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CN-121971161-A - Laparoscopic surgical instrument with intelligent regulation and control function and intelligent regulation and control method thereof

CN121971161ACN 121971161 ACN121971161 ACN 121971161ACN-121971161-A

Abstract

The invention relates to the technical field of medical instruments, and discloses a laparoscopic surgical instrument with an intelligent regulation function and an intelligent regulation method thereof, wherein the laparoscopic surgical instrument with the intelligent regulation function comprises a mechanical operation part, a snake bone bending part, an end execution part, a mechanical transmission part and an intelligent regulation part; the mechanical operation part comprises a bending hand wheel, the snake bone bending part is connected with the mechanical operation part, the tail end executing part is connected with the snake bone bending part and used for executing tissue separation, cutting and electrocoagulation operation, and the mechanical transmission part is connected between the bending hand wheel and the snake bone bending part. According to the invention, through arranging the intelligent regulation and control part, the gesture sensing part is utilized to collect the hand wheel operation in real time, the pre-calibrated snake bone kinematic model is combined, the expected angle of the tail end executing part is accurately calculated, and the auxiliary regulation and control part is utilized to apply auxiliary moment or damping to the bending hand wheel, so that the transmission gap, the snake bone elastic deformation and the hand shake of a doctor are effectively compensated, and the positioning accuracy of the tail end can be improved.

Inventors

  • GAO ZIHENG

Assignees

  • 鑫海合星科技（大连）有限公司

Dates

Publication Date
20260505
Application Date
20260310

Claims (10)

  1. 1. A laparoscopic surgical instrument having intelligent regulation and control functions, comprising: A mechanical operating section including a curved hand wheel; A snake bone bending part connected with the mechanical operation part; An end effector coupled to the snake bone bending portion for performing tissue separation, cutting, and electrocoagulation operations; The mechanical transmission part is connected between the bending hand wheel and the snake bone bending part and is used for transmitting the operation input of the bending hand wheel to the snake bone bending part so as to realize the bending action of the tail end executing part; Intelligent control portion includes: the pose sensing piece is used for collecting the operation angle, the rotation speed and the steering of the mechanical operation part; a force sensing member for collecting a contact force between the end effector and the tissue; a tissue identification member for acquiring an impedance value of the contact tissue; The auxiliary control part is in transmission connection with the bending hand wheel, is used for responding to a control instruction, selectively applying auxiliary moment, damping or locking to the bending hand wheel, and automatically releasing the transmission connection with the bending hand wheel when power is off or the bending hand wheel fails, so that the bending hand wheel is restored to pure mechanical operation; The controller is electrically connected with the pose sensing piece, the force sensing piece, the tissue recognition piece and the auxiliary regulating and controlling piece respectively and is configured to: according to the operation angle, calculating the expected bending angle of the tail end executing part by combining a pre-stored snake bone kinematic model; identifying the tissue type according to the impedance value, and matching the corresponding safety force threshold value; generating a damping adjustment or locking instruction according to a comparison result of the contact force and the safety force threshold value; generating a physiological shake suppression auxiliary instruction according to the rotation speed of the hand wheel; and sending the instruction to the auxiliary control.
  2. 2. The laparoscopic surgical instrument with intelligent regulation function according to claim 1, wherein the auxiliary regulation member comprises a micro-servo motor in transmission connection with a rotating shaft of the bending hand wheel and an electromagnetic clutch arranged between the micro-servo motor and the bending hand wheel, and the electromagnetic clutch is used for being engaged to transmit power in normal operation and automatically disconnected in case of power failure or faults.
  3. 3. The laparoscopic surgical instrument with intelligent control function according to claim 1, wherein the mechanical operating part further comprises a handle with a control button, an electric control unit arranged in the handle, and an outer tube connected to one end of the handle.
  4. 4. The laparoscopic surgical instrument with an intelligent regulation function according to claim 1, wherein the snake bone bending part is a metal snake bone structure formed by sequentially hinging a plurality of snake bone unit bodies, and adjacent snake bone unit bodies are connected through pin shafts; The snake bone unit body is characterized in that a first end face and a second end face are respectively arranged at two ends of the snake bone unit body, a bending-preventing stop is arranged on the second end face, and a movable groove matched with the bending-preventing stop is formed in the snake bone unit body.
  5. 5. The laparoscopic surgical instrument with the intelligent regulation function according to claim 1, wherein the end execution part is an electric hook head, the electric hook head comprises a hook head base, a hook head metal piece, an insulating head and a hook head electrode which are sequentially connected, the insulating head is cylindrical, a streamline groove is formed in the side face of the insulating head and used for reducing cutting and scratching of tissues, and a hook head wrapping pipe is wrapped on the surface of the electric hook head.
  6. 6. The laparoscopic surgical instrument with intelligent regulation and control function according to claim 3, wherein the mechanical transmission part comprises a transmission gear coaxially installed on the bending hand wheel and a driving inner rod slidably arranged in the outer tube, one end of the driving inner rod is meshed with the transmission gear, the other end of the driving inner rod is connected with a driving spring piece, and one end of the driving spring piece is connected with a snake bone unit body close to one side of the tail end executing part.
  7. 7. The laparoscopic surgical instrument with intelligent regulation and control function according to claim 6, wherein the pose sensor comprises a magnetic encoder coaxially installed on a rotating shaft of the bending hand wheel for acquiring an operation angle, a rotation speed and a rotation direction of the hand wheel.
  8. 8. The laparoscopic surgical instrument with intelligent regulation and control function according to claim 7, wherein the force sensing member comprises a film pressure sensor installed on the connecting end surface of the driving spring plate and the driving inner rod, and the film pressure sensor is used for collecting the axial contact force between the end execution part and the tissue.
  9. 9. The laparoscopic surgical instrument with intelligent regulation and control function according to claim 8, wherein the tissue identification member comprises an analog-to-digital conversion chip connected in series in a high-frequency conductive loop of the end effector for acquiring impedance values of the contacted tissue and transmitting the impedance values to the controller.
  10. 10. An intelligent regulation and control method of a laparoscopic surgical instrument, which is applied to the laparoscopic surgical instrument with intelligent regulation and control function as set forth in any one of claims 1 to 9, and is characterized by comprising the following steps: S100, collecting the operation angle and the rotation speed of the bending hand wheel, the contact force of the tail end executing part and the impedance value of contact tissues in real time; s200, calculating an expected bending angle of the tail end executing part according to the operation angle by combining a pre-stored snake bone kinematic model; S300, identifying tissue types according to the impedance values, and matching corresponding safety force thresholds; S400, generating a damping enhancement or locking instruction according to a comparison result of the contact force and the safety force threshold value if the contact force reaches the early warning threshold value or the safety threshold value; s500, generating a physiological jitter suppression auxiliary instruction according to the rotation speed of a hand wheel; S600, sending an instruction to an auxiliary control piece, and applying corresponding auxiliary moment, damping or locking to the bending hand wheel; and S700, when the system is powered off or fails, the transmission connection with the bending hand wheel is automatically released through the auxiliary control part, and the pure mechanical operation is restored.

Description

Laparoscopic surgical instrument with intelligent regulation and control function and intelligent regulation and control method thereof Technical Field The invention relates to the technical field of medical instruments, in particular to a laparoscopic surgical instrument with an intelligent regulation function and an intelligent regulation method thereof. Background In laparoscopic minimally invasive surgery, bendable electric hooks are among the commonly used separation, cutting and electrocoagulation tools. Currently, common bendable rotary electric hooks generally comprise a handle, a bending hand wheel, a rotary hand wheel, an outer tube, an insulating tube, a push-pull tube, an inner core, a metal snake bone, and an electric hook head. The doctor can drive the push-pull tube and the inner core to move by manually controlling the bending hand wheel and the rotating hand wheel, so as to drive the snake bone to bend and the electric hook to rotate, thereby achieving tissue separation, cutting and electrocoagulation operation in operation. However, existing bendable rotary electric hooks, while meeting basic surgical use needs, still suffer from a number of drawbacks. A purely mechanical bendable rotary electric hook like this has a less than ideal accuracy of operation. In actual operation, doctors can only control by means of two-dimensional vision and hand feeling, and physiological hand shake, transmission gaps, snake bone elastic deformation and other factors can influence the terminal precision. If the precision deviation is too large, the problem of injuring fragile tissues such as blood vessels and nerves can be possibly caused, and the operation boundary can not be adjusted according to different tissue types only by mechanical limit, so that the difficulty of the novice doctor in the upper hand is high. Disclosure of Invention The invention aims to provide a laparoscopic surgical instrument with an intelligent regulation function and an intelligent regulation method thereof, which solve the technical problems. The invention solves the technical problems by the following technical proposal: In a first aspect, the present invention provides a laparoscopic surgical instrument having an intelligent regulation function, comprising: A mechanical operating section including a curved hand wheel; A snake bone bending part connected with the mechanical operation part; An end effector coupled to the snake bone bending portion for performing tissue separation, cutting, and electrocoagulation operations; The mechanical transmission part is connected between the bending hand wheel and the snake bone bending part and is used for transmitting the operation input of the bending hand wheel to the snake bone bending part so as to realize the bending action of the tail end executing part; Intelligent control portion includes: the pose sensing piece is used for collecting the operation angle, the rotation speed and the steering of the mechanical operation part; a force sensing member for collecting a contact force between the end effector and the tissue; a tissue identification member for acquiring an impedance value of the contact tissue; The auxiliary control part is in transmission connection with the bending hand wheel, is used for responding to a control instruction, selectively applying auxiliary moment, damping or locking to the bending hand wheel, and automatically releasing the transmission connection with the bending hand wheel when power is off or the bending hand wheel fails, so that the bending hand wheel is restored to pure mechanical operation; The controller is electrically connected with the pose sensing piece, the force sensing piece, the tissue recognition piece and the auxiliary regulating and controlling piece respectively and is configured to: according to the operation angle, calculating the expected bending angle of the tail end executing part by combining a pre-stored snake bone kinematic model; identifying the tissue type according to the impedance value, and matching the corresponding safety force threshold value; generating a damping adjustment or locking instruction according to a comparison result of the contact force and the safety force threshold value; generating a physiological shake suppression auxiliary instruction according to the rotation speed of the hand wheel; and sending the instruction to the auxiliary control. Preferably, the auxiliary regulating and controlling piece comprises a miniature servo motor in transmission connection with a rotating shaft of the bending hand wheel and an electromagnetic clutch arranged between the miniature servo motor and the bending hand wheel, wherein the electromagnetic clutch is used for being connected to transmit power in normal operation and is automatically disconnected in power failure or fault. Preferably, the mechanical operation part further comprises a handle with a control key, an electric control unit arranged in the handle and a