to stop the lifting motor from rotating, so that the surgical instrumentAnd stopping descending, namely finishing the replacement of the surgical instruments.

The invention also provides an endoscopic surgical instrument replacement method, which comprises the following steps:

the method comprises the following steps: after the power-on initialization of the surgical robot is completed, the control system sends signals to the spring needle on the quick-change interface at regular time, when a surgical instrument is installed, the spring needle is conducted with a chip in the surgical instrument through a conductive copper sheet on the instrument conversion seat, and the control system detects a return signal to indicate that the surgical instrument is installed for the first time;

step two: the control system executes an instrument installation program, sends a signal to a driving motor in the quick-change interface, controls the driving motor to drive an intermediate connecting wheel of the instrument adapter to rotate anticlockwise to a limiting position, controls the driving motor to drive the intermediate connecting wheel of the instrument adapter to move to a command position value, and stops rotating when the driving motor rotates to the command position value;

step three: and the control system sends a signal to the instrument installation indicator lamp to light the indicator lamp, so that the installation of the surgical instrument is completed.

The invention has the beneficial effects that: the operation is convenient, simple and quick, and the memory function is provided for the last insertion position of the instrument. The distance between the tail ends of the instruments before and after replacing the instruments and the position of the focus can be ensured, and the safety of instrument replacement is greatly improved.

Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic view of a surgical instrument mounted to a quick-change interface;

fig. 2 is a schematic structural diagram of a quick-change interface;

fig. 3 is a schematic structural view of the instrument conversion seat.

The symbols in the drawings illustrate that:

1. the surgical instrument lifting device comprises an instrument lifting seat, 101 ball screws, 102 lifting motors, 2 quick-change interfaces, 201 control buttons, 202 button switches, 203 spring pins, 3 instrument conversion seats, 302 clamping grooves, 301 conductive copper sheets, 4 surgical instruments and 401 surgical instrument buttons.

Detailed Description

The quick-change interface 2 and the instrument conversion seat 3 adopt the structure in the utility model with the patent number of 201922031305. X.

Example 1

The method comprises the following steps: after the surgical robot is powered on and initialized, the control system sends a signal to the spring needle 203 on the quick-change interface 2 at regular time, when a surgical instrument 4 is installed, the spring needle 203 is conducted with a chip in the surgical instrument 4 through the conductive copper sheet 301 on the instrument conversion seat 3, and the control system detects a return signal to indicate that the surgical instrument is installed for the first time;

step two: the control system executes an instrument installation program, sends a signal to the driving motor in the quick-change interface 2, controls the driving motor to drive the middle connecting wheel of the instrument adapter 3 to rotate anticlockwise to a limiting position, controls the driving motor to drive the middle connecting wheel of the instrument adapter 3 to move to a command position value (the middle position of two limiting screws), and stops rotating when the driving motor rotates to the command position value;

step three: and the control system sends a signal to the instrument installation indicator lamp to light the indicator lamp, so that the installation of the surgical instrument is completed.

And in the second step, the numerical values of the command positions are all read by the encoders attached to the driving motors. The driving motors are all servo motors, and the instrument installation indicator lamp is a green lamp.

Example 2

With reference to fig. 2, the present invention further provides an instrument replacement method with a function of memorizing the last insertion position of the instrument, which comprises the following steps:

the method comprises the following steps: when the surgical instrument button 401 on the surgical instrument 4 is pressed, the circuit between the spring needle 203 and the chip in the surgical instrument 4 is disconnected, the return signal is disconnected, and the instrument installation indicator lamp is turned off;

step two: the control system sends a signal to a driving motor which is arranged in the quick-change interface 2 and used for controlling the closing of the surgical instrument, and controls the opening of an end effector of the surgical instrument, so that the interference of holding tissues when the instrument is withdrawn is avoided;

step three: record the current position value X of the quick-change interface 2₀The specific process is as follows: define variable P, read reading X of encoder of elevator motor 102₀And assigning the reading to a variable P, wherein the value recorded by the variable P is the position value of the quick-change interface.

Step four: when the current surgical instrument is pulled out, the control system sends a signal to the lifting motor 102 of the instrument lifting seat 1 to control the quick-change connector 2 to ascend to the top end of the instrument lifting seat 1;

step five: installing a new surgical instrument manually, and detecting an instrument return signal by a control system;

step six: the system executes an instrument installation program, the control system sends a signal to the driving motor in the quick-change interface 2, the driving motor is controlled to drive the middle connecting wheel of the instrument adapter 3 to rotate anticlockwise to a limiting position (a limiting screw position), then the driving motor is controlled to drive the middle connecting wheel of the instrument adapter to move to a command position numerical value (the middle position of two limiting screws), and the driving motor stops rotating when the driving motor rotates to the command position numerical value;

step seven: the control system sends a signal to the instrument installation indicator lamp to light the indicator lamp, and the installation of the surgical instrument is completed;

step eight: pressing a control button 201 of the quick-change interface 2 manually pushes the instrument downwards;

step nine: the system reads the position value X of the current quick-change interface in real time₁(i.e., reading the encoder of elevator motor 102 in real time) and the position value X recorded by the control system₀By comparison, when X₁＜X₀When the surgical instrument is inserted to a depth smaller than the recorded position, the surgical instrument can randomly select a stop position according to the requirement;

step ten: up to X₁＝X₀The control system sends a signal to the lifting motor 102 of the instrument lifting seat 1, so that the lifting motor 102 stops rotating, the surgical instrument stops moving downwards, and the surgical instrument is replaced.

According to the method, the instrument needs to be installed manually, the control system can accurately record the position of the instrument before replacement, the position of the instrument can be controlled to be changed to be far away from the focus, the safety in the operation process is improved, and when the insertion position of the instrument is shallower than the recorded position, a doctor can select the insertion depth of the instrument according to the requirement, so that the operation of the doctor is facilitated.

Example 3

With reference to fig. 1-3, the surgical instrument replacement device adopts the prior art and comprises an instrument lifting seat 1, a quick-change interface 2 and an instrument adapter 3; the quick-change connector 2 is connected with the instrument lifting seat 3 through a ball screw 101, the quick-change connector 2 can move on the instrument lifting seat 1, and the lifting motor 102 is located at the lower end of the ball screw and used for providing power for the movement of the quick-change connector 2 on the instrument lifting seat 1. The spring needle 203 and the button switch 202 are located on the quick-change connector 2, and the button switch 202 is used for fixing and connecting the instrument adapter 3. The control button 201 is positioned on the quick-change connector and is used for controlling the quick-change connector 2 to move on the instrument lifting seat 1; the clamping groove 302 and the conductive copper sheet 301 are positioned on the instrument adapter 3, and the clamping groove 302 is used for fixing and connecting surgical instruments. The surgical instrument is provided with a chip which is used for being connected with the conductive copper sheet and the spring needle and transmitting instrument installation signals. The instrument lifting seat further comprises an indicator light, the indicator light is located at the top end of the instrument lifting seat, and the indicator light and the like emit indicating light.

Based on the above-mentioned instrument device in the embodiment with reference to fig. 1-3, there is provided an endoscopic surgical instrument replacement method, comprising the steps of:

the method comprises the following steps: an instrument adapter is arranged on the quick-change interface, surgical instruments are arranged on the interface board for the first time, and after the surgical instruments are arranged, a green indicator light is turned on; pressing a control button to push the quick-change interface to move to any position in the stroke of the instrument lifting seat, so that the surgical instrument works normally; when the surgical instrument needs to be replaced, the button of the surgical instrument is pressed, the surgical instrument is separated from the instrument adapter and the quick-change interface, the green indicator lamp is turned off, the control system detects that the instrument chip is disconnected from the conductive copper sheet, sends a signal to the driving motor for controlling the instrument to be closed, controls the end effector of the instrument to be opened, and records the position value P of the current quick-change interface₀(ii) a The control system sends a motion instruction to a quick-change interface lifting motor, and the quick-change interface is arranged 4 times along the instrument lifting seatThe speed of 8rpm/s is uniformly moved upwards to the top.

Step two: and after the quick-change interface moves to the top end, the quick-change interface stops moving, a new instrument is manually installed, and the surgical instrument chip is communicated with the instrument adapter conductive copper sheet.

Step three: after the detection system receives the conduction signal on the instrument adapter, the control system executes the instrument installation program as described in step six in embodiment 2 until the green indicator light is turned on and the instrument installation is completed. The control button is manually pressed to push the instrument downwards, and the control system detects the position value P of the quick-change interface in real time₁And recording the position value P₀By comparison, when P₁＜P₀When the instrument is inserted to a depth smaller than the recorded position, the instrument can randomly select the stop position according to the requirement; up to P₁Is equal to P₀And the control system sends a signal to the lifting motor 102 to stop the rotation of the lifting motor 102, so that the instrument descends and stops, namely the instrument replacement is completed.

The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention.