Source: https://patents.google.com/patent/CN109496135A/en
Timestamp: 2020-08-14 06:01:23
Document Index: 728555941

Matched Legal Cases: ['art 100', 'art 202', 'art 202', 'art 200', 'art 100', 'art 200', 'art 512', 'art 512', 'art 512', 'art 512', 'art 180']

CN109496135A - Endoscopy system component - Google Patents
Endoscopy system component Download PDF
CN109496135A
CN109496135A CN201780046255.3A CN201780046255A CN109496135A CN 109496135 A CN109496135 A CN 109496135A CN 201780046255 A CN201780046255 A CN 201780046255A CN 109496135 A CN109496135 A CN 109496135A
CN201780046255.3A
艾萨克·大卫·彭尼
泰·扎·伦
恩达马斯特有限公司
2017-06-01 Application filed by 恩达马斯特有限公司 filed Critical 恩达马斯特有限公司
2019-03-19 Publication of CN109496135A publication Critical patent/CN109496135A/en
238000001839 endoscopy Methods 0.000 title claims description 73
238000002674 endoscopic surgery Methods 0.000 claims abstract description 131
210000001503 Joints Anatomy 0.000 claims abstract description 59
238000006073 displacement reactions Methods 0.000 claims description 36
238000004611 spectroscopical analysis Methods 0.000 claims description 7
238000010330 laser marking Methods 0.000 claims description 5
Endoscopic device includes the slender member for being inserted into the axis of conveying endoscope, the visible features on operation tool and slender member, operation tool or the two.Operation tool is couple to the distal end of slender member and has actuator in opposite end.The position of visible features is fixed relative to the roll orientation of actuator, so that the roll orientation of the position instruction actuator of visible features during use.Other embodiments include the device for endoscopic surgery controller for the movement for controlling rope for traction and pushing rope, the conveying endoscope Docking station for coupling motor shaft to activate the adapter of the rope of device for endoscopic surgery, activate the device for endoscopic surgery controller in terminal joint and be rotatably coupled to platform thereon including pedestal and pedestal.
Endoscopy system component
Disclosed herein is the various parts of endoscopy system.
Endoscopy system allows user to check the hollow organ of body or the inside of cavity.
Many of this endoscopy system component.Ensure that these components are worked in optimal parameter in ensure Endoscopic procedure is appropriately carried out in sight glass inspection system, and there are many challenges.
For example, endoscopy system has endoscope, which carries the hand for executing endoscopic procedure Art tool.These tools are activated by driving mechanism, and wherein driving mechanism must be manipulated into so that the rope of operation tool will not Relaxation.Must also have synchronization between the input unit of control tool operation, because any movement of input unit should all be led Cause the corresponding actuating of operation tool.
Endoscope is hand-held during the hollow organ of insertion body or cavity.The roll orientation and operation work of endoscope The roll orientation of tool must be aligned.And after the insertion, user must ensure to perform the operation before starting endoscopic procedure The tip of tool is in correctly orientation.
It disclosed below a kind of endoscopy system for aiming to solve the problem that above-mentioned challenge.
According in a first aspect, providing a kind of endoscopic device, comprising: slender member is peeped for being inserted into conveying In the axis of mirror；Operation tool, is couple to the distal end of slender member, and the operation tool has actuator in opposite end；With it is visible Feature is arranged on slender member, operation tool or both, roll orientation of the position of the visible features relative to actuator It is fixed, so that the roll orientation of the position instruction actuator of the visible features during use.According to second aspect, provide A kind of device for endoscopic surgery controller for device for endoscopic surgery, device for endoscopic surgery include: Driving motor；Follow motor；Joint arrangement；Driving motor is couple to joint arrangement by rope for traction；And rope is pushed, it will Follow motor be couple to joint arrangement, wherein by driving motor withdraw rope for traction and follow motor release push rope come Actuated articulation arrangement, device for endoscopic surgery controller includes: at least one processor；And at least one processor, institute Stating at least one processor includes computer program code, and at least one processor and computer program code are configured as Make the device for endoscopic surgery controller together at least one described processor at least: establishing in the rope for traction Locate the displacement range occurred, in the displacement range, the rope for traction is subjected to maximum due to being withdrawn by the driving motor Tension；Determine whether the received order for activating the joint arrangement makes the driving motor withdraw the rope for traction Fall in the length in the displacement range；It restricts with following motor to limit the promotion when receiving the order, described in instruction The release of rope, thus the length of the promotion rope for following motor to discharge is less than the driving motor in the displacement range The length of the rope for traction of withdrawal, so that the tension being subjected in the rope for traction is caused by the extension of the rope for traction 's.
According to the third aspect, a kind of endoscopy system is provided, comprising: device for endoscopic surgery, comprising: drive Dynamic motor；Follow motor；Joint arrangement；Driving motor is couple to joint arrangement by rope for traction；And rope is pushed, it will be with Joint arrangement is couple to motor, wherein rope for traction is withdrawn by driving motor and follows motor release that rope is pushed to drive Movable joint arrangement；With device for endoscopic surgery controller, it is couple to the device for endoscopic surgery, the endoscope It checks that surgical instrument controller is configured to: establishing the displacement range occurred at the rope for traction, in the displacement range, institute It states rope for traction and is subjected to maximum tension due to being withdrawn by the driving motor；It determines received for activating the joint arrangement Order so that the driving motor is withdrawn the length fallen in the displacement range of the rope for traction；It is received with working as Follow motor to limit the release for pushing rope when the order, described in instruction, thus in the displacement range it is described with It is less than the length for the rope for traction that the driving motor is withdrawn with the length of the promotion rope of motor release, so that the drawing Caused by the tension being subjected in rope is the extension as the rope for traction.
According to fourth aspect, a kind of device for endoscopic surgery controller of endoscopy system is provided, this is interior Sight glass checks that system includes device for endoscopic surgery, which includes: driving mechanism；And by driving The terminal joint of motivation structure actuating, which is arranged in the distal end of device for endoscopic surgery；Endoscopy system It further include the input unit being electrically connected with driving mechanism, wherein the movement of input unit causes the actuating in terminal joint, endoscope Check that surgical instrument controller includes: at least one processor；And at least one processor, at least one processor include Computer program code, at least one processor and computer program code are configured as and at least one described processor Make the device for endoscopic surgery controller together at least: detecting by the signal of the mobile generation of the input unit, institute It states signal and Cartesian position in the main working space that the input unit is moved into is provided, the main working space provides The input unit can be movable within boundary；For following Cartesian positions received to handle: including the master The database of the Cartesian position of working space；Offer can be in the slave working space on the boundary for wherein activating the terminal joint Cartesian position；And each Cartesian position in the main working space is mapped to institute by mapping table, the mapping table State at least one Cartesian position from working space；Determine the Cartesian position received for institute from working space Matching Cartesian position；It is described from the matching in working space with ordering the driving mechanism to be actuated into the terminal joint Cartesian position.
According to the 5th aspect, a kind of device for endoscopic surgery controller of endoscopy system is provided, this is interior Sight glass checks that system includes device for endoscopic surgery, which includes driving mechanism；And by driving The terminal joint of motivation structure actuating, which is arranged in the distal end of device for endoscopic surgery；Endoscopy system Further include: the input unit being electrically connected with driving mechanism, wherein the movement of input unit causes the actuating in terminal joint, inside peeps Spectroscopy surgical instrument controller includes: at least one processor；And at least one processor, at least one processor packet Include computer program code, at least one processor and the computer program code be configured as with it is described at least one Processor makes device for endoscopic surgery controller at least together: out of working space create mobile tracking device, it is described from Working space offer can be configured to respond to described on the boundary for wherein activating the terminal joint, the mobile tracking device Input unit is moved and by tracking the input unit from working space internal shift described；Detection is filled by the input The signal for the mobile generation set；The mobile tracking device is displaced to it is described from the Cartesian position in working space, wherein moving The distance of position depends on Descartes position of the input unit in main working space before and after input unit movement It sets, the main working space provides the boundary for capableing of the input unit movable within；The drive is ordered after shifting The terminal joint is actuated into the mobile tracking device in the Cartesian position from working space by motivation structure.
According to the 6th aspect, a kind of rope that device for endoscopic surgery is activated for coupling motor shaft is provided Adapter, the adapter include: shell；Rotating cylinder, rope are wrapped on rotating cylinder, and rotating cylinder is rotatably attached to shell；And energy Storing mechanism is measured, is arranged to apply torque to rotating cylinder.
According to the 7th aspect, a kind of conveying endoscope Docking station is provided, comprising: pedestal has for installing in conveying The endoscope surfaces for attachment of sight glass, the pedestal also have for installing driving mechanism to activate the machine carried by conveying endoscope The driving mechanism surfaces for attachment of device people's component；And platform, pedestal are rotatably attached to platform.
From following written description, only by example, with reference, example embodiments of the present invention will be general for this field Logical technical staff more fully understands and obviously.The drawings are not necessarily drawn to scale, but usually focuses on and illustrate this In the principle of invention, in which:
Fig. 1 is to provide the schematic diagram of the perspective view of endoscopy system.
Fig. 2 is the schematic diagram of the slave system of the endoscopy system of Fig. 1.
Fig. 3 A and 3B each illustrate showing for a part of the device for endoscopic surgery of the endoscopy system of Fig. 1 It is intended to.
Fig. 4 A shows the driving motor for describing the endoscopy system of operation diagram 1 and process the step of following motor Figure.
Fig. 4 B shows the modification of the flow chart of Fig. 4 A.
Fig. 5 A show when the endoscopy system of operation diagram 1 driving motor and follow motor with by joint arrange cause The location track of the order of each of which is applied to when moving the position of order.
Fig. 5 B show when the endoscopy system of operation diagram 1 driving motor and follow motor with by joint arrange cause The location track of the order of each of which is applied to when moving the position of order.
Fig. 6 shows the perspective view of the input unit at the main portion of the endoscopy system of Fig. 1.
Fig. 7 and 8 each illustrates the schematic diagram of the component of the endoscopy system of Fig. 1, when by the shifting at input unit Turn change into the particular joint of the robot component of the endoscopy system of Fig. 1 it is mobile when, device for endoscopic surgery Controller is communicated with the component.
Fig. 9 shows the torque pole of one or more driving motors in the driving mechanism of the endoscopy system of Fig. 1 Limit the curve graph relative to penetration depth.
Figure 10 shows rotating cylinder, and the rope of the device for endoscopic surgery of the endoscopy system of Fig. 1 surrounds this turn Cylinder winding.
Figure 11 A shows the schematic diagram of the embodiment using rotating cylinder actuating actuator, wherein the rotating cylinder of Figure 10 is not present Stored energy mechanism.
Figure 11 B shows the schematic diagram of the embodiment using rotating cylinder actuating actuator, wherein there are the rotating cylinders of Figure 10 Stored energy mechanism.
Figure 12 shows the side view of the conveying endoscope Docking station of the endoscopy system of Fig. 1.
Figure 13 shows the perspective view of the conveying endoscope Docking station of the endoscopy system of Fig. 1.
Figure 14 shows the perspective view of two endoscopic devices with visual position indicators feature.
In the following description, various embodiments have been described with reference to the drawings, wherein identical appended drawing reference is in different views Generally refer to identical part.
Fig. 1 is to provide the schematic diagram of the perspective view of endoscopy system 10.Endoscopy system 10 has main or main Side section 100 and from or from side section 200, main or main side part 100 has main side element, from or from side section 200 have from Side element.
Fig. 2 is the schematic diagram of the slave system 200 of the endoscopy system 10 of Fig. 1.It is pushed away from system 200 with patient-side Vehicle, bracket or rack 202 are configured to carry at least some from system element.Patient-side cart 202 has Docking station 500, Conveying endoscope 320 can be disassembled (for example, installation/docking and releasing installation/releasing docking) to Docking station 500.Patient-side Cart 202 generally includes wheel 204, to promote light portability and easy positioning from system 200.
It with reference to Fig. 1 and 2, main portion 100 and is configured to carry out signal communication each other from part 200, makes primary part 100 It can be ordered to being issued from system 200, and can be inputted from system 200 in response to main portion 100 and accurately control, dispatch, Manipulation, positioning and/or operation (a) by from part 200 conveying endoscope 320 carrying or support one group of robot component 410, The conveying endoscope 320 has flexible elongated shaft；(b) by the carrying of conveying endoscope 320 or the imaging endoscope supported or imaging Probe member；And it (c) is used for the probe of surgical procedures, surgical procedures such as notch, dissection and/or hemostasis, being ironed by electricity (makes One or more of with electric cautery) or laser action (using laser), wherein being connected to the electric wire of probe by conveying endoscope 320 carryings or support.
Robot component 410 refers to including that such as can grab and be promoted the actuator of the arm or clamper of tissue to set It is standby.These actuators further include for anatomical tissue or for the electric cautery probe of hemostasis.The actuating of arm or clamper is by rope Cause, two of them rope is shown in figures 3 a and 3b, is indicated using appended drawing reference 302 and 304.
Fig. 3 A and 3B each illustrate the schematic diagram of a part of device for endoscopic surgery 300.Endoscopy hand Art instrument 300 includes driving motor 308, follows motor 310, joint arrangement 306 and rope to 302 and 304.Driving motor 308 With the proximal end for following motor 310 that device for endoscopic surgery is arranged in, and joint arrangement 306 is positioned at endoscopic surgery The distal end of instrument 300.Driving motor 308 and follow motor 310 that can dismantle from device for endoscopic surgery 300.
Joint arrangement 306 can be a collection of joint section, they are mechanically connected to each other, so that the actuating of a joint section Lead to the actuating of other one or more joint sections.Joint arrangement 306 provides the joint of the robot component 410 of Fig. 2, thus Each joint is that robot component 410 provides one-movement-freedom-degree.Therefore, the actuating of joint arrangement 306 leads to robot component 410 Actuator (such as its arm, clamper or electric cautery probe) movement, allow robot component 410 grab and/or cutting group It knits.
Each rope 302 and 304 of rope pair is closed by flexible elongate sheath 312.Rope is to including 304 He of rope for traction Push rope 302.Each of rope for traction 304 and promotion rope 302 can be by being suitable for driving motor 308 and following Motor 310 is couple to the cable of joint arrangement 306 or any other line is realized.Driving motor 308 is couple to by rope for traction 304 Joint arrangement 306, and push rope 302 that motor 310 will be followed to be couple to joint arrangement 306.
In distal end, each rope 302 and 304 is fixed to joint arrangement 306.For example, if pushing rope 302 and pulling rope Rope 304 is realized by single-piece, and the distal end of rope 302 and rope for traction 304 is then pushed to consolidate by being wrapped in around joint arrangement 306 It is fixed.Alternatively, their distal end is by anchoring to pass if rope 302 and rope for traction 304 is pushed to be realized by the rope separated Section is arranged 306 and is fixed.
In proximal end, each rope 302 and 304, which is connected to, follows motor 310 and driving motor 308, so that joint arrangement 306 Rope for traction 304 is withdrawn by driving motor 308 and follows motor release that rope 302 is pushed to be activated.For example, this can be with Rotating cylinder connected to it is rotated by the axis of driving motor 308 to realize to wind rope for traction 304 around rotating cylinder.Similarly, with Rotating cylinder connected to it is rotated with the axis of motor 310, to push rope 302 around rotating cylinder unwinding.
Driving motor 308 follows motor 310, rope for traction 304 and pushes rope 302 since they are in actuated articulation cloth Corresponding purpose during the stage for setting 306 and called in this way.In order to efficient during each stage of 306 actuating of joint arrangement Ground controls the movement of distal joint arrangement 306, and one in motor 308,310 is tensioned its corresponding coupling rope 304,302, and Another motor releases tension by discharging the rope that it is accordingly coupled.Cause the motor of tension to be known as driving motor, and solves Except the motor of tension is known as following motor.Since rope tension is realized by driving motor rope for traction, drawing joint arrangement 306 rope is referred to as rope for traction.On the other hand, since the releasing of rope tension is by following motor pushing rope to realize , therefore push the rope of joint arrangement 306 to be referred to as and push rope.
It will therefore be appreciated that motor 308 and 310 in driving motor and will follow between motor alternately, and arranged in joint During the different phase of 306 actuatings, rope 304 and 302 will be from as rope for traction and promotion rope alternating.For example, Fig. 3 A is retouched The stage that joint arrangement 306 rotates counterclockwise has been drawn, and Fig. 3 B depicts the stage that joint arrangement 306 rotates clockwise.Fig. 3 A In driving motor 308 be switched in Fig. 3 B and follow motor 310, and follow motor 310 to be switched in Fig. 3 B in Fig. 3 A Driving motor 308.Rope for traction 304 in Fig. 3 A is switched to the promotion rope 302 in Fig. 3 B, and the promotion rope in Fig. 3 A 302 are switched to the rope for traction 304 in Fig. 3 B.
Device for endoscopic surgery controller 314, the behaviour for controlling driving motor 308 He following motor 310 are provided Make.Device for endoscopic surgery controller 314 can be integral with the endoscopy system 10 of Fig. 1 or be separated.Endoscope Check that surgical instrument controller 314 can specially be set by general purpose computer or with what the endoscopy system 10 of Fig. 1 integrated The work station of meter realizes that wherein device for endoscopic surgery 300 is the component of the endoscopy system 10 of Fig. 1.Endoscope Check that surgical instrument controller 314 has at least one processor 316 and at least one processor 318, wherein memory 318 is deposited Store up the computer program code executed in operation of drive motor 308 with processor 316 when following motor 310.Endoscopy hand Art instrument controller 314 includes input port (not shown) to receive offer joint arrangement 306 for the life for the position being actuated to It enables and receiver module (not shown) is analyzed with obtaining received order device 316 for processing from input port.Endoscopy Looking into surgical instrument controller 314 further includes transmitter module (not shown), instructs to operate driving electricity with guidance (direct) Machine 308 follows motor 310 or both, so that joint arrangement 306 reaches position and the output port (not shown) of order, it will These, which are instructed, passes to driving motor 308, follows motor 310 or both.Receiver module and transmitter module can be hardware Component or by software realization.
Device for endoscopic surgery controller 314 controls driving motor 308 and follows the operation of motor 310, to keep The tension of rope for traction 304, promotion rope 302 or both.When joint arrangement 306 is activated, it is necessary to keep rope for traction 304, the optimum tension in rope 302 or both is pushed.Optimum tension in rope for traction 304 can with push in rope 302 Optimum tension it is different.This is related to that motor 310 is followed to hinder to push the release of rope 302, so that being led by the withdrawal of driving motor 308 The tension that tow 304 generates is kept.Hinder the release for pushing rope 302 that distal joint arrangement 306 is also inhibited to pass through driving The operation of motor 308 is actuated to the position of order, and the excessive release of rope 302 is pushed to introduce line relaxation.Therefore, it is controlling Driving motor processed 308 and when following the operation of motor 310, device for endoscopic surgery controller 314 must identify for Seek the position that joint arrangement 306 is actuated into desired position or order by device for endoscopic surgery controller 314 When instruction driving motor 308, one group of optimal operation parameter following motor 310 or both.
A kind of existing method is to keep two motors 308 synchronous with 310, so that from device for endoscopic surgery controller From the point of view of 314, they are operated just as only one motor.Fig. 4 A shows the process for the step of describing the existing method Figure.
In step 402, motor is calculated (that is, following motor 310 or driving by device for endoscopic surgery controller 314 Dynamic motor 308) it needs to be implemented so that joint arrangement 306 to be actuated into the control parameter of desired locations.For example, the control parameter can be with Be driving motor 308 motor shaft be subjected to 10 turns so that joint arrangement 306 rotation 10 °.The parameter subsequently becomes reference bit It sets, for example, the reference position is indicated with the encoder to count of the encoder of monitoring motor operation, encoder to count is based on seeking Position command joint arrangement 306 being actuated into the joint space or cartesian space of desired position.
In step 404, device for endoscopic surgery controller 314 (referring to Fig. 3 A and 3B) is to 308 He of driving motor Motor 310 is followed to send the instruction of the reference position comprising calculating.However, when driving motor 308 and motor 310 is followed to seek to hold When the received reference position of row, due to being subjected to different dynamics at rope for traction 304 and promotion rope 302, it will not occur It is fully synchronized.That is, drawing movement needs Motor torques more more than release movement, therefore driving motor 308 is mobile that ratio follows Motor 310 is slow.In addition, if the distal end of device for endoscopic surgery 300 suffers restraints, then due to being couple to joint arrangement 306 actuator is reached the object of mechanical limit in joint arrangement 306 or joint stops, and driving motor 308 is mobile even It is slower, because it needs to stretch rope for traction 304 further to pull.Another disadvantage is that even if when driving motor 308 reaches Torque limit and when stopping before the reference position of order, the reference for following motor 310 to proceed to order are mobile and protect It holds release and pushes rope 302.These factors generate unnecessary line relaxation.
Device for endoscopic surgery controller 314 is formed by method by using flow chart shown in Fig. 4 B and solves The deficiency of method shown in Fig. 4 A.With reference to the flow chart of Fig. 3 A and 3B and Fig. 5 A and 5B explanation figure 4B.
The processor 316 of device for endoscopic surgery controller 314 executes the computer journey being stored in memory 318 Sequence code, the computer program code make device for endoscopic surgery controller 314 establish the generation at rope for traction 304 Displacement range, rope for traction 304 is subjected to maximum tension due to being withdrawn by driving motor 308 in the displacement range.The position It moves range and falls into the distance or driven that rope for traction 304 is advanced when pulling position of the joint arrangement 306 to be actuated into order The length for the rope for traction 304 that dynamic motor 308 is withdrawn.The displacement range can also be indicated with encoder to count.
In one embodiment, which starts from starting operation when driving motor 308 to pull joint arrangement When 306 and end at when the position that 306 reach its order is arranged in joint.The displacement range 506 is shown as corresponding in figure 5B Range between 0 (zero) and the peak value of the location track of the order executed by driving motor 308.
In another embodiment, which starts near the point for reaching the threshold value for following motor 310, and Terminate when in joint, arrangement 306 reaches the position of its order.Follow motor 310 the threshold value be line relaxation generation before with With motor 310 discharge promotion rope 302 amount calculated, line relaxation may cause push rope 302 be connected to It jumps between groove with the rotating cylinder of the axis of motor 310.The displacement range 504 be shown that correspond in fig. 5 C (its be by with With motor 310, further release pushes rope 302 that can cause the threshold value of line relaxation) with the order that is executed by driving motor 308 Location track peak value between range.
The displacement range and motor established in the step 408 of the flow chart of Fig. 4 B are needed to be implemented to arrange joint 306 control parameters for being actuated into desired locations are calculated by device for endoscopic surgery controller 314.Similar to the process of Fig. 4 A Step 402 in figure, the parameter subsequently become reference position, for example, the encoder of reference position monitoring motor operation Encoder to count indicates, the encoder to count based on the joint space for seeking for joint arrangement 306 to be actuated into desired locations or Position command in cartesian space.
Compared with the step 402 of the flow chart of Fig. 4 A, reference position is only sent in the step 409 of the flow chart of Fig. 4 B To driving motor 308.In the case where driving motor 308 receives reference position, driving motor 308 is apprised of rope for traction 304 will withdraw so that joint arrangement 306 to be actuated into the position length of order.It is not to send reference position to follow motor 310, But it sends the proportional degree (scaled extent) of the current location of driving motor 308 to follow electricity in step 412 Machine 310.This effectively makes that motor 310 is followed to track driving motor 308, continues the interval that at least driving motor 308 operates.It is as follows The other details of step 412 are provided.
When device for endoscopic surgery controller 314 receives so that the withdrawal of driving motor 308 is fallen in displacement range When the order of the length of rope for traction 304, motor 310 is followed to track driving motor 308 (with reference to the appended drawing reference in Fig. 5 A Appended drawing reference 506 in 504 and Fig. 5 B).When receiving such order, device for endoscopic surgery controller 314 refers to Show the release for following the limitation of motor 310 to push rope 302.Position is less than by the length for the promotion rope 302 for following motor 310 to discharge The length for moving the rope for traction 304 withdrawn in range by driving motor 308, causes caused by the extension as rope for traction 304 Tension is subjected in rope for traction 304.
The rope for traction withdrawn by driving motor 308 is less than by the length for the promotion rope 302 for following motor 310 to discharge 304 length occurs in the operation window for the position that joint arrangement 306 is actuated to its order.That is, being driven in operation In the entire duration of motor 308 and the position for following motor 310 so that joint arrangement 306 is actuated into its order, driving electricity Machine 308 is undergone than following the higher encoder to count of motor 310.This is accomplished by the following way: for example passing through driving motor 308 Motor shaft make driving motor 308 than following motor 310 to advance farther than following the motor shaft of motor 310 to rotate more, To prevent unnecessary line relaxation.
However, it is roughly the same with the displacement of rope 302 is pushed that there are the displacements of rope for traction 304 during the operation window Period, that is, withdraw it is roughly the same with release.This occurs in the embodiment shown in Fig. 5 A.
Fig. 5 A, which shows basis, to be made to be less than by the length for the promotion rope 302 for following motor 310 to discharge by driving motor 308 The first embodiment of the length of the rope for traction 304 of withdrawal when operation of drive motor 308 and follows motor 310 with by joint When arrangement 306 is actuated into the position of order, it is applied to driving motor 308 and follows the position of the order of each of motor 310 Set track.These tracks are plotted in the motor position of order relative in the curve graph of time.
It should be appreciated that curve 508, which of 510 indicates driving motor 308 or motor 310 is followed to depend on the stage 514,516.During stage 514, curve 508 indicates the location track of the order of driving motor 308, and curve 510 indicate with With the location track of the order of motor 310.During next stage 516, curve 510 indicates the position of the order of driving motor 308 Track is set, and curve 508 indicates to follow the location track of the order of motor 310.
During driving motor 308 and at least part for the operation for following motor 310, device for endoscopic surgery control The length that the instruction of device 314 processed follows motor 310 to make the promotion rope 302 being released is led according to what is withdrawn by driving motor 308 The scale factor that tow 304 compares.The part 512 is indicated by appended drawing reference 512.During the part 512, driving motor It 308 and follows motor 310 to be synchronized to driving motor 308 and substantially advance to measure identical degree compared with following motor 310, therefore Scale factor is 1.
It, will be by endoscopy by the received instruction of device for endoscopic surgery controller 314 during the part 512 Surgical instrument controller 314 is identified as so that driving motor 310 withdraws the rope for traction 304 fallen in except displacement range 504 The order of length.Therefore, it is received in device for endoscopic surgery controller 314 so that the withdrawal of driving motor 308 falls into displacement Before the order of the length of rope for traction 304 in range 504, driving motor 308 and motor 310 is followed to be manipulated into so that receiving The same length of the promotion rope 302 of the length and release of the rope for traction 304 returned.However, after receiving the order, Then instruction follows motor 310 to prevent the release of the promotion rope 302 occurred in the displacement range 504 of Fig. 5 A, referring to finger Show the encircled portion 518 for the curve 508 and 510 for following motor 310 to stop.
Device for endoscopic surgery controller 314 is in place for limiting promotion rope 302 to following motor 310 to provide The instruction of the release moved in range 504 prevents line relaxation.In the case where no this limitation, the continuous of rope 302 is pushed Release leads to line relaxation, this, which can lead to, pushes the proximal wind of rope 302 being connected to the rotating cylinder for following the axis of motor 310 Groove vicinity to jump between the grooves.Therefore, this jump between groove is prevented by the embodiment of Fig. 5 A, this limit The moving range for following motor 310 is made, wherein the limitation is until prevent the journey for following the release of motor 310 to push rope 302 Degree.
In the embodiment for following motor 310 that there is the axis for being couple to rotating cylinder, wherein rope 302 is pushed to be wrapped in rotating cylinder On, start to generate line relaxation if the half way around of rotating cylinder in the releasing direction is mobile, calculate threshold value C ,-C (as shown in Figure 5A), It corresponds to the rotation for following the half way around of 310 axis of motor.Threshold value C ,-C for limiting the length of travel for following motor 310, with Prevent rope for traction 304 from jumping in the above case said.When the location track by the received order of driving motor 308 is more than threshold value When C ,-C, follow the location track of the order of motor 310 that will be truncated for threshold value C ,-C.
Fig. 5 B, which shows basis, to be made to be less than by the length for the promotion rope 302 for following motor 310 to discharge by driving motor 308 The second embodiment of the length of the rope for traction 304 of withdrawal when operation of drive motor 308 and follows motor 310 with by joint When arrangement 306 is actuated into the position of order, it is applied to driving motor 308 and follows the position of the order of each of motor 310 Set track.These tracks are plotted in the motor position of order relative in the curve graph of time.
Similar to Fig. 5 A, it should be understood that the curve 524, which of 526 of Fig. 5 B indicates driving motor 308 or follows Motor 310 depends on the stage 520,522.During the stage 520, curve 524 indicates the position rail of the order of driving motor 308 Mark, and curve 526 indicates to follow the location track of the order of motor 310.During next stage 522, curve 526 indicates driving The location track of the order of motor 308, and curve 524 indicates to follow the location track of the order of motor 310.
Similar to Fig. 5 A, during driving motor 308 and at least part for the operation for following motor 310, endoscopy Look into surgical instrument controller 314 indicate the length of the promotion rope 302 for following motor 310 to make to be released according to by driving motor The scale factor that 308 rope for traction 304 withdrawn compare.However, in figure 5B, the part cover driving motor 308 and with With the whole operation duration of motor 310.Scale factor can alternatively be applied to driving motor 308, so that withdraws leads The length of tow 304 is the multiple of the length of discharged promotion rope 302, is greater than 1.
Therefore, in the embodiment of Fig. 5 B, when driving motor 308 starts to withdraw rope for traction 304, displacement range 506 start.That is, when operating device for endoscopic surgery controller 314 according to Fig. 5 B, device for endoscopic surgery control Device 314 is received when the actuating of joint arrangement 306 starts, so that driving motor 308 withdraws the drawing fallen in displacement range 506 The order of the length of rope 304.The embodiment of this and Fig. 5 A are contrasted, in the embodiment of Fig. 5 A, only in driving electricity Rope for traction 304 is withdrawn after the length for corresponding to part 512 shown in Fig. 5 A and just receives the order by machine 308.
The rope for traction 304 withdrawn by the length for the promotion rope 302 for following motor 310 to discharge and by driving motor 308 Length compared to proportional.However, compared with Fig. 5 A, it is proportional applied to driving motor 308 and the operation for following motor 310 On the entire duration.
For long and flexible surgical instrument, when the far-end of joint arrangement 306 does not have sensor, estimation is couple to pass The accurate location of the end effector of the distal end of section arrangement 306 is challenging.In addition, the high payload ratio of distal end is high Precision is more crucial.This is because even if end effector is accurately moved as wishing user, if had without enough Load is imitated, user can not execute the task of manipulating tissue by grabbing and being promoted.
Challenge and realize that payload capacity, the embodiment of Fig. 5 B make driving motor 308 as far as possible to solve these Rope for traction 304 is pulled at full tilt, while by following the release of motor 310 that rope 302 is pushed to release tension, without generating Relaxation.The embodiment of Fig. 5 B to the different scale factor of two motor applications by doing so, that is, is used for driving motor The 308 larger proportion factor is to realize high payload and for following the small percentage factor of motor 310 to avoid rope pine It relaxes.Bigger scale factor can be selected by considering the Motor torque limit.A kind of method of the selection percentage factor is when life When enabling the maximum reference position of driving motor 308, driving motor 308 just reaches torque limit.Can by lesser ratio because Son is chosen to when order follows the maximum reference position of motor 310, and following motor 310 just to reach C, (or-C depends on In moving direction) position threshold.
In two kinds of embodiments of Fig. 5 A and 5B, device for endoscopic surgery controller 314 is additionally configured to detect The stopping of driving motor 308.At the peak value for the curve 508,510,524 and 526 that this generation occurs in the various stages, in curve Each indicates driving motor 308.Each peak value establishes a point in displacement range 504,506, in the rope for traction 304 It is subjected to maximum tension.
Fig. 6 shows the saturating of the input unit 602 at the main portion 100 of endoscopy system 10 (referring to Fig. 1) View.Input unit 602 allow by the actuating for the joint arrangement for controlling one or more joints or robot component 410 come pair Robot component 410 (referring to fig. 2) carries out mobile control.With reference to Fig. 3 A and 3B, when these input units 602 are mobile, they Command signal is provided to device for endoscopic surgery controller 314, the device for endoscopic surgery controller 314 operation is driven It moves motor 308 and follows motor 310 with actuated articulation arrangement 306.
The joint of input unit 602 and robot component forms principal and subordinate's remote control system.When identical on Mobile Learning or equivalent Device be used for principal and subordinate's remote control system when, can easily realize and be mapped to from a joint of master manipulator from executor The simple controller of corresponding joint.However, when using dissimilar device on Mobile Learning (such as input unit 602 and robot The joint of component 410) when, the working space of master manipulator (i.e. input unit 602) and from executor (i.e. robot component 410 Joint) working space size and shape it is different.
For device simple on Mobile Learning, i.e., with the executor of low degree-of-freedom (DOF), it is easy to empty in two work Between between mapped.For the executor of higher DOF, map and remarkable.Increase when using inverse move class hour complexity, it is inverse The desired locations for inversely calculating the master manipulator in three-dimensional space (3D) and orientation are needed to have to rebuild or do not have in Mobile Learning There is the proportional same position and orientation from executor of remote operating.
Device for endoscopic surgery controller 314 as described in below with reference to Fig. 7 and 8 by ensuring that the posture of order is in This inverse move knowledge topic is solved from the working space of executor.
Each of Fig. 7 and Fig. 8 are the schematic diagrames of the component of the endoscopy system 10 of Fig. 1, when by input unit Movement at 602 be converted into the particular joint of each robot component 410 it is mobile when, device for endoscopic surgery controller 314 are communicated with the component.These components are device for endoscopic surgery 700, with driving mechanism 708 and by driving The terminal joint 706 that mechanism 708 activates；With input unit 602.
Driving mechanism 708 is removably coupled to the proximal end of device for endoscopic surgery 700, and terminal joint 706 is set It sets in the distal end of device for endoscopic surgery 700.Driving mechanism 708 includes one that terminal joint 706 is couple to by rope The one or more in other each joints in joint arrangement belonging to a or multiple motors or actuator and actuating terminal joint 706 Motor or actuator.Therefore, which may include the motor 308,310 and rope 302,304 of Fig. 3 A and 3B.Another In a kind of embodiment, driving mechanism 708 can activate each terminal joint 706 using only a motor.Terminal joint 706 It is the joint of the coupling actuator of robot component 410, actuator is operation tool, such as arm, clamper or electric cautery probe.
Input unit 602 is electrically connected with driving mechanism 708, and thus the movement of input unit 602 causes the cause in terminal joint It is dynamic.As described above, input unit 602 is located at the main portion 100 of endoscopy system 10.
In the embodiment of Fig. 7, main working space is transmitted to from working space.This is to be accomplished by the following way 's.
The memory 318 and processor 316 of device for endoscopic surgery controller 314 are configured so that endoscopy Look into the signal 730 of mobile generation of the detection of surgical instrument controller 314 by input unit 602.Signal 730 provides input unit Cartesian position in main working space 750 through being moved to.The main working space 750 provides input unit 602 can be at it The boundary of middle movement, i.e., all possible positions of main working space storage input unit 602.
The received Cartesian position of institute extracted from signal 730 by device for endoscopic surgery controller 314 is directed to It is following to be handled: the database (not shown) of the Cartesian position including main working space 750；Offer can activate wherein The Cartesian position of the slave working space 752 on the boundary in terminal joint 706；And mapping table (not shown), main work is empty Between each Cartesian position mapping (referring to appended drawing reference 756) in 750 to from least one Descartes in working space 752 Position.
Processing for database is that device for endoscopic surgery controller 314 is made to send commands to driving mechanism 708 activate terminal joint 706 to correspond to the movement of the input unit 602 detected.Terminal joint 706 is provided by mapping table Corresponding mobile degree, because each Cartesian position in main working space 750 is to from least one in working space 752 The mapping of a Cartesian position is for providing the position in terminal joint 706 for each position of input unit 602.Therefore it establishes From main working space 750 to unique mapping from working space 752.
Therefore, it after the received Cartesian position of institute for database processing input unit 602, determines empty from work Between in 752 for received Cartesian position matching Cartesian position.Then, device for endoscopic surgery controller Terminal joint 706 is actuated into the matching Cartesian position from working space 752 by 314 order driving mechanisms 708.
Since main working space 750 has than the volume bigger from working space 752, from main working space 750 to Mapping from working space 752 is surjection；Each point in main working space 750 is at least one from working space 752 The value of a point.That is, multiple Cartesian positions in main working space 750 are mapped to the position of the Descartes from working space 752 It sets.
In the Descartes position being mapped to from multiple Cartesian positions in the main working space 750 in working space 752 Each of multiple Cartesian positions being set in main working space 750 provided from working space 752 it is immediate Match Cartesian position.Any point in main working space 750 that this permission is located at input unit 602 is found from work Closest approach on space 752, to the point in main working space 750 that input unit 602 is located at be projected empty from work Between this closest approach on 752.Such transmission follows equation:
So that q=f (p) and min | q-p |
Wherein p and q is in the position 750 from working space of advocating peace, and 752, and P and Q are main 750 He of working space respectively Point is mapped to the letter of set Q from set P from working space 752, and under conditions of f is the minimum range between p and q Number.
Therefore, when the point in main working space 750 to be mapped to the point from working space 752, consider that main work is empty Between position p in 750 with from the distance between the position q in working space 752.In one embodiment, it is from work Cartesian position in space 752, for the Cartesian position closest to the Cartesian position in main working space 750, main work is empty Between the Cartesian position in 750 be mapped to the Cartesian position from working space 752.That is, when empty from work Between 750 when being fitted in main working space 750, Cartesian position in main working space 750 with from working space 752 most Close Cartesian position matching.
In the embodiment of Fig. 8, input unit 602 is operated and always in the agency moved out of working space (proxy) it is associated.This is achieved in the following ways.
The memory 318 and processor 316 of device for endoscopic surgery controller 314 are configured so that endoscopy Surgical instrument controller 314 is looked into create in the slave working space 762 that the boundary that can activate terminal joint 706 wherein is provided Mobile tracking device 770.Mobile tracking device 770 is configured to respond to input unit 602 and is moved and by from working space 762 internal shifts track input unit 602.Similar to Fig. 7, all possible positions in terminal joint 706 are stored from working space 762 It sets.
Then, device for endoscopic surgery controller 314 is detected by the signal of the mobile generation of input unit 602.When Detect input unit 602 it is mobile when, mobile tracking device 770 is displaced to from the Cartesian position in working space 762, The distance of middle displacement depends on flute card of the input unit 602 in main working space 760 before and after the movement of input unit 602 That position.Similar to Fig. 7, main working space 760 provides the boundary that input unit 602 is moved in, that is, main working space All possible positions of 760 storage input units 602.
The distance that mobile tracking device 770 shifts depends on Descartes position of the input unit 602 relative to mobile tracking device 770 The Cartesian position set.
For example, scene 850 will be sent out if master manipulator (i.e. input unit 602) is moved out of working space 762 Raw, wherein the position of mobile tracking device 770 and orientation are matched with the position of master manipulator and orientation, such as the flute of input unit 602 Shown in karr position is consistent with the Cartesian position of mobile tracking device 770.That is, when input unit 602 is empty from work Between when moving in 762, mobile tracking device 770 will follow master site without by any barrier obstruction, thus it is mobile substantially with it is defeated Enter the identical distance of device 602.
Scene 880 is in input unit 602 from when walking out from working space 762.Due to mobile tracking device 770 track it is defeated Enter device 602, mobile tracking device 770 is entered the dragging of device 602, but is maintained at out of working space 762.In the scene, Mobile tracking device 770 shifts less compared with input unit 602.
Therefore, mobile tracking device 770 is always limited to out of working space 762, wherein for input unit 602 in master Any movement in working space 760 will exist at least a degree of actuating in terminal joint 70 always.
Terminal joint 706 is actuated by 314 order driving mechanism 708 of device for endoscopic surgery controller after shifting From the Cartesian position of the mobile tracking device in working space.
Compared with being absorbed in the influence for reducing time delay and testing the prior art of low DOF system, from working space 762 It is the system of higher DOF with main working space 760.
In high DOF system, it is couple to the remote of terminal joint 706 (or joint arrangement 306 in the situation of Fig. 3 A and 3B) The orientation of the end effector at end is another inverse move parameter to be solved.Device for endoscopic surgery controller 314 By being configured as following solving the parameter: making orientation and joint arrangement 306 or the terminal joint 706 of input unit 602 Orientation synchronizes, so that the change of the orientation of input unit 602 leads to the correspondence of the orientation in joint arrangement 306 or terminal joint 706 Variation.This method is the direct mapping of the orientation between fixed input unit 602 and joint arrangement 306 or terminal joint.
Can execute with reference to Fig. 7 description through-transmission technique before or execute with reference to Fig. 8 description agent skill group it Preceding completion synchronizes.
In the case of fig. 7, the orientation in terminal joint 706 is initially secured to the orientation of input unit 602.Then, it is based on The orientation calculation of the order of input unit 602 is from working space 752.Unless input unit 602 cannot be directed to from working space 752 Specific orientation calculate, calculate for each position of orientation of input unit 602 from working space 752.
In the case of fig. 8, the orientation calculation of the order based on input unit 602 is from working space 752.Work as input unit 602 out of working space 752 when moving, position and orientation of the position and orientation of mobile tracking device 770 with input unit 602 Matching.Once input unit 602 is walked out from from working space 752, mobile tracking device 770 is entered the dragging of device 602, but keeps Out of working space 752.
Device for endoscopic surgery controller 314 is additionally configured to inquire when creating mobile tracking device 770 and wherein deposit Store up the database from working space 762 and main working space 760.Device for endoscopic surgery controller 314 is also moved in configuration Input unit 602 is linked to mobile tracking device 770 when motion tracking device 770 is to track input unit 602, the link make it is mobile with Track device 770 is entered the mobile dragging of device 602.When input unit 602 is from the main working space outside working space 762 When moving in 760 region, mobile tracking device 770 is moved to the periphery from working space 762 or the week along working space 762 Side is mobile.
For both Fig. 7 and 8, the Cartesian position of main working space 750,760 and the flute card from working space 752,762 Your position provides the position in three-dimensional space.Main working space 750,760 has bigger than the volume from working space 752,762 Volume.
In the case where no any physical constraint, user would be unaware that the boundary from working space 752,762, and And it may be in main working space 750,760 far from the operation input device 602 from the region of working space 752,762.When with Family changes the moving direction of input unit 602 and attempts to return to from outside working space 752,762 from working space When 752,762 inside, this leads to the effect of similar gap (backlash), but the movement of input unit 602 not will lead to machine Any movement of device people component 410.
Virtual clamp (fixture) can be used for creating physical constraint by applying resistance, which can be empty with main work Between input unit 602 in 750,760 Cartesian position and the flute card from the terminal joint 706 in working space 752,762 The distance between your position is proportional.Such power can be based on simple spring model or damper-spring model.This is virtual Fixture can realize that the feedback power module is the component of endoscopy system 10 (referring to Fig. 1) by feedback power module.Feedback Power module provides terminal joint 706 in the instruction close to or over the Cartesian position from the boundary of working space 752,762. Feedback force module couples are to input unit 602.Feedback power module is used to create physical constraint by being configured as generating resistance, The resistance by input unit 602 be maintained at main working space 750,760 correspond to out of, working space 752,762 boundary In the region in portion.Device for endoscopic surgery controller 314 be further configured to send signal to feedback power module with Input unit 602 further moves to the corresponding to from the region on the boundary of working space 752,762 of main working space 750,760 Except when increase resistance.
The resistance transmitted by input unit 602 is obvious for a user.When resistance increases, Yong Huke There can be the intention for specifically taking very much movement.For example, when user is coming from conveying endoscope 320 (referring to figure by display 2) (referring to Fig. 6) observer robot of monitor 604 component 401 of video image it is mobile while operation input device 602 When, in monitor 604 movement in terminal joint 706 due to terminal joint 706 limited payload and be likely less than expection.For Increase the movement in terminal joint 706, user tends to more mobile input device 602, but regardless of increased resistance.
The payload in terminal joint 706 is directly associated with the torque capacity that the motor in driving mechanism 708 generates.Cause This, the resistance or penetration depth of sensing can be used for adjusting the Motor torque limit, wherein penetration depth is the flute in terminal joint 706 Karr position and main working space 750,760 correspond between the boundary in the region on the boundary of working space 752,762 The measurement of distance.
Fig. 9 shows song of the motor in driving motor 308 or driving mechanism 708 relative to the torque limit of penetration depth Line chart.The torque limit of driving motor 308 or the motor in driving mechanism 708 reflects joint arrangement 306 or terminal joint 706 Payload.Export default torque at nominal conditions, wherein joint arrangement 306 or terminal joint 706 reach well from From anywhere in working space 752,762 or the enough payload of display are to execute necessary task.With reference to Fig. 3 A, 3B and 7, it may be considered that peak torque, the breaking strength of rope 302,304 etc. that motor 308,310 or driving mechanism 708 can produce Maximum permissible torque limit is arranged.
Torque limit is adjusted in operation provides several advantages.Firstly, arranging 306 or whole in joint by using being less than Cause the torque limit of the torque limit of payload capacity, component (such as the rope of surgical instrument 300 at the joint 706 of end 302,304) it is less subject to abrasion and tears.This is because as long as joint arrangement 306 or terminal joint 706 are desired according to user Mode is mobile, and there is no need in the far-end of surgical instrument 300, there are payload capacities.Secondly, for joint at the far end More payload at arrangement 306 or terminal joint 706, driving motor 308 or driving mechanism 708 need to exert oneself as much as possible Ground drawing.This extends rope for traction 304, and generates more when driving motor 308 or terminal joint 706 change moving direction Effect of the multiclass like gap.Therefore, under normal operation, when the distal side of joint arrangement 306 or driving mechanism 708 is mobile and effective When load is enough to execute task, the effect in less similar gap and to the abrasion of 300 component of surgical instrument and to tear be preferred 's.However, then distal side payload will be low if the torque limit of motor 308,310 or driving mechanism 708 is permanently fixed 's.Therefore, it is conflicting for reducing the influence in similar gap and increasing distal side payload.It is configured in response to by feeding back The increasing degree calculated for the resistance that power module generates adjusts the torque applied by driving motor 308 or driving mechanism 708 The limit is worked as with the device for endoscopic surgery controller 314 in actuated articulation arrangement 306 or terminal joint 706 respectively in management Distal side payload allows to obtain when increasing to the degree of the effect in the similar gap being subjected to when maximum permissible torque limit Balance.When being used for virtual spring to feed back power module, resistance can be calculated as follows.Firstly, calculating the flute card of input unit 602 That position and the penetration depth x from the distance between the boundary of working space 752,762.Then resistance is calculated by F=-k*x F, wherein k is the spring constant of virtual spring.
Although Fig. 9 is shown using linear model, but it is to be understood that multinomial model may be implemented.Once it starts It is pushed into virtual clamp, is based on distance, it can be continuously increased torque limit, until reaching maximum permissible torque limit.
Figure 10 shows rotating cylinder 1000, the rope of the device for endoscopic surgery of the endoscopy system 10 of Fig. 1 1002 wind around rotating cylinder 1000.For example, when rotating cylinder 1000 is by driving motor 308 and follows an actuating in motor 310, Any of rope for traction 304 shown in Fig. 3 A and 3B or promotion rope 302 can be wound around rotating cylinder 1000.Therefore rotating cylinder 1000 can be with reference to the component of Fig. 3 A and the 3B device for endoscopic surgery 300 described or it interior can be peeped with another The device for endoscopic surgery of spectroscopy system is used together.
Rotating cylinder 1000 is rotatably coupled to shell, and shell is not shown for the sake of simplicity.Rotating cylinder 1000 is by being located at rotating cylinder The bearing 1006 of 1000 each end is rotatably coupled to shell.The shell is a part of adapter, for the sake of simplicity, The adapter is also not shown.Adapter can be dismantled from motor housing, should for the device for endoscopic surgery 300 of Fig. 3 A and 3B Motor housing includes driving motor 308 and follows motor 310.Therefore, the adapter is for coupling motor shaft to activate endoscopy Look into the rope of surgical instrument (or shortening form " instrument ").
System is checked for robotic endoscope, it is advantageous to which the device for endoscopic surgery belonging to adapter can In the case where reuse, adapter operationally can from the rest part of endoscopy system dismantle with carry out cleaning and Reprocessing；Or it is thrown aside in the case where device for endoscopic surgery is intended for single use.Endoscopy is less than for service life The device design for looking into the rest part of system, it is also to have in the rest part of endoscopy system that driving actuator, which is maintained at, Benefit, to keep the cost of instrument portions low.
With reference to as described in Fig. 3 A and 3B, a pair offsets rope and power and movement is transmitted to endoscopic surgery from actuator The distal tip of instrument.After adapter is separated with the actuator in system, it is necessary to keep a degree of in rope Power.There is the device design of more than one actuator, when instrument is separated with actuator, rope for each freedom degree (DOF) In tension can lose.Once the tension in rope is lost, rope will lead to cord damage in instrument inner wrap.
In WO2015142290, this cord damage is solved by realizing locking member, the locking member is in device Tool is engaged automatically when separating from actuator to fix the position of rope, thus existing any tension when keeping separation.The lock Determining element includes friction or ratchet feature.Then, when instrument to be re-attached on actuator, the locking member is automatically Mechanically withdraw.
There are two major defects for such locking member:
First the disadvantage is that, by rope position fixed in separation, in separation, the distal tip of instrument is locked in Its current location.Instrument must get to medical treatment site by lumen.If the distal tip of instrument is not straight in separation , or if the diameter that the actuatable element (such as grasp jaw) of distal tip protrudes past lumen, will be difficult to or very To it is not possible that removing instrument from lumen.
Second the disadvantage is that, before instrument is installed on actuator, user may unintentionally release when operating instrument Locking member is put, the loss of rope tension and subsequent cord damage are caused.
With reference to Figure 10, in order to minimize or eliminate the detachable device design that there is more than one actuator in each DOF The cord damage of middle generation includes with the adapter for activating the rope 1002 of device for endoscopic surgery for coupling motor shaft It is arranged to apply rotating cylinder 1000 stored energy mechanism 1004 of torque.By the passively activated component for allowing instrument distal tip (such as end effector) keeps relaxation in order to which instrument is inserted into and is extracted out by its lumen, can seek to eliminate the prior art Disadvantage.
Stored energy mechanism 1004 may include when rotating cylinder 1000 is due to caused by separating adapter from its actuator Any device of storage energy when tension in rope 1002 is discharged and rotated.Then, stored energy mechanism 1004 by with Make to apply force to attempt dissipation energy on the contrary direction of 1004 storage energy of stored energy mechanism.
Therefore, when the tension release in rope 1002 causes rotating cylinder 1000 to rotate with unwinding rope 1002, energy stores Mechanism 1004 applies the torque for preventing 1002 unwinding of rope.That is, stored energy mechanism 1004 is positioned or is arranged to along will restrict Rope 1002 is wrapped in the direction on rotating cylinder 1000 and applies torque.
Figure 11 A shows that there is no the schematic diagrames of the embodiment of stored energy mechanism 1004.When adapter shell rotating cylinder 1100 with its actuator when separating, and the release of tension causes rope 1002 to become loose, because not having in these rotating cylinders 1100 Device prevents the release of tension.
On the other hand, Figure 11 B shows that there are the schematic diagrames of the embodiment of stored energy mechanism 1004.When adapter shell When body rotating cylinder 1000A, 1000B are separated with its actuator, rope 1002 is by the way that by each rotating cylinder 1000A, the energy on 1000B is deposited It stores up the torque that mechanism 1004 provides and keeps tensioning enough.Therefore rope 1002 keeps tensing.It should be appreciated that for effectively pre- Guy tightening 1002, stored energy mechanism 1004 are arranged or are located in each rotating cylinder 1000A, so that applying to rotating cylinder 1000A Torque along the direction opposite with the torque applied to rotating cylinder 1000B.Therefore, the addition of stored energy mechanism 1004 alleviates rope Entanglement of the rope 1002 in device for endoscopic surgery.
Figure 10 is returned to, there are the several ways that stored energy mechanism 1004 is fixed to the shell of rotating cylinder 1000 and adapter. For example, one end 1004D of stored energy mechanism 1004 is couple to rotating cylinder 1000, and the opposite end of stored energy mechanism 1004 1004H is couple to shell.
Similarly, stored energy mechanism 1004 has several possible positions.For example, the setting of stored energy mechanism 1004 is turning Around a part of cylinder 1000.Alternatively, the either end of rotating cylinder 1000 is arranged in stored energy mechanism 1004.
In a kind of embodiment (not shown), stored energy mechanism 1004 is hydraulic device, wherein due to adapter The unwinding of the rope 1002 of separation and generation can pressurize to the hydraulic fluid in hydraulic device.Then, hydraulic device attempts to pass through It applies force to discharge the pressure on the contrary direction with pressurized hydraulic fluid.
In another embodiment, stored energy mechanism 1004 is flexibly flexible component, wherein due to adapter Separation and the unwinding of rope 1002 that generates makes the flexibly flexible deformation of member.Then, flexibly flexible component passes through With apply force to seek to restore its original-shape on deformed contrary direction.
In embodiment shown in Fig. 10, stored energy mechanism 1004 is a kind of realization side of flexibly flexible component Formula, i.e. torsionspring.In addition, torsionspring used in Figure 10 is configured with coil.However, such as flat wound, coil or The other configurations of axial twist are also possible.
Torsionspring on rotating cylinder 1000 is designed so that as device for endoscopic surgery and is located in motor housing from it When actuator is extracted, the smallest rope tension is provided to keep rope 1002 to be orderly wrapped in around rotating cylinder 1000.This be for Prevent rope 1002 from jumping off from rotating cylinder 1000, when instrument is extracted from the motor housing in the system of each DOF bi-motor, this It may cause entanglement.
According to experimental data, about 0.5N to 3N is confirmed as by the best torque that torsionspring is applied on rope 1002. If leading to excessively high pre-tensioning by the torque that torsionspring applies, it is by interference for example, by the driving electricity of Fig. 3 A and 3B Machine 308 follows rotation of the motor 310 to rotating cylinder 1000.
In addition, torsionspring is designed in device for endoscopic surgery moving range with as constant as possible pre- Tensioning, can be 0.25 to 2.0 turn of rotating cylinder 1000, this depends on the diameter of rope 1002 stroke and rotating cylinder 1000.In order to Realize low torsion constant, torsionspring is manufactured with several coils, leads to high slenderness ratio (fineness ratio).? It was found that at least 14 slenderness ratio (referring to appended drawing reference 1010) generates low torsion constant in the moving range of rotating cylinder 1000.
In order to further promote orderly winding of the rope 1000 around rotating cylinder 1000, rotating cylinder 1000 has at least one recessed Slot 1012, rope 1002 engage groove 1012.Groove 1012 is arranged in a part of rotating cylinder 1000.Optionally, groove 1012 Extend along the diameter of rotating cylinder 1000.There are multiple groove 1012, for example, situation shown in Figure 10, screw thread 1014 are formed on rotating cylinder 1000.Screw thread 1014 provides multiple grooves 1012, and rope 1002 engages multiple groove 1012.
In typical endoscopic surgery, conveying endoscope (conveying shown in Fig. 2 is held during the insertion stage Endoscope 320), and endoscopy operation during along its elongated axis roll conveying endoscope (or shorten form " inside peep Mirror ") it is oriented with the view for the video camera that its distal end is arranged and its adjacent end effector relative to the excellent of medical treatment site Choose to.For example, under endoscope mucosal removing operation in, it is common practice to start operation before make endoscope 320 around Its elongated axis rotation, until tissue location to be cut off is along the 6 o'clock position in camera review.In such hand-held rank During section, it is flat-footed that endoscope, which is manipulated to desired roll orientation,.
However, after reaching desired medical treatment site and after endoscope is located in preferred roll orientation, when When the proximal end of endoscope and robot component are attached to Docking station, the time is needed to be aligned Handheld endoscope and its support Robot component (refers to robot component 410 shown in figure 2).Its own is peeped with interior if robot component does not have The roll orientation freedom degree of the roll orientation alignment of mirror has to scroll through endoscope then to match fixed roll of robot component and take To.This rotation of endoscope causes the preferred distal side roll orientation of endoscope to be lost.In other words, by endoscope and machine Device people's component is attached to after Docking station, and endoscope and robot component must be further aligned on roll orientation.
To solve the above-mentioned problems, current robotic endoscope checks that system utilizes fixture or assistant by endoscope component Flexible elongated shaft be maintained in preferred orientation along the midway of slender member, close to its enter body position.Then, user It can be with the proximal end of torsional flexibility elongated shaft, so that the fixation roll orientation pair of the nearside roll orientation of endoscope and robot component Together.
However, there are two major defects for this technology.Firstly, the flexible elongated shaft of endoscope is designed to turning round around its axis It is rigid on turning, allows rolling to move and roll torque and be accurately transfer to its distal end from its proximal end.Therefore, it will roll Distortion, which is introduced into elongated shaft, to increase sizable stress to slender member, this, which may be damaged, is contained in internal component, such as Actuator, rope etc..Secondly, this technology is also introduced into clinical risk.The technology leaves considerable in the elongated shaft of distortion Store energy.If it may be on roll orientation by the roll orientation of fixture or assistant suitably elongate axis Acutely sliding, causes the unexpected and uncontrolled rolling of endoscope distal end to be beaten.This movement may be danger to patient, Operation and movable type when this depends on beating.
With reference to Fig. 2, Docking station 500 prevents from losing preferred distal tip orientation during docking, and without existing system The shortcomings that above-mentioned torsion technique in system.Endoscope Docking station 500 allows the roll orientation of the robot component 410 during docking It is matched with the roll orientation of endoscope 320.
Figure 12 shows the side view of conveying endoscope Docking station 500, and Figure 13 shows figure according to example embodiment The perspective view of 12 conveying endoscope Docking station 500.
Conveying endoscope Docking station 500 includes the platform 1210 with rotatable base 1204, that is, pedestal 1204 is rotatable Ground is couple to platform 1210.
Pedestal 1204 has the endoscope surfaces for attachment 1208 for installing conveying endoscope 320.Endoscope 320 is conveyed to use In at least one robot component 410 of carrying, including axis 1200 and adapter 1201.Pedestal 1204 also has driving mechanism attachment Surface 1207, for installing driving mechanism 1260 to activate the robot component 410 carried by conveying endoscope 320.If interior Sight glass surfaces for attachment 1208 is plane surface, then pedestal 1204 is around the flat of the endoscope surfaces for attachment 1208 perpendicular to pedestal 1204 The axis 1212 in face rotatably couples.
Pedestal 1204 includes bracket 1262, and the actuator of driving mechanism 1260 is couple to bracket 1262.In Figure 12, Actuator is realized by actuator casing 1202 comprising multiple actuators 1203, actuator 1203 are configured to actuating at least One robot component 410.In figs. 12 and 13, actuator casing 1202 and the adapter for being couple to actuator casing 1202 are attached The adapter 1201 for connecing surface 1206 forms a part of driving mechanism 1260.Adapter 1201 is used for will be in actuator 1203 At least one is couple to robot component 410.A part (such as actuator casing 1202) of driving mechanism 1260 can be with base Seat 1204 is integral, and the rest part (such as adapter 1201) of driving mechanism 1260 is removably attached to driving mechanism 1260 integral part.
After it will convey endoscope 320 and be attached to endoscope surfaces for attachment 1208, robot component 410 can be introduced To reach working position in endoscope 320.After robot component axis 1200 is inserted into endoscope 320, robot component Adapter 1201 is attached to adapter surfaces for attachment 1206.After attachment, robot component 410 and endoscope 320 are by conduct Integrated unit rotates together with pedestal 1204.In other words, the subsequent rotation of pedestal 1204 will not result in during operation Any relative movement between robot component 410 and endoscope 320.Robot component 410 and endoscope 320 can be used as one A unit rotates to the desired rotation into alignment relative to medical treatment site together.
Conveying endoscope Docking station 500 may also include rotating mechanism 1252, be arranged to promote pedestal 1204 relative to flat The rotation of platform 1210.Rotating mechanism 1252 promotes to rotate by allowing pedestal 1204 smoothly to rotate relative to platform 1210. Rotating mechanism can be used frictional force and reduce element realization 1252, such as ball bearing unit, roller bearing device and lubricating pad Any one or more of coil apparatus.In the embodiment shown in fig. 12, rotating mechanism 1252 is realized by ball bearing mechanism, To promote the rotation of pedestal 1204.
Rotating mechanism 1252 is arranged between pedestal 1204 and platform 1210.In the embodiment shown in fig. 12, whirler Structure 1252 is realized by two groups of ball bearing units.The one of pedestal 1204 and platform 1210 is arranged in one of ball bearing unit Between part, the neighbouring pedestal 1204 of a part is couple to the position of the driving mechanism surfaces for attachment 1206 of pedestal 1204.It is another A ball bearing unit is arranged between pedestal 1204 and a part of platform 1210, and the neighbouring pedestal 1204 of a part is couple to The position of the endoscope surfaces for attachment 1208 of pedestal 1204.It will be appreciated, however, that rotating mechanism 1252 can be only by individually rolling Pearl bearing, roller bearing or oiled washer device are realized along a part that pedestal 1204 is couple to platform 1210.Therefore, it rotates Mechanism 1252 can be set between pedestal 1204 and the platform 1210 adjacent with the driving mechanism surfaces for attachment of pedestal 1204, base Seat 1204 and the platform 1210 adjacent with the endoscope surfaces for attachment of pedestal 1204 between or both of these case.
Conveying endoscope Docking station 500 may include locking mechanism 1218, and locking mechanism 1218 is arranged to locking pedestal 1204 Rotation relative to platform 1210.Locking mechanism 1218 may include electrical activation device, such as Brake pad, fixture and latch and Crown block is configured to lock pedestal 1204 by being frictionally engaged, to prevent the rotation of pedestal 1204.
Locking mechanism 1218 can be configured to lock pedestal 1204 when 1218 electricity of locking mechanism is inactive.Implement at one In mode, locking mechanism 1218 is designed to make the rotation of its default prevention pedestal 1204.When not operating locking mechanism 1218 When discharging pedestal 1204 to be rotated, the default conditions occur.By suitably operating connecing for control locking mechanism 1218 Mouthful realize the release of pedestal 1204, thus locking mechanism 1218 becomes electrical activity.If the interface can be additionally configured to Locking mechanism 1218 keeps suspend mode then to lock pedestal 1204 for a period of time.This is by preventing the roll orientation of pedestal 1204 from peeping inside Spectroscopy is unintentionally shifted during performing the operation and ensures safety from clinical risk angle, because including the rotation only of pedestal 1204 Occur in the sub-fraction of sight glass inspection operating time.
After completing roll orientation alignment, user can activate locking mechanism 1218 to lock pedestal 1204.Will in After the roll orientation of sight glass 320 is aligned (referring to fig. 2) with robot component 410, locking mechanism 1218 be can be configured as certainly Dynamic locking pedestal 1204, so that pedestal 1204 will not occur if removing electric power from endoscopy system 10 (see Fig. 1) It further rotates.
Conveying endoscope Docking station 500 includes the connector 1216 that locking mechanism 1218 is couple to pedestal 1204.Connection Device can be any one of timing belt device, geared system or arm link.In the embodiment shown in fig. 12, connector 1216 are realized by timing belt device, which includes band and pulley arrangement.Pulley arrangement includes at least two timing belts Wheel, band are mounted on the timing belt pulley.In addition, connector 1216 includes the gear 1214 with axis 1220, axis 1220 is coupled To locking mechanism 1218, which is couple to pedestal 1204 for locking mechanism 1218.
During endoscopy operation, rotary machine people component is to be at desired position.Due to being peeped in conveying Mirror 320 and the adapter 1201 for the driving mechanism surfaces for attachment 1206 for being connected to pedestal 1204 are connected to together in pedestal 1204 Sight glass surfaces for attachment 1208 makes its rolling with robot component so rotating mechanism is used to adjust the rolling of conveying endoscope 320 Dynamic orientation alignment.
After conveying endoscope 320 and adapter docking, engage in the default conditions of locking mechanism 1218 to lock base Before seat 1204, it is understood that there may be conveying endoscope Docking station 500 is not intended to moving in rotation.When user needs after surgical procedures When conveying endoscope 320 and 1201 solution of adapter are locked into unlocked state, it is also possible to the nothing of conveying endoscope Docking station 500 occur Meaning moving in rotation.In order to limit this rotation unintentionally, rotating mechanism may include damping mechanism 1222, by the rotation of pedestal 1204 Turn to decay to acceptable speed.Damping mechanism 1222 may include fluid rotary damper, couple in one embodiment To connector 1216, locking mechanism 1218 is couple to pedestal 1204 by connector 1216, as shown in figure 12.Fluid rotary damper It may include fluid, wherein the rotation of connector 1216 is controlled and/or decayed by fluid viscosity.In this way, if pedestal 2014 rotations are unintentionally unlocked by user, then can suitably control the rotation of conveying endoscope Docking station 500.
In other embodiments, damping mechanism 1222 can also include the rotation that can control conveying endoscope Docking station 500 The other kinds of rotary damper turned.The example of other rotary dampers may include spin friction disk arrangement, spin friction Any of rack gear arrangement, Pneumatic rotary damper and/or viscoplasticity rotary damper.Further, it is to be appreciated that pedestal 1204 rotatory inertia can be enough the rotation of attenuation transport endoscope Docking station 500, allow to not need damping mechanism.
In addition, conveying endoscope Docking station 500 may include handle 1222, handle 1222 can be during endoscope be docked It is attached to actuator casing 1202, as shown in figure 12.Keep handle 1222 on conveying endoscope Docking station 500 and very close User can permit preferably manually controls conveying endoscope Docking station 500 under its unlocked state.
Axis across the center of the proximal end of adapter 1201 can be aligned with the rotation axis 1212 of pedestal 1204.It is this Vertical alignment prevents the rolling moment around axis 1212 by conveying the off-axis mass center of endoscope Docking station 500.That is, if conveying The mass center of endoscope Docking station 500 is not located on axis 1212, then if axis 1212 be not it is vertical, generate around axis 1212 Mass center turning moment.This turning moment will lead to rotating unintentionally for pedestal 1204.In addition, the axis 1212 of vertical alignment It will not result in pedestal 1204 unintentionally to rotate around vertical axis 1212.
Alternatively, the mass center for conveying endoscope Docking station 500 can also be substantially close to axis 1212, so that any residue Rolling moment not will lead to the unacceptable whipping in the unlocked state of conveying endoscope Docking station 500 mobile.
For realizing that the robot medical instrument for the treatment of purpose is carried in conveying endoscope 320 in vivo.Robot Medical instrument has slender member, sometimes referred to as axis (comparing the axis 1200 of Figure 12, have proximally and distally).Robot component The far-end of slender member is arranged in (robot component 410 referring to fig. 2), and be by notch, by natural orifice or By a part for reaching the tool of medical treatment site in auxiliary guidance lumen insertion body.Axis 1200 can be rigid or flexibility 's.
It is inserted into due to passing through notch, by natural orifice or by auxiliary guidance lumen, robot medical instrument is usually extremely It is few that there are rolling freedom degree and translation freedoms.It rolls freedom degree and is defined as tool around the rotation of the longitudinal axis of slender member Turn.Translation freedoms are defined as tool and move along the longitudinal axis of slender member.
In order to minimize incision size or in order to utilize small natural orifice, for controlling robot medical instrument Robot actuator (actuator 1203 for comparing Figure 12) is usually located at the outside of patient.The case where using external actuator Under, the scrolling position peace pan position of the distal end of slender member is controlled by adjusting the scrolling position peace pan position of proximal end. Slender member can not reverse upper perfect rigidity in terms of rolling freedom degree, thus since slender member is around its longitudinal axis Distort and cause the error of the scrolling position of distal end.Similarly, slender member impossible perfect rigidity in terms of translation freedoms, To due to slender member along compression or the stretching of its longitudinal axis cause distal end translation position error.
These remote location errors are particularly significant under the following conditions: when slender member is long or flexibility；Relative to cutting Mouthful, it is mobile relative to natural orifice or relative to auxiliary tube chamber when slender member is subjected to friction, wherein slender member passes through Auxiliary tube chamber reaches medical treatment site；And when biggish power is applied on tool by the tissue that tool interacts therewith to realize When treatment purpose.
When one degree of freedom will be when fixed predetermined position be kept for a period of time, remote location error is for a user It is especially undesirable.One such example of such case is related to controlling distal end roll orientation position, so that machine is artificial Has the moving direction that moving direction corresponds to tool operation person's instruction.For example, if tool operation person's order robot tool is remote The bending of side end in an upward direction is hinged, and if if distal end, roll orientation has error, the hinged direction of the bending of distal end can It can upwards and slightly to the left or upwardly and slightly to the right.These errors make user divert one's attention with it is dejected.
The critically important another situation of distal position error is related to being introduced into the device of medical treatment site by auxiliary guidance lumen Tool.In such an arrangement, it is expected that tool operation person is allowed to be arranged before the use with reference to translation position.If tool is referring to Do not expose from guidance lumen completely at translation position, then lumen is guided to may interfere with the operation of tool or the behaviour of tool Work may damage guidance lumen.In the case where having the gastrointestinal endoscope of auxiliary guidance lumen of one, the remote of lumen is guided End is located at except the visual field of the video camera of one.In these cases, tool operation person is difficult to when setting is with reference to translation position Manual compensation distal tip translation error.
It can be minimized distal tip location error there are two types of main method at present.Make that remote location minimizes the error A kind of known strategy includes keeping slender member rigid as much as possible, so that slender member is minimizing twisting on rotating direction, And make the compression and stretching minimum of slender member in a transverse direction.However, this strategy has several drawbacks in that.Work as slender member When must remain flexible to along non-directional route to medical treatment site, possibly slender member can not be made relatively stiff.This is usually It is the case where robot tool is reached around sensitive anatomical structure, or those of natural lumen for following body, such as vein System, the urinary tract, air flue road or gastrointestinal tract.In addition, more rigid slender member usually requires biggish outer diameter, this may make It is more traumatic or difficult into medical treatment site entrance.In addition, more rigid slender member may need using special material or Economically infeasible particular method of manufacture.
Second of known strategy include measured using the control system comprising at least one sensor remote location and As the movement of the proximal end of slender member compensates remote location error automatically (as disclosed in WO2017048194).This method It has several drawbacks in that.Firstly, sensor must detect the position of instrument distal end with high accuracy, to avoid causing tool uncontrolled Movement overcompensation to position or undercompensation.According to the function and situation of tool, the uncontrolled movement pair of instrument It may be breakneck for patient.Secondly, sensor must reliably detect the position of instrument distal end so as to useful.Even if Mistakenly the sensor of sensing the feedback of position will also make user feel depressed within the sub-fraction time.Make reliably there are many problem Position sensing becomes difficult.For optical sensing method, tracked Place object may by medical environment material (including Body fluid or solid) it blocks.Magnetic and electromagnetic position method for sensing must exclude the error due to caused by electromagnetic noise environment.Especially High pressure electric cautery tool reliably sense by these methods to become difficult.Finally, to tool add sensor or Sensor target will increase the cost of endoscopy system.
The position indicator characteristic solution for the highly-visible being arranged on slender member by having endoscopic device It has determined disadvantages mentioned above.These visual position indicators features are located at the position sufficiently adjacent with the distal end of endoscopic device. These visual position indicators features visually guide user in terms of at least one of rolling and translation freedoms by work Has the predetermined position snapped to.
Figure 14 shows two endoscopies with these visual position indicators features according to example embodiment The perspective view of equipment 1400.Each endoscopic device 1400 includes for being inserted into conveying endoscope (referring in Figure 12 and 13 Shown in conveying endoscope 320) axis in slender member (not shown) and be couple to slender member distal end operation tool 1402,1402a.Operation tool 1402,1402a operation tool 1402,1402a opposite end (i.e. with operation tool 1402, 1402a is couple to the opposite end in end of slender member) there is actuator 1404,1404a.
Visible features 1406,1406a is arranged on slender member, operation tool 1402,1402a or both.Visible features 1406,1406a position is fixed relative to actuator 1404, the roll orientation of 1404a, so that visible features during use The roll orientation of the position instruction actuator 1404,1404a of 1406,1406a.
Visible features 1406,1406a is visually can be with its remaining part of the structure where visible features 1406,1406a The separated any object of subregion.In order to visually distinguish visible features 1406,1406a, in one embodiment, only It occupies a part of region of the outer surface of slender member or only occupies a part of area of the outer surface of operation tool 1402,1402a Domain.For this purpose, visible features 1406,1406a can be at one of the length along slender member or operation tool 1402 or both Divide upper extend.Visible features 1406 can also be one of the cross-sectional perimeter along slender member or operation tool 1402 or both Extend on part.The outer surface of slender member and operation tool 1402, the rest of the brush head remains unchanged for the outer surface of 1402a, and And compared with the uniqueness of visible features 1406,1406a be do not have it is distinctive.
Visible features 1406,1406a on the outer surface of slender member or operation tool 1402,1402a is arranged in can be with Be formed on the material of the outer surface of slender member or the outer surface 1402a of operation tool 1402, for example, by laser marking, Embossing or surface texture.Alternatively, visible features 1406,1406a can be accomplished by the following way: apply additive, example Can not such as erase colorant；Or one or more layers, each floor have visually area's another characteristic, are fixed to slender member Outer surface or operation tool 1402,1402a outer surface on.
During manufacture, it is seen that feature 1406,1406a and actuator 1404,1404a are arranged in scheduled alignment, So that the position of visible features 1406,1406a is fixed relative to the roll orientation of actuator 1404,1404a.For example, actuator 1404 be tool there are two the clamper of arm, and each arm is spaced apart 180 °.Visible features 1406 are vertical lines, along operation tool 1402 outer surface with any of two arms 90 ° of ground to position.If seeing the vertical line during operation, it will be mentioned For the instruction of the orientation of actuator 1404.Actuator 1404,1404a rotates together with visible features 1406,1406a.
If visible features 1406,1406a is actuator 1404, the indicator of the roll orientation of 1404a, then, it is seen that feature Neighbouring actuator 1404,1404a can be set into 1406,1406a；Neighbouring slender member is couple to operation tool 1402,1402a Position；Or both of these case.It is because while that actuator 1404,1404a are translatable, but for monitoring actuator The position of the video camera of 1404,1404a is fixed.If actuator 1404,1404a then may not far from camera translation Actuator 1404,1404a can be clearly seen from the image of camera feed again.In this case, slender member then will In camera view, operation tool 1402, the visible features of the position setting of 1402a thus are couple to adjacent to slender member The position of 1406,1406a will then provide the instruction of the orientation of actuator 1404,1404a.Similarly, it will be seen that feature 1406, The critically important feelings in the position that 1406a is faced adjacent to the tip for being placed on actuator 1404,1404a actuator 1404,1404a The instruction of the orientation of actuator 1404,1404a is provided in shape.When actuator 1404, when 1404a is electric cautery probe, even if Electric cautery probe is in camera view, it is also possible to its tip can not can be clearly seen from video camera.Therefore, neighbouring actuator The position of the visible features 1406,1406a of 1404,1404a setting will provide the instruction of the orientation of actuator 1404,1404a.
Above-mentioned video camera is checked that position provides sufficiently to be adjacent to the distal end of operation tool 1402,1402a to user and is set The user visual field for the restriction set allows users to observation slender member and/or operation tool 1402, the visible features of 1402a 1406,1406a.In one embodiment, video camera can be attached to auxiliary guidance lumen and have remote with guidance lumen Hold fixation position and the orientation of offset.The user visual field can be display device, such as the computer screen near user.
When operation tool 1402,1402a and actuator 1404, when 1404a is passed through from the proximal end of slender member to distal end, hand Art tool 1402,1402a and actuator 1404,1404a can be rolled off ten degree relative to slender member.Stated differently, since hand Art tool 1402,1402a and actuator 1404, the flexibility of 1404a, it is difficult to ensure operation tool and actuator are being manually inserted into the phase Between be not scrolled or distort.When operation tool 1402,1402a and actuator 1404,1404a is stretched out from the distal end of slender member When, the position of the visible features 1406 being arranged on slender member, operation tool 1402,1402a or both, 1406a provides hand Rolling degree of the art tool 1402,1402a and actuator 1404,1404a relative to slender member.
Visible features 1406,1406a can be also used for indicating to the user that actuator 1404,1404a is in medical treatment site Correctly orientation, to efficiently perform endoscopic procedure.For example, actuator 1404 may include three clamping limbs, and And visible features 1406 can be and an adjacent red-label in three clamping limbs.Execute endoscopic procedure it Before, user requires the specific clamping limb to be aligned in the user visual field with 90 degree.After gripper arm extends through slender member, User can't see visible features 1406 (i.e. red-label) in the visual field of user and (clamp it can be seen that gripper arm The rotation of device arm is more than ideal position).Then, user's rotary actuator 1404, so that red-label is in the visual field of user with 90 Degree alignment.In addition, visible features 1406 may be used to indicate that input of the gripper arm according to user at actuator instrument board It rotates in the right direction.
In one embodiment, it is seen that feature 1406,1406a can be set on slender member or operation tool 1402 or In the two, so that visible features 1406,1406a is located at away from actuator 1404, at 1404a predetermined length, so that visible features 1406,1406a provides the translation measurement of actuator 1404,1404a.Due to the manufacture of actuator 1404,1404a and slender member Tolerance, it may be necessary to actuator 1404, the translation orientation of 1404a.
In addition, visible features 1406,1406a can be also used for indicating to the user that actuator 1404, and 1404a is in medical treatment site In correct translational length, to efficiently perform endoscopic procedure.For example, actuator may include that electric cautery is visited Needle, and need to extend from slender member two meters far before carrying out endoscopic procedure.In this case, it is seen that feature It can be the red-label of two meters of marks positioned at operation tool.After electric cautery probe extends through slender member, user It can be seen that slender member and electric cautery probe, but visible features (i.e. red-label) not (the i.e. electric cautery in the visual field of user Probe is not in ideal position).Then, user adjusts electric cautery probe, so that red-label is visible in the visual field of user.Separately Outside, it is seen that feature may be used to indicate that electric cautery probe according to input of the user at actuator instrument board in the right direction Translation.
Indicate the visible features 1406,1406a and instruction actuator 1404 of the roll orientation of actuator 1404,1404a, The visible features of the translation measurement of 1404a can be the separately visible feature that can be visually distinguished from each other.Indicate actuator The visible features 1406,1406a of translation and the rolling of 1404,1404a can be by colorant, laser marking, the embossing of can not erasing Or any one or more of surface texture formation.The visible features 1406,1406a formed by the colorant that can not erase It can have the color different from slender member and/or operation tool 1402,1402a.In addition, visible features 1406,1406a can To be any one or more of shape, symbol or text, and it can be and be arranged on slender member and/or operation tool Pattern a part.The pattern can also with the outer surface of the outer surface and operation tool 1402,1402a of slender member its Remaining part point visually distinguishes out.Such pattern includes one or more groups of such visible features 1406,1406a, wherein one group As actuator 1404, the indicator of the roll orientation of 1404a, and another group is used as actuator 1404, the degree of the translation of 1014a The indicator of amount.
It can also make visible features 1406,1406a maximizes feature to the visibility of ambient enviroment appearance, such as color, Brightness, texture, specular reflectivity or reflectivity.Preferably, it is seen that feature 1406,1406a can be resistant to chemical erosion or machinery Abrasion, and execute comprising from visible features fall off material risk medical operating in the case where by implantation material grade biofacies Capacitive material composition.
For example, instruction actuator 1404, the visible features 1406 of the roll orientation of 1404a, 1406a can be laser marking And with the letter " A " of blue embossing, and indicate actuator 1404, the visible features of the translation measurement of 1404a can be using Colorant can not be erased with red symbol " Ω " outstanding.In the embodiment that visible features are patterns, pattern can be along Slender member and extend to a series of continuous protrusions in operation tool 1402,1402a and actuator 1404,1404a.This Outside, indicate that actuator 1404, the visible features 1406 of translation and the rolling of 1404a, 1406a can be performed device 1404,1404a It is partially blocked by, but actuator 1404 still can be provided, the rolling of 1404a or the instruction of translation orientation.Such as, it is seen that it is special Sign can be letter " A " of the laser marking on actuator 1404,1404a.Even if the lower part of alphabetical " A " is capped, alphabetical Top can still indicate the direction of the orientation of actuator 1404,1404a.
Indicate that the visible features 1406,1406a of translation and the rolling of actuator 1404,1404a may include the view in user The visible secondary feature in Yezhong, to indicate actuator 1404, the correct translation and rotation of 1404a.Secondary feature can be mainly A part of visible features, or can be individual feature.The presence of supplemental characteristic may be advantageous, because user is not only It only relies upon a key component of feature or depends only on single visible features to indicate correctly to be aligned.
In one example, it is alphabetical " A " that instruction actuator, which is in the main visible features of correct roll orientation,.If Actuator in desired locations alignment but alphabetical " A " is blocked completely by surrounding tissue or other surgical instruments, then adjacent to The secondary feature (for example, star symbol of embossing) of alphabetical " A " can serve to indicate that actuator is correctly aligned.
In one embodiment, endoscopy system may include endoscopic device 1400 as described above, and It and can also include the driving mechanism for being coupled to operation endoscopic device 1400.Endoscopy system can also include interior Sight glass inspection surgical instrument controller is to control driving mechanism, and device for endoscopic surgery controller can be configured as Send signal, signal prompt actuator 1404 to be executed, the roll orientation alignment of 1404a；Receive the sound that alignment is completed It answers；And authorize the permission to the actuator 1404,1404a operational access of endoscopic device 1400.
Only determining that the alignment of operation tool 1402,1402a is satisfactorily just to allow to access actuator later 1404,1404a.This be used as security mechanism, prevent actuator be in unsatisfactory position when from being activated and using, Being activated and use at this time may patient harm.
It will be understood by those skilled in the art that in the case where not departing from broadly described the spirit or scope of the present invention, it can To carry out many variations and/or modification to the present invention shown in embodiment.Therefore, embodiment should all be considered in all respects It is illustrative and be not restrictive.
1. a kind of endoscopic device, comprising:
Slender member, for being inserted into the axis of conveying endoscope,
Operation tool, is couple to the distal end of the slender member, and the operation tool has actuator in opposite end；With
Visible features are arranged on the slender member, the operation tool or both, the positions of the visible features relative to The roll orientation of the actuator is fixed, so that the rolling of actuator described in the position instruction of the visible features during use Orientation.
2. endoscopic device according to claim 1 further includes being arranged in the slender member, the operation tool Or both on visible features, wherein the visible features are located at the predetermined length away from the actuator, so that in validity period Between the visible features provide the actuator translation measurement.
3. endoscopic device according to claim 2, wherein indicate that the described of the roll orientation of the actuator can The visible features seen feature and provide the translation measurement of the actuator are individual visible features.
4. endoscopic device according to any one of the preceding claims, wherein be arranged on the slender member And indicate that the visible features of the roll orientation of the actuator are located at the position that the slender member is couple to the operation tool Near, and wherein, it is arranged on the operation tool and indicates that the visible features of the roll orientation of the actuator are located at institute It states near actuator.
5. endoscopic device according to any one of the preceding claims, wherein the visible features are along institute It states and extends in a part of the length of slender member, described operation tool or both.
6. endoscopic device according to any one of the preceding claims, wherein the visible features are along institute It states and extends in a part of the cross-sectional perimeter of slender member, described operation tool or both.
7. endoscopic device according to any one of the preceding claims, wherein the visible features are by following Any one or more formation: can not erase colorant；Laser marking, embossing or surface texture.
8. endoscopic device according to claim 7, wherein it is described can not erase colorant have with it is described elongated Component, the operation tool or both different color.
9. endoscopic device according to any one of the preceding claims, wherein the visible features include shape, Any one or more of symbol or text.
10. endoscopic device according to any one of the preceding claims, wherein the visible features are that setting exists A part of pattern on the slender member, described operation tool or both.
11. device for endoscopic surgery according to any one of the preceding claims, wherein the actuator includes Any one of arm, clamper or electric cautery probe.
12. a kind of endoscopy system, comprising:
Endoscopic device according to any one of claim 1 to 11；
Driving mechanism is coupled to operate the endoscopic device；With
Device for endoscopic surgery controller, controls driving mechanism, and the device for endoscopic surgery controller is configured Are as follows:
Send signal, the roll orientation of the signal prompt alignment actuator to be executed；
Receive the response that alignment is completed；With
Authorize the permission to the actuator operational access of endoscopic device.
13. a kind of device for endoscopic surgery controller for device for endoscopic surgery, the endoscopy hand Art instrument includes:
Driving motor；
Follow motor；
Joint arrangement；
The driving motor is couple to the joint and arranged by rope for traction；With
Rope is pushed, follows motor to be couple to the joint arrangement for described, wherein by leading described in driving motor withdrawal Tow and it is described follow motor to discharge the promotions rope to arrange to activate the joint,
The device for endoscopic surgery controller includes:
At least one processor, at least one processor include computer program code, at least one processor and Computer program code is configured as making the device for endoscopic surgery controller together at least one described processor At least:
The displacement range occurred at the rope for traction is established, in the displacement range, the rope for traction is due to described Driving motor withdraws and is subjected to maximum tension；
Determine whether the received order for activating the joint arrangement makes the driving motor withdraw the rope for traction Fall in the length in the displacement range；With
When receiving the order, motor is followed to limit the release for pushing rope described in instruction, thus in the displacement model The length for enclosing the interior promotion rope for following motor to discharge is less than the length for the rope for traction that the driving motor is withdrawn, so that The tension that is subjected in the rope for traction is caused by extension as the rope for traction.
14. device for endoscopic surgery controller according to claim 13, wherein the endoscopic surgery device Tool controller is also configured to
During the driving motor and at least part of the operation for following motor, indicate that the driving motor makes to be received Motor is followed to make the length for the promotion rope being released according to mutual ratio described in the length or instruction of the rope for traction returned The factor.
15. device for endoscopic surgery controller described in 3 or 14 according to claim 1, wherein the ratio is in entire position It moves in range and occurs.
16. device for endoscopic surgery controller according to claim 14, wherein for the driving motor and institute At least part for following the operation of motor is stated, the scale factor is 1.
17. device for endoscopic surgery controller described in any one of 3,14 and 16 according to claim 1, wherein described Device for endoscopic surgery controller is also configured to
Motor is followed after detecting the order, described in instruction to prevent the release for pushing rope.
18. device for endoscopic surgery controller described in any one of 3,14,16 and 17 according to claim 1, wherein institute Device for endoscopic surgery controller is stated to be also configured to
Operate the driving motor and it is described follow motor so that before detecting the order, the rope for traction of withdrawal The same length of length and the promotion rope of release.
19. device for endoscopic surgery controller described in any one of 3 to 18 according to claim 1, wherein peeped in described The rope for traction and promotion rope of spectroscopy surgical instrument are single-pieces.
20. device for endoscopic surgery controller described in any one of 3 to 19 according to claim 1, wherein peeped in described Spectroscopy surgical instrument controller is also configured to
The stopping of the driving motor is detected, the point of maximum tension is subjected to the rope for traction in the establishment displacement range.
21. a kind of endoscopy system, comprising:
Device for endoscopic surgery, comprising:
Rope is pushed, follows motor to be couple to the joint arrangement for described, wherein by leading described in driving motor withdrawal It tow and described follows motor to discharge the promotions rope to arrange to activate the joint；With
Device for endoscopic surgery controller is couple to the device for endoscopic surgery, the endoscopic surgery Instrument controller is configured to:
Motor is followed to limit the release for pushing rope when receiving the order, described in instruction, thus in the displacement The length of the promotion rope for following motor to discharge is less than the length for the rope for traction that the driving motor is withdrawn in range, with So that caused by the tension being subjected in the rope for traction is extension as the rope for traction.
22. endoscopy system according to claim 21, wherein the device for endoscopic surgery controller is also It is configured as:
23. the endoscopy system according to claim 21 or 22, wherein the ratio is sent out in entire displacement range It is raw.
24. endoscopy system according to claim 22, wherein for the driving motor and described follow motor Operation at least part, the scale factor be 1.
25. the endoscopy system according to any one of claim 21,22 and 24, wherein the endoscopy Surgical instrument controller is also configured to
26. the endoscopy system according to any one of claim 21,22,24 and 25, wherein the endoscopy The system of looking into is also configured to
27. the endoscopy system according to any one of claim 21 to 26, wherein the endoscopic surgery The rope for traction and promotion rope of instrument are single-pieces.
28. the endoscopy system according to any one of claim 21 to 27, wherein the endoscopic surgery Instrument controller is also configured to
29. a kind of device for endoscopic surgery controller of endoscopy system, the endoscopy system includes interior Sight glass checks surgical instrument, and the device for endoscopic surgery includes:
Driving mechanism；With
The remote of the device for endoscopic surgery is arranged in the terminal joint activated by the driving mechanism, the terminal joint End；
Endoscopy system further include:
The input unit being electrically connected with the driving mechanism, wherein the movement of the input unit causes the terminal joint Actuating,
It detects by the signal of the mobile generation of the input unit, the signal provides the master that the input unit is moved into Cartesian position in working space, the main working space provide the boundary that the input unit can be movable within；
For following databases, the received Cartesian position of Cartesian position and mapping list processing institute: the database includes The Cartesian position of the main working space；The Cartesian position offer can be on the boundary for wherein activating the terminal joint Slave working space；And each Cartesian position in the main working space is mapped to described from work by the mapping table At least one Cartesian position in space；
Determine it is described from working space for received Cartesian position matching Cartesian position；With
The driving mechanism is ordered to be actuated into the terminal joint described from the matching Cartesian position in working space.
30. device for endoscopic surgery controller according to claim 29, wherein more in the main working space A Cartesian position is mapped to described from the Cartesian position in working space.
31. device for endoscopic surgery controller according to claim 30, wherein the institute in the main working space State the Cartesian position from working space that multiple Cartesian positions are mapped to be in the main workspace described in Each of multiple Cartesian positions provide described from the immediate matching Cartesian position in working space.
32. a kind of device for endoscopic surgery controller of endoscopy system, the endoscopy system includes interior Sight glass checks surgical instrument, and the device for endoscopic surgery includes:
The endoscopy system further include:
At least one processor, at least one processor include computer program code, at least one processor and The computer program code is configured as making device for endoscopic surgery controller together at least one described processor At least:
Mobile tracking device is being created out of working space, it is described to activate the terminal joint wherein from working space offer Boundary, the mobile tracking device be configured to respond to the input unit moved and by described out of working space Displacement is to track the input unit；
It detects by the signal of the mobile generation of the input unit；
The mobile tracking device is displaced to it is described from the Cartesian position in working space, wherein the distance shifted depends on institute State Cartesian position of the input unit in main working space before and after input unit moves, the main working space The boundary for capableing of the input unit movable within is provided；With
Order the driving mechanism that the terminal joint is actuated into the mobile tracking device described from work after shifting Cartesian position in space.
33. device for endoscopic surgery controller according to claim 32, wherein the endoscopic surgery device Tool controller is additionally configured to empty from working space and the main work described in inquiry storage when creating the mobile tracking device Between database.
34. the device for endoscopic surgery controller according to claim 32 or 33, wherein the endoscopy hand Art instrument controller is also configured to
When configuring the mobile tracking device tracking input unit, the input unit is linked to the mobile tracking Device.
35. device for endoscopic surgery controller according to claim 34, wherein when the input unit is described When moving out of region outside working space described in of main working space, the mobile tracking device is described empty from work Between periphery or moved along described from the periphery of working space.
36. the device for endoscopic surgery controller according to any one of claim 29 to 35, wherein
Power module is fed back, the input unit is couple to, the feedback power module is configured as generating resistance, which will be described Input unit is maintained at corresponding to described out of, the main working space of the inside on the boundary of working space region,
Wherein, the device for endoscopic surgery controller is also configured to
It is empty from work corresponding to described to further move in the input unit to send signal to the feedback power module Between boundary the main working space region except when increase resistance.
37. device for endoscopic surgery controller according to claim 36, wherein the endoscopic surgery device Tool controller is also configured to
Calculate the increased amplitude of resistance that the feedback power module generates；With
The driving motor or the driving mechanism are sent commands to, to adjust in response to the increased amplitude of calculated resistance Section is applied so as to move the torque limit of the joint arrangement or the terminal joint.
38. the device for endoscopic surgery controller according to any one of claim 29 to 37, wherein the flute card Your position provides the position in three-dimensional space.
39. the device for endoscopic surgery controller according to any one of claim 29 to 38, wherein the main work Making space has than the volume big from working space.
40. the device for endoscopic surgery controller according to any one of claim 29 to 39, wherein peeped in described Spectroscopy surgical instrument further includes the actuator for being couple to the terminal joint, wherein the actuator is arm, clamper or electricity Any one of cautery probes.
41. the device for endoscopic surgery controller according to any one of claim 29 to 40, wherein peeped in described Spectroscopy surgical instrument controller is also configured to
It is synchronous with the orientation of joint arrangement or the terminal joint to make the orientation of the input unit, so that the input fills The change for the orientation set leads to the corresponding change of the orientation in the joint arrangement or the terminal joint.
42. a kind of adapter for activating the rope of device for endoscopic surgery for coupling motor shaft, the adapter packet It includes:
Rotating cylinder, the rope are wrapped on the rotating cylinder, and the rotating cylinder is rotatably coupled to shell；With
Stored energy mechanism is arranged to apply torque to rotating cylinder.
43. adapter according to claim 42, wherein the stored energy mechanism is positioned to wind along the rope Direction on the rotating cylinder applies torque.
44. the adapter according to claim 42 or 43, wherein one end of the stored energy mechanism is couple to described turn Cylinder, and the opposite end of the stored energy mechanism is couple to the shell.
45. adapter according to any one of the preceding claims, wherein the stored energy mechanism is arranged at described turn Around a part of cylinder.
46. the adapter according to any one of claim 42 to 44, wherein the stored energy mechanism is arranged described The either end of rotating cylinder.
47. the adapter according to any one of claim 42 to 46, wherein the stored energy mechanism is designed to make Obtain the tension that applied torque causes about 0.5 to 3N in the rope.
48. the adapter according to any one of claim 42 to 47, wherein the stored energy mechanism includes flexibly Flexible component or hydraulic device.
49. adapter according to claim 48, wherein the flexibly flexible component is torsionspring.
50. adapter according to claim 49, wherein the torsionspring has any one of following configuration: flat Flat spin, coil or axial twist.
51. adapter according to claim 50, wherein the torsionspring of coil configuration has at least 14 slenderness ratio.
52. the adapter according to any one of claim 42 to 51 further includes at least one groove, the rope and institute Groove engagement is stated, at least one described groove is arranged in a part of the rotating cylinder.
53. adapter according to claim 52, wherein the groove extends along the diameter of the rotating cylinder.
54. the adapter according to claim 52 or 53, further includes the screw thread being formed on the rotating cylinder, the screw thread is mentioned For multiple grooves, the rope is engaged with the groove.
55. a kind of conveying endoscope Docking station, comprising:
Pedestal, the pedestal have the endoscope surfaces for attachment for installing conveying endoscope, and the pedestal also has for pacifying Dress driving mechanism is to activate by the driving mechanism surfaces for attachment of the robot component for conveying endoscope carrying；With
Platform, the pedestal are rotatably attached to the platform.
56. conveying endoscope Docking station according to claim 55, further includes rotating mechanism, the rotating mechanism is arranged to Promote the pedestal relative to the rotation of the platform.
57. conveying endoscope Docking station according to claim 56, wherein rotating mechanism setting in the pedestal and Between the platform.
58. conveying endoscope Docking station according to claim 57, wherein rotating mechanism setting in the pedestal and Between the part adjacent with the driving mechanism surfaces for attachment of the pedestal of the platform, the pedestal and the platform with Between the adjacent part of the endoscope surfaces for attachment of the pedestal or above-mentioned two situations.
59. the conveying endoscope Docking station according to any one of claim 56 to 58, wherein the rotating mechanism is rolling Any one or more of pearl bearing arrangement, roller bearing device and oiled washer device.
60. the conveying endoscope Docking station according to any one of claim 55 to 59, further includes locking mechanism, the lock Determine rotation of the arrangement of mechanism at the locking pedestal relative to the platform.
61. conveying endoscope Docking station according to claim 60, further includes that the locking mechanism is couple to the base The connector of seat.
62. conveying endoscope Docking station according to claim 61, wherein the connector includes any one in following It is a: timing belt device, geared system or arm link.
63. conveying endoscope Docking station according to claim 59, wherein the locking mechanism includes electrical activation device, The electrical activation device is configured to lock the pedestal by being frictionally engaged.
64. conveying endoscope Docking station according to claim 63, wherein the locking mechanism is configured as default locking The pedestal.
65. the conveying endoscope Docking station according to any one of claim 60 to 64, wherein the locking mechanism includes Brake pad, fixture and any one or more of latch and crown block.
66. the conveying endoscope Docking station according to any one of claim 61 to 65, further includes damping mechanism, with decaying The rotation of the pedestal.
67. conveying endoscope Docking station according to claim 66, wherein the damping mechanism includes rotary damper, The rotary damper has any one of following configuration: spin friction disk, spin friction rack gear, Pneumatic rotary damper Or visco-elastic pieces.
68. conveying endoscope Docking station according to claim 67, wherein the rotary damper is couple to connector, The locking mechanism is couple to the pedestal by the connector.
69. the conveying endoscope Docking station according to any one of claim 55 to 68, wherein across being removedly attached Axis to the end center of the adapter of the pedestal is aligned with the rotation axis of the pedestal.
70. the conveying endoscope Docking station according to any one of claim 55 to 69, wherein the pedestal further includes branch Frame, the actuator of the driving mechanism are couple to the bracket, the actuator include at least one actuator with Activate the robot component.
71. conveying endoscope Docking station according to claim 70, wherein the actuator includes adapter attachment Surface, adapter are couple to the adapter surfaces for attachment, and the adapter is used to the actuator being couple to the machine People's component.
72. the conveying endoscope Docking station according to any one of claim 55 to 71, wherein the driving mechanism is extremely Few a part is integral with the pedestal, and the rest part of the driving mechanism is removably attached to the driving mechanism The integral part.
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