Endoscopic surgical robots
Disclosed herein are surgical robotics, and particularly a perfusion and suction pumping system of a medical instrument for operation within organs of a patient's body. Methods for using the same are also provided.
1. An endoscopic surgical robotic system, comprising:
an endoscope pre-selected according to a lesion inside of an organ, wherein the endoscope comprises a fluid inlet channel for flowing an irrigation fluid to the organ;
a sheath for guiding the endoscope;
a suction channel located within the sheath for removing the irrigation fluid from the organ;
a pressure measuring channel located along the sheath, wherein the pressure measuring channel is connected to a pressure detector constructed to measure a pressure within the organ;
a pressure relief valve in fluid communication with the sheath, wherein once the pressure within the organ monitored via the pressure detector increases above a threshold, the pressure relief valve opens to allow removal of the irrigation fluid in the suction channel, thereby lowering the pressure within the organ;
a first holder for holding the sheath;
a second holder for holding the endoscope, wherein the first holder and the second holder are designed to move co-axially so as to move the endoscope in and out of the sheath; and
a robotic arm for controlling a movement of the sheath, wherein the robotic arm is connected to the first holder.
2. The endoscopic surgical robotic system of claim 1 , further comprising a puncturable cap located at a distal end of the sheath through which the endoscope is inserted into the sheath.
3. The endoscopic surgical robotic system of claim 1 , further comprising a perfusion suction pump for continuously pumping the irrigation fluid into the organ and continuously removing the irrigation fluid.
4. The endoscopic surgical robotic system of claim 1 , further comprising a suction pump in fluid communication with the suction channel, for pumping out and removing the irrigation fluid from the organ.
5. The endoscopic surgical robotic system of claim 1 , wherein the pressure measuring channel is located inside of the sheath.
6. The endoscopic surgical robotic system of claim 1 , wherein the pressure detector monitors the pressure within the organ in real time and is connected to an electrocardiograph.
7. The endoscopic surgical robotic system of claim 1 , wherein the threshold is pre-determined according to the lesion, the organ, the sheath and/or a flow speed of the irrigation fluid.
8. The endoscopic surgical robotic system of claim 1 , wherein the first holder is constructed to removably hold the sheath via a first latch, and/or the second holder is constructed to removably hold the endoscope via a second latch.
9. The endoscopic surgical robotic system of claim 1 , further comprising a holder bar for hanging the first holder and the second holder such that the first holder and the second holder are movable back and forth along the holder bar, wherein the holder bar is connected to the robotic arm via a connector.
10. The endoscopic surgical robotic system of claim 1 , wherein the robotic arm comprises a multi-degree-of-freedom actuator and a multi-degree-of-freedom control system, wherein the endoscope is fixed at an output end of the multi-degree-of-freedom actuator, and wherein a tool center point is defined on the endoscope by the multi-degree-of-freedom control system.
11. The endoscopic surgical robotic system of claim 10 , further comprising a command console for controlling the robotic arm.
12. The endoscopic surgical robotic system of claim 11 , wherein the command console comprises a 3D controller and a control host, wherein a dimension of the 3D controller is matched with freedom degrees of the tool center point, wherein the control host associates dimension information from a multi-dimensional sensor of the 3D controller with freedom degree information from the tool center point.
13. The endoscopic surgical robotic system of claim 12 , wherein the 3D controller remotely controls the multi-degree-of-freedom actuator and the endoscope.
14. The endoscopic surgical robotic system of claim 12 , wherein when the endoscope reaches a patient, the control host starts to restrict the endoscope to move along an axial direction of the endoscope and rotate around the tool center point with pitch, roll, and yaw motion within a preset scope of a safety zone.
15. The endoscopic surgical robotic system of claim 11 , wherein the command console comprises a monitor module for displaying patient monitoring information.
16. The endoscopic surgical robotic system of claim 10 , wherein the tool center point is an entry point for incision.
17. The endoscopic surgical robotic system of claim 1 , further comprising a lithotripter for breaking up stones within the organ.
18. A method for performing percutaneous nephrolithotomy surgery, comprising using the endoscopic surgical robotic system of claim 1 .
19. A method for performing surgery, comprising:
inserting a sheath through a pre-cut incision on a patient, into an organ, wherein the sheath is held by a first holder;
placing an endoscope into the sheath, wherein the endoscope is pre-selected according to a lesion inside of the organ and is held by a second holder, the endoscope comprises a fluid inlet channel for flowing an irrigation fluid to the organ, and wherein the sheath comprises a suction channel for removing the irrigation fluid from the organ;
moving the first holder and the second holder co-axially so as to move the endoscope in and out of the sheath;
controlling a movement of the sheath via a robotic arm connected to the first holder;
pumping the irrigation fluid into the fluid inlet channel;
removing the irrigation fluid from the organ through the suction channel; and
monitoring pressure within the organ via a pressure detector connected to a pressure measuring channel located along the sheath, wherein once the pressure within the organ monitored via the pressure detector increases above a threshold, a pressure relief valve in fluid communication with the sheath opens to allow removal of the irrigation fluid in the suction channel, thereby lowering the pressure within the organ.
20. An endoscopic surgical robotic system, comprising:
an endoscope pre-selected according to a lesion inside of an organ, wherein the endoscope comprises a fluid inlet channel for flowing an irrigation fluid to the organ;
a sheath for guiding the endoscope;
a suction channel located within the sheath for removing the irrigation fluid from the organ;
a pressure measuring channel located along the sheath, constructed to measure a pressure within the organ and connected to a pressure detector;
a pressure relief valve in fluid communication with the sheath, wherein once the pressure reaches a threshold, the pressure relief valve opens to allow removal of the irrigation fluid in the suction channel, thereby lowering the pressure within the organ;
a first holder for holding the sheath;
a second holder for holding the endoscope, wherein the first holder and the second holder are designed to move co-axially so as to move the endoscope in and out of the sheath;
a robotic arm for controlling a movement of the sheath, wherein the robotic arm is connected to the first holder and comprises a multi-degree-of-freedom actuator and a multi-degree-of-freedom control system, wherein the endoscope is fixed at an output end of the multi-degree-of-freedom actuator, and wherein a tool center point is defined on the endoscope by the multi-degree-of-freedom control system; and
a command console for controlling the robotic arm, wherein the command console comprises a 3D controller and a control host, wherein a dimension of the 3D controller is matched with freedom degrees of the tool center point, and wherein the control host associates dimension information from a multi-dimensional sensor of the 3D controller with freedom degree information from the tool center point.