The Da Vinci Surgical Robot is a master-slave controlled minimally invasive surgery system designed for surgeons to perform minimally invasive surgery such as laparoscopy and thoracoscopic surgery. The product name is endoscopic surgery control system. So far, only the surgical robots of a company in the US Intuitive Surgical, Inc. have been approved for registration. This article will briefly introduce the situation of the Da Vinci surgical robot.
First, the history of listing
(a) the United States
1. In July 1997, the first Da Vinci surgical robot IS1000 (trade name da Vinci) of Intuitive Surgical, Inc. of the United States passed the US 510K certification.
2. In April 2005, IS2000 (trade name: da Vinci S) passed the US 510K certification. Compared with IS1000, IS2000 has changed the patient's operating platform and image processing platform, and the doctor control platform and surgical instruments are also small. Variety.
3. In February 2009, IS3000 (trade name: da Vinci Si) passed the US 510K certification, and the IS3000 provides a smarter user interface and improved usage.
4. In March 2014, IS4000 (trade name: da Vinci Xi) passed the US 510K certification, and IS4000 updated the design of the robot arm and the connection of the equipment.
In July 2008, China approved the first Da Vinci surgical robot, model IS2000. In August 2011, the IS3000 Da Vinci surgical robot was approved for registration; in December 2018, the IS4000 Da Vinci surgical robot was approved for registration.
Second, IS4000 product overview
The standard configuration of the surgical robot includes a doctor's console, a patient's surgical platform and an image processing platform, which are used in conjunction with endoscopes and surgical instruments.
(a) doctor console
The surgeon sits at the doctor's console and controls all movements of the surgical instrument and endoscope by using a manual controller (master controller) and a set of foot pedals. The surgeon views the view of the patient's anatomy and surgical instrument and other user interface features through the endoscope on a three-dimensional viewer. A doctor's console can control two surgical robot arms at the same time, and can also control the lens arm and the third surgical robot arm through foot switch control switching. A system with two doctor consoles allows two doctors to operate four robots simultaneously
The most important control component is the manual controller. The manual controller is used to capture the surgeon's hand or arm movements, such as a manual controller panning 6 cm and a terminal instrument moving distance of 2 cm, which ratio can be adjusted according to the actual surgical conditions.
(b) patient surgery platform
The patient's surgical platform is located next to the operating bed and contains four robotic arms. The endoscope can be attached to any robotic arm for providing a 3D view of the patient's anatomy. Fine surgical procedures are controlled by the doctor through the doctor's console.
The patient's surgical platform has a laser indicator that provides the user with positioning information. The horizontal positioning and surgical positioning are performed first before the operation, so that the surgical platform and the mechanical arm are in a suitable surgical position.
The boom is an adjustable swivel support that moves the arm to a position suitable for performing the procedure.
The boom can be moved up or down to adjust the height of the system.
4. Robotic arm
The function of the four robotic arms is to achieve grip and move or manipulate the endoscope and surgical instrument. The robot arm controls the instruments through five corresponding reels in the instrument, and each reel is responsible for controlling different instrument movements, such as some control rotation around the axis, and some control opening and closing.
(3) Image processing platform
The image processing platform includes a system core device, an endoscope controller, and a video processor. The image processing platform also has a touch screen to view endoscopic images and adjust system settings. The endoscope controller is used to provide control and illumination for the endoscope, and the image processor is used to obtain left and right video input signals from the endoscope controller, and provide the processed image output to the system core. The system core device functions include:
1. Communicate with the doctor's console and the patient's surgical platform. Distribute video signals from various sources (eg, image processor, external input) to various terminals (eg, touch screen, external output);
2. Communicate with the third-party high-frequency generator, and enable the electric energy from the doctor's console pedal to realize the operations of cutting, separating, and stopping bleeding, such as electrocoagulation, electrocautery, and electric cutting.
The Da Vinci Surgical System IS4000 motion signal flow is:
1. Capture the doctor's hand and arm movements through a manual controller in the doctor's console and convert to a control signal.
2. The control signal is transmitted to the robotic arm of the patient's surgical platform through the image processing platform, and the robotic arm converts the received control signal into the motion of the surgical instrument or arm.
The visual signal flow is transmitted to the doctor's console via the image processing platform through endoscopic acquisition.
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