Arthroscope distraction device and control method thereof

Abstract

The invention provides an arthroscope distraction device and a control method thereof. The arthroscope distraction device comprises a fixing structure, a position adjusting mechanism and an intelligent adjusting type distraction mechanism. The intelligent adjusting type distraction mechanism comprises a mounting frame, distraction devices are rotationally connected to the two sides of the mounting frame respectively, each distraction device comprises a linkage joint and an arc-shaped distraction arm, and the opposite faces of the two arc-shaped distraction arms are each provided with at least one miniature probe; at least one spreader is further provided with an angle sensor, the mounting frame is further provided with a visual sensor and a control assembly, the visual sensor is located between the two spreaders, and the control assembly controls the spreading angles of the spreaders according to the monitoring condition of the miniature probe and / or the visual sensor; the position adjusting mechanism is used for adjusting the space position and the space angle of the intelligent adjusting type opening mechanism according to the monitoring condition of the miniature probe and / or the visual sensor. According to the scheme, precise opening of the joints can be achieved according to the symptoms of a patient, and meanwhile dynamic autonomous adjustment is achieved through real-time feedback.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of orthopedic medical technology, in particular, to a joint arthroscopy distraction device and a control method thereof. BACKGROUND

[0002] Arthroscopic surgery, as a standard minimally invasive technique in the field of orthopedics, has important value in clinical treatment. During the operation, the doctor needs to use arthroscopy and the matching special minimally invasive surgical instruments to diagnose and operate on the patient's knee joint. In order to ensure the clarity of the surgical field and the sufficiency of the operation space, medical personnel must use a distractor to apply mechanical expansion force to the affected part of the patient's knee joint, and expand the internal operation space by physically distracting the joint space. This step is crucial for the doctor to accurately observe the structure inside the joint cavity (such as the meniscus, cruciate ligament, and cartilage surface) and perform delicate surgical operations.

[0003] However, the current clinically applied distractor has significant limitations in technical implementation. Most distractors still rely on manual operation by medical staff throughout the process: the operator or assistant needs to hold the instrument to maintain the distraction state, which not only consumes a lot of physical strength, but also easily leads to fatigue tremor after a long time of operation, directly affecting the stability of the instrument. This mode of operation is particularly inconvenient in complex or time-consuming surgeries, increasing the workload of the surgical team.

[0004] Although some improved distractors achieve position fixation through mechanical fixation devices (such as surgical table clamps or bone screw anchoring), avoiding the need for manual holding, they have improved in terms of labor saving and stability, but their core defects have not been solved. The control of the distraction amplitude completely depends on the subjective experience of the doctor. Due to the lack of precise quantitative adjustment mechanism and intelligent feedback system, the doctor can only judge the size of the joint space by visual observation and adjust the distraction force by hand feeling. This experience-oriented mode of operation has two risks: (1) Insufficient distraction: may lead to insufficient exposure of the visual field, affecting lesion observation and instrument operation; (2) Over-distraction: may cause iatrogenic injuries such as joint capsule tear, ligament strain, or cartilage compression injury.

[0005] It is obvious that the current distractor technology lacks intelligentization, and it is urgent to upgrade the technology to achieve precise and automated control of the distraction process to ensure surgical safety and efficiency.

[0006] Moreover, the current clinically applied distraction arm has significant defects in the adaptability of fragile tissues in the human body (such as synovial membrane, nerve endings, and microvascular network). Its rigid structure cannot achieve anatomical fit with the irregular soft tissue surface, resulting in local concentration of pressure distribution. This mechanical compression can easily lead to two types of clinical risks: (1) Local pressure peak: The pressure of >32 mmHg is generated at the edge or turning point of the spread arm (exceeding the capillary perfusion pressure threshold), which directly compresses the microcirculation structure; (2) Compression ischemia: Continuous compression for more than 2 hours will cause tissue hypoxia, lactic acid accumulation and ATP synthesis disorders, eventually leading to cell apoptosis or even tissue necrosis (such as ischemic fibrosis of the infrapatellar fat pad).

[0007] This problem is particularly prominent in knee arthroscopic surgery, because areas such as the perimeniscal vascular zone and cruciate ligament synovial sheath are abnormally sensitive to pressure, and the existing geometry and pressure transmission mechanism of the spreader arm cannot meet the biomechanical protection needs of such fragile tissues.

[0008] In conclusion, there is an urgent need to develop an intelligent arthroscopic dislocation device to ensure precise management of the dislocation process and avoid sequelae caused by mechanical compression. Summary of the Invention

[0009] To address the shortcomings of existing technologies, the present invention aims to provide an arthroscopic dislocation device and its control method, which can achieve precise dislocation of the joint according to the patient's condition, and at the same time achieve dynamic autonomous adjustment through real-time feedback, avoiding sequelae caused by mechanical compression.

[0010] The present invention provides an arthroscopic distraction device, comprising a fixing structure, a position adjustment mechanism, and an intelligent adjustable distraction mechanism, wherein the fixing structure and the intelligent adjustable distraction mechanism are connected through the position adjustment mechanism; The fixing structure is used to fix the arthroscopic opening device to the fixing point; The intelligent adjustable spreading mechanism includes a mounting frame, with spreaders rotatably connected to both sides of the mounting frame. Each spreader includes a linkage and an arc-shaped spreading arm. The upper end of the linkage is rotatably connected to the mounting frame, and the lower end is connected to the arc-shaped spreading arm. At least one miniature probe is provided on the opposite sides of each of the two arc-shaped spreading arms. At least one of the spreaders is also equipped with an angle sensor for real-time monitoring of the spreading angle of the spreader. The mounting frame is also equipped with a vision sensor and a control component. The vision sensor is located between the two spreaders, and the control component controls the spreading angle of the spreader based on the monitoring data of the miniature probe and / or the vision sensor. The position adjustment mechanism is used to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism according to the monitoring of the micro probe and / or the vision sensor.

[0011] Furthermore, the control component includes a dual-axis motor, with worm gears at both ends of the dual-axis motor. A worm wheel is toothed on the outer side of the worm gear, and the worm wheel is connected to the spreader, so that the spreader can adjust its spreading angle by driving the worm gears to rotate through the dual-axis motor.

[0012] Furthermore, both of the spreaders are equipped with angle sensors, and the dual-axis motor is connected to the worm gear via an electromagnetic clutch to enable individual adjustment of the spreading angle of the two spreaders.

[0013] Furthermore, the mounting bracket has a horizontally arranged H-shaped structure, and the two spreaders are symmetrically distributed in the recessed part of the mounting bracket. The upper end of the linkage is provided with a shaft, one end of which is embedded in the mounting bracket and rotatably connected to the mounting bracket, and the other end passes through the mounting bracket and is connected to the worm gear.

[0014] Furthermore, the upper end of the arc-shaped support arm is provided with a connecting block, and the lower end of the linkage is provided with a groove that matches the connecting block. The connecting block is located in the groove and is detachably connected to the groove, so as to facilitate the personalized installation of different arc-shaped support arms.

[0015] Furthermore, the arc-shaped expansion arm includes a contact layer, a pressure buffer layer, and a main support layer arranged sequentially. The contact layer is a transparent and flexible layer, and the micro probe is located within the contact layer. The pressure buffer layer includes an elastic buffer block and a thin-film pressure sensor, with the thin-film pressure sensor located between the elastic buffer block and the contact layer. The main support layer is made of a rigid material. The control component controls the adjustment of the expansion angle of the expander based on the monitoring data of the micro probe and / or the thin-film pressure sensor.

[0016] Furthermore, the position adjustment mechanism includes a sliding component, an angle adjustment component, and a telescopic component connected in sequence; The sliding component is used to adjust the spatial position of the intelligent adjustable spreading mechanism in the X-axis direction according to the monitoring of the vision sensor. The angle adjustment component is used to adjust the spatial angle of the intelligent adjustable spreading mechanism according to the monitoring of the micro probe and / or the vision sensor; The telescopic component is used to adjust the spatial position of the intelligent adjustable spreading mechanism in the Y-axis direction according to the monitoring of the visual sensor.

[0017] The present invention also provides a method for controlling an arthroscopic distraction device, applied to any of the arthroscopic distraction devices described above, the method comprising: Based on the monitoring data of the visual sensor, the position adjustment mechanism is adjusted to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism, so that the arc-shaped spreading arm reaches the target area and the intelligent adjustable spreading mechanism meets the initial spatial angle. The opening angle of the intelligent adjustable opening mechanism is adjusted to a preset opening angle; the preset opening angle is set in advance. The system receives real-time monitoring data from the micro probe and determines the operating status of the intelligent adjustable expansion mechanism when the blood oxygen value detected by the micro probe reaches a preset blood oxygen safety threshold. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the intelligent adjustable spreading mechanism is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the intelligent adjustable spreading mechanism is controlled to return to a preset value. Continue to receive the monitoring data from the micro probe in real time, and control the current opening angle of the intelligent adjustable opening mechanism according to the monitoring data of the micro probe until the blood oxygen value detected by the micro probe does not reach the preset blood oxygen safety threshold. Determine whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions; If the current opening angle of the intelligent adjustable opening mechanism does not meet the operating conditions, the position adjustment mechanism is adjusted according to the monitoring of the vision sensor to adjust the spatial angle of the intelligent adjustable opening mechanism so that the intelligent adjustable opening mechanism can meet the adjustment of the spatial angle. Adjust the current opening angle of the intelligent adjustable opening mechanism; Repeat the process of receiving the monitoring data from the micro probe in real time until the step of determining whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions is repeated, until the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions or the system reports an error.

[0018] Furthermore, when the opening angles of the two expanders can be controlled independently and only one of the expanders' corresponding microprobes detects a blood oxygen value reaching the preset blood oxygen safety threshold, the microprobe that detects a blood oxygen value reaching the preset blood oxygen safety threshold is defined as the first probe, and the expander corresponding to the first probe is defined as the first expander; the microprobe that detects a blood oxygen value not reaching the preset blood oxygen safety threshold is defined as the second probe, and the expander corresponding to the second probe is defined as the second expander. The method further includes: The system receives real-time monitoring data from the first probe and the second probe. If the blood oxygen value detected by the first probe reaches the preset blood oxygen safety threshold and the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold, the system determines the operating status of the intelligent adjustable expansion mechanism. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the first spreader is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the first spreader is controlled to return to the preset value. Continue to receive the monitoring data from the first probe in real time, and control the current opening angle of the first expander according to the monitoring data of the first probe until the blood oxygen value detected by the first probe does not reach the preset blood oxygen safety threshold. Determine whether the first expander has retracted; If the first expander determines to retract, calculate the retraction value; The compensation value is obtained based on the rollback value; Determine whether the compensation value meets the preset conditions; When the compensation value meets the preset condition, the current opening angle of the second spreader is adjusted with the compensation value as the target. The system receives real-time monitoring data from the second probe and determines the operating status of the intelligent adjustable expansion mechanism when the blood oxygen value detected by the second probe reaches the preset blood oxygen safety threshold. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the second spreader is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the second spreader is controlled to return to the preset value. Continue to receive the monitoring data from the second probe in real time, and control the current opening angle of the second expander according to the monitoring data of the second probe until the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold; Determine whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions; If the current opening angle of the intelligent adjustable opening mechanism does not meet the operating conditions, the position adjustment mechanism is adjusted according to the monitoring of the vision sensor to adjust the spatial angle of the intelligent adjustable opening mechanism so that the intelligent adjustable opening mechanism can meet the adjustment of the spatial angle. Adjust the current opening angle of the intelligent adjustable opening mechanism; Repeat the process of receiving real-time monitoring data from the first and second probes until the step of determining whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions is performed, until the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions or the system reports an error.

[0019] Furthermore, the method also includes: While receiving the monitoring data from the micro probe in real time, it also receives the monitoring data from the thin-film pressure sensor installed on the expander in real time. When the pressure value detected by the thin-film pressure sensor reaches a preset pressure safety threshold, the current opening angle of the spreader is controlled to revert to the preset value.

[0020] Compared with the prior art, the present invention has the following beneficial effects: (1) By setting a fixed structure, the device can operate in a fixed position, avoiding the need for manual holding, thus improving labor-saving and stability. Furthermore, the device's spatial position in the Z-axis direction can be personalized by selecting a fixed point or fixing it to a movable fixed point (such as the robotic arm of a surgical robot). This allows doctors to determine the optimal Z-axis spatial position based on each patient's specific anatomical characteristics, facilitating personalized and precise surgical planning. By setting a position adjustment mechanism, the device can adjust its spatial position in the X and Y axes, as well as its spatial angle, meeting the diverse needs of arthroscopic surgery. This allows doctors to determine the optimal X and Y axis spatial positions and spatial angles based on each patient's specific anatomical characteristics, facilitating personalized and precise surgical planning. In other words, under the combined action of the fixed structure and the position adjustment mechanism… This device can be personalized to set the optimal spatial position, angle, and opening angle based on each patient's specific anatomical characteristics. Through an intelligent adjustable opening mechanism, the opening angle can be adjusted according to each patient's specific condition, achieving precise joint opening. This solves the problem of existing technologies where the opening angle is difficult to control precisely, often requiring manual adjustment by doctors based on experience, and the low level of intelligence leading to over- or under-opening, affecting the normal progress of the surgery. Simultaneously, this intelligent adjustable opening mechanism can also detect blood oxygenation and pressure at the opening site in real time, and adjust the opening angle promptly when the blood oxygen value reaches a preset safe threshold and / or the pressure value reaches a preset safe threshold. This real-time feedback enables dynamic autonomous adjustment, solving the problem of uncontrollable pressure between the opening arm and fragile tissues in existing technologies, which can easily cause excessive local pressure or compressive ischemia, thus avoiding sequelae caused by mechanical compression.

[0021] (2) When both expanders are equipped with angle sensors, the two expanders can be controlled independently. That is, during the expansion process, the two can expand at the same time. However, once the blood oxygen value detected by either expander reaches the preset blood oxygen safety threshold and / or the pressure value reaches the preset pressure safety threshold, the two expanders can be used to perform adaptive expansion angle compensation so that the expansion angle can meet the operating conditions as much as possible without changing the spatial angle.

[0022] (3) By setting a visual sensor between the two spreaders, the spatial position, spatial angle and preset spreading angle of the device can be determined, which is conducive to the precise implementation of arthroscopic surgery. At the same time, since the visual sensor collects images inside the joint (such as the knee joint) in real time, it is also convenient for doctors to observe the surgical site more intuitively, which is conducive to further improving the precision of the surgery.

[0023] (4) By setting the linkage and the arc-shaped expansion arm as detachable, it is possible to perform personalized installation after determining the corresponding arc-shaped expansion arm according to the specific anatomical characteristics of each patient. At the same time, it is also convenient for the regular disinfection and maintenance of the arc-shaped expansion arm.

[0024] (5) By setting a contact layer on the arc-shaped support arm, it can fit more closely to the fragile tissues of the human body, greatly reduce local pressure, and prevent pressure ischemia to a certain extent; by setting a pressure buffer layer containing an elastic buffer block and a thin film pressure sensor on the arc-shaped support arm, it can monitor the pressure distribution and magnitude of the contact surface between the arc-shaped support arm and the tissue in real time while achieving pressure buffering, so as to achieve the effect of dynamic force feedback and avoid excessive pressure causing damage to the tissue.

[0025] (6) The distribution of the miniature probe can be fixed at the maximum possible contact point / contact area obtained after data statistical analysis, so that it can be used for all patients and is easy to manage; or it can be customized according to the specific anatomical characteristics of the patient so as to monitor the most accurate blood oxygenation. Attached Figure Description

[0026] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of the overall structure of an arthroscopic retraction device provided in an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an intelligent adjustable dispersing mechanism for an arthroscopic dispersing device provided in an embodiment of the present invention; Figure 3 This is a cross-sectional schematic diagram of an arthroscopic dispersing device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the position adjustment mechanism of an arthroscopic opening device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the easily detachable structure of an arthroscopic disassembly device provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the control component of an arthroscopic distraction device provided in an embodiment of the present invention; Figure 7 A cross-sectional schematic diagram of the control component of an arthroscopic distraction device provided in an embodiment of the present invention; Figure 8 A schematic diagram of the overall structure of an arthroscopic retraction device provided in an embodiment of the present invention. Figure 2 ; Figure 9 This is a schematic diagram of the arc-shaped opening arm of an arthroscopic opening device provided in an embodiment of the present invention.

[0027] In the picture: 1. Robotic arm connecting plate; 2. Mounting bracket; 3. Shaft; 4. Linkage joint; 5. Connecting block; 6. Arc-shaped spreading arm; 601. Contact layer; 602. Pressure buffer layer; 603. Main support layer; 7. Angle sensor; 8. Fixing cover; 9. Dual-axis motor; 10. Worm gear; 11. Worm wheel; 12. Vision sensor; 13. Microcontroller; 14. Slot; 15. Locking screw; 16. Locking hole; 17. Gearbox; 18. Electric telescopic shaft; 19. Stepper motor; 20. Driving bevel gear; 21. Driven bevel gear; 22. Bearing seat; 23. Lead screw; 24. Sliding seat; 25. Servo motor; 26. Linear guide rail; 27. Miniature probe. Detailed Implementation

[0028] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0029] First Embodiment Please see Figures 1-3 and Figures 5-7 This embodiment provides an arthroscopic distraction device, including a fixing structure, a position adjustment mechanism, an intelligent adjustable distraction mechanism, and a main controller. The fixing structure and the intelligent adjustable distraction mechanism are connected through the position adjustment mechanism, and the main controller is electrically connected to both the position adjustment mechanism and the intelligent adjustable distraction mechanism. The fixation structure is used to secure the arthroscopic retractor to the fixation point; The intelligent adjustable spreading mechanism includes a mounting frame 2, with spreaders rotatably connected to both sides of the mounting frame 2. Each spreader includes a linkage 4 and an arc-shaped spreading arm 6. The upper end of the linkage 4 is rotatably connected to the mounting frame 2, and the lower end is connected to the arc-shaped spreading arm 6. At least one miniature probe 27 is provided on the opposite sides of the two arc-shaped spreading arms 6. An angle sensor 7 is also provided on at least one spreader for real-time monitoring of the spreading angle of the spreader. The mounting frame 2 is also provided with a vision sensor 12 and a control component. The vision sensor 12 is located between the two spreaders and collects images of the inside of the joint (such as the knee joint) in real time. The images are transmitted to an external display device via wireless transmission technology, which allows doctors to observe the surgical site more intuitively and improves the accuracy of the surgery. The control component controls the spreading angle of the spreader according to the monitoring of the miniature probe 27 and / or the vision sensor 12. The position adjustment mechanism is used to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism according to the monitoring of the miniature probe 27 and / or the vision sensor 12; The main controller is used to control the position adjustment mechanism and the intelligent adjustable spreading mechanism; The fixed point can be a fixed point or a movable fixed point such as a surgical robot arm; the control components include a dual-axis motor 9, with worm gears 10 at both ends of the dual-axis motor 9. The two worm gears 10 have opposite helical directions, and worm wheels 11 are toothed on the outer side of the worm gears 10. The worm wheels 11 are connected to the spreaders, so that the spreaders can adjust their spreading angle by driving the worm gears 10 to rotate the worm wheels 11 through the dual-axis motor 9; the mounting frame 2 has a horizontally arranged H-shaped structure, with two spreaders symmetrically distributed in the recessed part of the mounting frame 2. The upper end of the linkage 4 is provided with a shaft 3. One end of the shaft 3 is embedded in the mounting frame 2 and rotatably connected to the mounting frame 2, and the other end passes through the mounting frame 2 and is connected to the worm wheels 11; the upper end of the arc-shaped spreading arm 6 is provided with a connecting block 5, and the lower end of the linkage 4 is provided with a groove that matches the connecting block 5. The connecting block 5 is located in the groove and is detachably connected to the groove to facilitate the personalized installation of different arc-shaped spreading arms 6.

[0030] In an optional embodiment, the device employs hierarchical control, in which case the intelligent adjustable spreading mechanism may further include a microcontroller 13, with the main controller electrically connected to the microcontroller 13, and the main controller controlling the intelligent adjustable spreading mechanism through the microcontroller 13.

[0031] In an optional embodiment, the fixing structure is a robotic arm connector plate 1, which is bolted to the robotic arm of the knee arthroscopy robot during use.

[0032] In an optional embodiment, the linkage 4 and the connecting block 5 are detachably connected by an easy-to-detach structure, which includes a slot 14 at the bottom of the linkage 4, a locking screw 15 threaded to the lower part of the linkage 4, and a locking hole 16 at the upper part of the connecting block 5, wherein the locking screw 15 is threaded to the locking hole 16.

[0033] In an optional embodiment, the control assembly further includes a mounting cover 8, which is fixed to the mounting bracket 2. The dual-axis motor 9, worm gear 10, and turbine 11 are all located inside the mounting cover 8 to protect the dual-axis motor 9, worm gear 10, and turbine 11. The microcontroller 13 is located on one side of the mounting cover 8.

[0034] In an optional embodiment, the shape of the arc-shaped support arm 6 can be an arc structure with the center facing inward, an arc structure with the center facing outward, an L-shaped structure, an S-shaped structure, etc., and is not limited to the shape shown in the figure. In one optional embodiment, the miniature probe 27 can be a single probe or multiple probes arranged in an array. Its specific distribution position can be fixed at the maximum possible contact point / contact area obtained after data statistical analysis, so that it can be used for all patients and is easy to manage; or it can be customized according to the specific anatomical characteristics of the patient in order to monitor the most accurate blood oxygenation status.

[0035] In an optional embodiment, only one of the two expanders is equipped with an angle sensor 7, and both expanders are controlled simultaneously, with the same expansion rate and expansion angle; in this case, the specific implementation of the device is as follows: First, the two output shafts of the dual-axis motor 9 drive two worm gears 10 with opposite helical directions to rotate synchronously. Then, the two worm wheels 11 meshing with the two worm gears 10 drive the two linkage joints 4 connected to the two shafts 3 to rotate in opposite directions. In turn, the two linkage joints 4 drive the two arc-shaped opening arms 6 to gradually open outward, which can expand the joint space so that the doctor can clearly observe the internal structure of the joint and perform surgical operations. Second, during the opening process, the angle sensor 7 detects the opening angle and feeds the data back to the microcontroller 13. The microcontroller 13 will adjust the working state of the dual-axis motor 9 according to the transmitted angle information, so as to intelligently adjust the opening angle of the two arc-shaped opening arms 6 to ensure that the opening angle meets the surgical requirements. Finally, when the arc-shaped opening arms 6 need to be disassembled, simply rotate the locking screw 15 to separate it from the locking hole 16, and the arc-shaped opening arms 6 can be removed from the linkage joints 4 for replacement or regular disinfection and maintenance.

[0036] In another optional embodiment, each of the two spreaders is equipped with an angle sensor 7, and the two spreaders can be controlled independently. Preferably, the dual-axis motor 9 and the worm gear 10 are connected via an electromagnetic clutch. By controlling the on / off state of the electromagnetic clutch, the opening angle of a single spreader can be controlled, thereby achieving independent adjustment of the opening angle of both spreaders. In this case, the specific implementation of the device is as follows: First, the two output shafts of the dual-axis motor 9 drive two worm gears 10 with opposite helical directions to rotate synchronously. Then, the two worm wheels 11 meshing with the two worm gears 10 drive the two linkage joints 4 connected to the two shafts 3 to rotate in opposite directions. In turn, the two linkage joints 4 drive the two arc-shaped spreading arms 6 to gradually spread outward, which can expand the joint space so that the doctor can clearly observe the internal structure of the joint and perform surgical operations. Second, during the spreading process, two angle sensors 7 detect the spreading angle of the two spreading arms respectively and feed the data back to the microcontroller 13. The microcontroller 13 will adjust the working state of the electromagnetic clutch and the dual-axis motor 9 according to the transmitted angle information, so as to intelligently adjust the spreading angle of the two arc-shaped spreading arms 6 to ensure that the spreading angle meets the surgical requirements. Finally, when the arc-shaped spreading arms 6 need to be disassembled, simply rotate the locking screw 15 to separate it from the locking hole 16, and the arc-shaped spreading arms 6 can be removed from the linkage joints 4 for replacement or regular disinfection and maintenance.

[0037] Second Embodiment Please see Figure 1 , Figure 3 , Figure 4 and Figure 8 This embodiment is an optimization based on the first embodiment. The specific optimization is the specific structure of the position adjustment mechanism, which includes a sliding component, an angle adjustment component, and a telescopic component connected in sequence. The sliding component is used to adjust the spatial position of the intelligent adjustable spreading mechanism in the X-axis direction according to the monitoring of the vision sensor 12; An angle adjustment component is used to adjust the spatial angle of the intelligent adjustable spreading mechanism according to the monitoring of the micro probe 27 and / or the vision sensor 12; The telescopic component is used to adjust the spatial position of the intelligent adjustable spreading mechanism in the Y-axis direction based on the monitoring of the vision sensor 12.

[0038] In one specific embodiment, the angle adjustment assembly includes a gearbox 17, an electric telescopic shaft 18 rotatably mounted on the bottom of the gearbox 17, a stepper motor 19 fixedly mounted on one outer wall of the gearbox 17, a driving bevel gear 20 fixedly mounted on the output shaft of the stepper motor 19, and a driven bevel gear 21 fixedly mounted on the upper part of the electric telescopic shaft 18. Furthermore, the output shaft of the stepper motor 19 passes through one side of the gearbox 17, the driving bevel gear 20 and the driven bevel gear 21 mesh with each other, and the telescopic end of the electric telescopic shaft 18 is fixedly connected to the outer wall of the top center of the mounting bracket 2. More specifically, the sliding assembly includes two bearing seats 22 symmetrically fixed to the bottom outer wall of the robotic arm connecting plate 1, a lead screw 23 rotatably installed between the two bearing seats 22, a sliding seat 24 threadedly connected to the lead screw 23, a servo motor 25 fixedly installed to the bottom outer wall of the robotic arm connecting plate 1, and a linear guide rail 26 fixedly connected to the bottom outer wall of the robotic arm connecting plate 1. Furthermore, the output shaft of the servo motor 25 is coaxially and fixedly connected to one end of the lead screw 23 via a coupling, the upper part of the sliding seat 24 is slidably connected to the linear guide rail 26, and the bottom outer wall of the sliding seat 24 is fixedly connected to the top outer wall of the gearbox 17.

[0039] In this embodiment, the following steps are taken: First, the servo motor 25 drives the lead screw 23 to rotate. Then, guided by the linear guide rail 26, the sliding seat 24, which is threadedly connected to the lead screw 23, drives the intelligent adjustable spreading mechanism to move flexibly along the X-axis. This allows for flexible adjustment of the X-axis spatial position of the two spreaders, enabling doctors to set the optimal spreading position according to the specific anatomical characteristics of each patient. Second, the electric telescopic shaft 18 allows for flexible adjustment of the Y-axis spatial position of the two arc-shaped spreading arms 6. The stepper motor 19 drives the active bevel gear 20 to rotate, and the driven bevel gear 21, which meshes with the active bevel gear 20, drives the electric telescopic shaft 18 to rotate. This also allows for flexible adjustment of the spatial angle of the two arc-shaped spreading arms 6.

[0040] Third Embodiment Please see Figure 2 and Figure 9 This embodiment is an optimization based on the first or second embodiment. The specific optimization is the structure of the arc-shaped support arm 6, which includes a contact layer 601, a pressure buffer layer 602, and a main support layer 603 arranged sequentially. The contact layer 601 is a transparent flexible layer, and the micro probe 27 is located inside the contact layer 601. The pressure buffer layer 602 includes an elastic buffer block and a thin-film pressure sensor. The thin-film pressure sensor is located between the elastic buffer block and the contact layer 601. The main support layer 603 is made of a rigid material. The control component controls the adjustment of the opening angle of the support arm according to the monitoring of the micro probe 27 and / or the thin-film pressure sensor.

[0041] In one specific embodiment, the main support layer 603 is made of titanium alloy, which has the advantages of being lightweight and high-strength; the contact layer 601 is made of hydrogel, which can perfectly fit the fragile tissues of the human body, greatly reduce local pressure, and prevent pressure-induced ischemia; the pressure buffer layer 602 can monitor the pressure distribution and magnitude of the contact surface between the arc-shaped support arm 6 and the tissue in real time, achieving the effect of dynamic force feedback and avoiding excessive pressure from damaging the tissue.

[0042] In this embodiment, since the surface contact area of ​​the arc-shaped expansion arm 6 integrates a micro probe 27, it monitors the oxygen saturation of the tissue in the expansion area in real time. When the expansion causes blood flow restriction, the oxygen saturation will decrease. This signal can be connected to the micro controller 13 and send an early warning signal to the doctor. In this way, the micro controller 13 can use oxygen saturation as a third feedback variable. When the oxygen saturation is lower than the safety threshold, even if the angle and pressure are not exceeded, it will automatically trigger the expansion angle to retract or stop until the oxygen saturation is restored. This directly provides physiological monitoring and prevention for "compression ischemia". In this way, it has the ability to monitor physiological parameters and can be incorporated into the intelligent control closed loop to provide the most direct ischemia early warning and prevention, and avoid excessive pressure from damaging the tissue.

[0043] Fourth embodiment This embodiment provides a control method for an arthroscopic retraction device, applied to an arthroscopic retraction device provided in the first or second embodiment. In this embodiment, only one of the two retractors is equipped with an angle sensor 7. Both retractors are controlled simultaneously, and the retraction rate and retraction angle are the same. The method includes: Acquire image information of the target object; image information can be acquired through methods such as CT scans. The image information is analyzed to obtain the target area and initial spatial angle; Based on the monitoring of the vision sensor 12, the position adjustment mechanism is adjusted to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism so that the arc-shaped spreading arm 6 reaches the target area and the intelligent adjustable spreading mechanism meets the initial spatial angle. The opening angle of the intelligent adjustable opening mechanism is adjusted to a preset opening angle. The preset opening angle can be an empirical value obtained through data statistical analysis or a value obtained through image information analysis of the target object. The system receives real-time monitoring data from the micro probe 27. If the blood oxygen value detected by the micro probe 27 reaches the preset blood oxygen safety threshold, the system determines the operating status of the intelligent adjustable expansion mechanism. If the blood oxygen value detected by the micro probe 27 does not reach the preset blood oxygen safety threshold, the system continues to expand if the expansion angle of the intelligent adjustable expansion mechanism has not reached the preset expansion angle, and maintains the angle if the expansion angle of the intelligent adjustable expansion mechanism has reached the preset expansion angle. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, control the intelligent adjustable spreading mechanism to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, control the current spreading angle of the intelligent adjustable spreading mechanism to return to the preset value. Continue to receive the monitoring data from the micro probe 27 in real time, and control the current opening angle of the intelligent adjustable opening mechanism according to the monitoring data of the micro probe 27 until the blood oxygen value monitored by the micro probe 27 does not reach the preset blood oxygen safety threshold. Determine whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions; If the current opening angle of the intelligent adjustable opening mechanism does not meet the operating conditions, the position adjustment mechanism is adjusted according to the monitoring of the vision sensor 12 to adjust the spatial angle of the intelligent adjustable opening mechanism so that the intelligent adjustable opening mechanism can meet the adjustment of the spatial angle. Adjust the current opening angle of the intelligent adjustable opening mechanism; The process of repeatedly receiving the monitoring data from the micro probe 27 in real time continues until the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions, or until the system reports an error.

[0044] In an optional embodiment, if the current opening angle still cannot meet the operating conditions after traversing all operable spatial angles, the system will report an error. In this case, manual operation can be switched to the doctor adjusting the spatial angle and the opening angle. Alternatively, the recorded spatial angle and its corresponding opening angle can be displayed, and the device can automatically adjust to the selected state after the doctor selects one.

[0045] Fifth embodiment This embodiment provides a control method for an arthroscopic retraction device, which is applied to an arthroscopic retraction device provided in the first embodiment or the second embodiment. In this embodiment, angle sensors 7 are provided on both retractors, and the two retractors can be controlled independently. When the blood oxygen value detected by both miniature probes 27 reaches the preset blood oxygen safety threshold, the control method is the same as that in the fourth embodiment, which adopts the method of controlling the two expanders simultaneously. When the blood oxygen saturation value detected by the microprobe 27 corresponding to one and only one expander reaches a preset blood oxygen safety threshold, the microprobe 27 that detects the blood oxygen saturation value reaching the preset blood oxygen safety threshold is defined as the first probe, and the expander corresponding to the first probe is defined as the first expander; the microprobe 27 that detects the blood oxygen saturation value not reaching the preset blood oxygen safety threshold is defined as the second probe, and the expander corresponding to the second probe is defined as the second expander. The method then includes: Acquire image information of the target object; image information can be acquired through methods such as CT scans. The image information is analyzed to obtain the target area and initial spatial angle; Based on the monitoring of the vision sensor 12, the position adjustment mechanism is adjusted to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism so that the arc-shaped spreading arm 6 reaches the target area and the intelligent adjustable spreading mechanism meets the initial spatial angle. The opening angle of the intelligent adjustable opening mechanism is adjusted to a preset opening angle. The preset opening angle can be an empirical value obtained through data statistical analysis or a value obtained through image information analysis of the target object. The system receives real-time monitoring data from the first and second probes. If the blood oxygen value detected by the first probe reaches the preset blood oxygen safety threshold but the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold, the system determines the operating status of the intelligent adjustable opening mechanism. If the blood oxygen value detected by the first and second probes does not reach the preset blood oxygen safety threshold, the system continues to open if the opening angle of the intelligent adjustable opening mechanism has not reached the preset opening angle; otherwise, the opening angle is maintained. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the first spreading device is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the first spreading device is controlled to return to a preset value. Continue to receive the monitoring data from the first probe in real time, and control the current opening angle of the first expander according to the monitoring data of the first probe until the blood oxygen value detected by the first probe does not reach the preset blood oxygen safety threshold. Determine if the first expander has retracted; Calculate the retraction value if the first expander determines to retract. The compensation value is obtained based on the rollback value; the compensation value can be equal to the rollback value, or it can be a certain proportion of the rollback value. Determine whether the compensation value meets the preset conditions; the preset conditions can be the maximum compensation value obtained from data analysis. When the compensation value meets the preset conditions, the current opening angle of the second spreader is adjusted to the compensation value. The system receives real-time monitoring data from the second probe and determines the operating status of the intelligent adjustable expansion mechanism when the blood oxygen value detected by the second probe reaches the preset blood oxygen safety threshold. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the second spreading device is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the second spreading device is controlled to return to the preset value. Continue to receive the monitoring data from the second probe in real time, and control the current opening angle of the second expander according to the monitoring data of the second probe until the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold. Determine whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions; If the current opening angle of the intelligent adjustable opening mechanism does not meet the operating conditions, the position adjustment mechanism is adjusted according to the monitoring of the vision sensor 12 to adjust the spatial angle of the intelligent adjustable opening mechanism so that the intelligent adjustable opening mechanism can meet the adjustment of the spatial angle. Adjust the current opening angle of the intelligent adjustable opening mechanism; The process of repeatedly receiving the monitoring data from the first and second probes in real time continues until the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions, or until the system reports an error.

[0046] In an optional embodiment, if the current opening angle still cannot meet the operating conditions after traversing all operable spatial angles, the system will report an error. In this case, manual operation can be switched to the doctor adjusting the spatial angle and the opening angle. Alternatively, the recorded spatial angle and its corresponding opening angle can be displayed, and the device can automatically adjust to the selected state after the doctor selects one.

[0047] In an optional embodiment, if the first extender does not retract, the process directly proceeds to the step of determining whether the current extension angle of the intelligent adjustable extender mechanism meets the operating conditions.

[0048] In an optional embodiment, if the compensation value does not meet the preset conditions, the process directly proceeds to the step of determining whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions.

[0049] In an optional embodiment, if the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold, the process directly proceeds to the step of determining whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions.

[0050] Sixth Embodiment This embodiment provides a method for controlling an arthroscopic distraction device, applied to an arthroscopic distraction device provided in the third embodiment. The method further includes, based on the fourth embodiment, the following: While receiving the monitoring data from the miniature probe 27 in real time, it also receives the monitoring data from the thin-film pressure sensor installed on the expander in real time. When the pressure value detected by the diaphragm pressure sensor reaches the preset pressure safety threshold, the current opening angle of the spreader is controlled to return to the preset value.

[0051] In one specific embodiment, the method includes the following steps: Acquire image information of the target object; image information can be acquired through methods such as CT scans. The image information is analyzed to obtain the target area and initial spatial angle; Based on the monitoring of the vision sensor 12, the position adjustment mechanism is adjusted to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism so that the arc-shaped spreading arm 6 reaches the target area and the intelligent adjustable spreading mechanism meets the initial spatial angle. The opening angle of the intelligent adjustable opening mechanism is adjusted to a preset opening angle. The preset opening angle can be an empirical value obtained through data statistical analysis or a value obtained through image information analysis of the target object. The system receives real-time monitoring data from the miniature probe 27 and the thin-film pressure sensor. If the blood oxygen level detected by the miniature probe 27 reaches a preset blood oxygen safety threshold, or if both the blood oxygen level detected by the miniature probe 27 and the pressure value detected by the thin-film pressure sensor reach a preset pressure safety threshold, the system determines the operating status of the intelligent adjustable expansion mechanism. If the blood oxygen level detected by the miniature probe 27 does not reach the preset blood oxygen safety threshold, but the pressure value detected by the thin-film pressure sensor does, the system controls the current expansion angle of the intelligent adjustable expansion mechanism to revert to a preset value. If both the blood oxygen level detected by the miniature probe 27 and the pressure value detected by the thin-film pressure sensor do not reach the preset pressure safety threshold, the system continues to expand if the expansion angle of the intelligent adjustable expansion mechanism has not reached the preset expansion angle; otherwise, the expansion angle is maintained. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, control the intelligent adjustable spreading mechanism to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, control the current spreading angle of the intelligent adjustable spreading mechanism to return to the preset value. Continue to receive the monitoring data from the micro probe 27 in real time, and control the current opening angle of the intelligent adjustable opening mechanism according to the monitoring data of the micro probe 27 until the blood oxygen value monitored by the micro probe 27 does not reach the preset blood oxygen safety threshold. Determine whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions; If the current opening angle of the intelligent adjustable opening mechanism does not meet the operating conditions, the position adjustment mechanism is adjusted according to the monitoring of the vision sensor 12 to adjust the spatial angle of the intelligent adjustable opening mechanism so that the intelligent adjustable opening mechanism can meet the adjustment of the spatial angle. Adjust the current opening angle of the intelligent adjustable opening mechanism; The system repeatedly receives real-time monitoring data from the micro probe 27 and the thin-film pressure sensor until it determines whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions, until the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions or the system reports an error.

[0052] In an optional embodiment, if the current opening angle still cannot meet the operating conditions after traversing all operable spatial angles, the system will report an error. In this case, manual operation can be switched to the doctor adjusting the spatial angle and the opening angle. Alternatively, the recorded spatial angle and its corresponding opening angle can be displayed, and the device can automatically adjust to the selected state after the doctor selects one.

[0053] Seventh Embodiment This embodiment provides a method for controlling an arthroscopic distraction device, applied to an arthroscopic distraction device provided in the third embodiment. The method further includes, based on the fifth embodiment, the following: While receiving the monitoring data from the miniature probe 27 in real time, it also receives the monitoring data from the thin-film pressure sensor installed on the expander in real time. When the pressure value detected by the diaphragm pressure sensor reaches the preset pressure safety threshold, the current opening angle of the spreader is controlled to return to the preset value.

[0054] In one specific embodiment, when the blood oxygen values ​​detected by both micro probes 27 reach the preset blood oxygen safety threshold, the control method is the same as that in the sixth embodiment, using the method of controlling the two expanders simultaneously. When the blood oxygen saturation value detected by the microprobe 27 corresponding to one and only one expander reaches a preset blood oxygen safety threshold, the microprobe 27 that detects the blood oxygen saturation value reaching the preset blood oxygen safety threshold is defined as the first probe, the expander corresponding to the first probe is defined as the first expander, and the thin-film pressure sensor corresponding to the first expander is defined as the first pressure sensor. The microprobe 27 that detects the blood oxygen saturation value not reaching the preset blood oxygen safety threshold is defined as the second probe, the expander corresponding to the second probe is defined as the second expander, and the thin-film pressure sensor corresponding to the second expander is defined as the second pressure sensor. The method includes the following steps: Acquire image information of the target object; image information can be acquired through methods such as CT scans. The image information is analyzed to obtain the target area and initial spatial angle; Based on the monitoring of the vision sensor 12, the position adjustment mechanism is adjusted to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism so that the arc-shaped spreading arm 6 reaches the target area and the intelligent adjustable spreading mechanism meets the initial spatial angle. The opening angle of the intelligent adjustable opening mechanism is adjusted to a preset opening angle. The preset opening angle can be an empirical value obtained through data statistical analysis or a value obtained through image information analysis of the target object. The system receives real-time monitoring data from the first probe, first pressure sensor, second probe, and second pressure sensor. If the blood oxygen value detected by the first probe reaches a preset blood oxygen safety threshold, but the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold, and the pressure values ​​detected by both the first and second pressure sensors do not reach the preset pressure safety threshold, the system determines the operating status of the intelligent adjustable opening mechanism. If the blood oxygen value detected by the first and second probes does not reach the preset blood oxygen safety threshold, and the pressure values ​​detected by both the first and second pressure sensors do not reach the preset pressure safety threshold, the intelligent adjustable opening mechanism continues to open if the opening angle has not reached the preset opening angle; otherwise, the opening angle is maintained. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the first spreading device is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the first spreading device is controlled to return to a preset value. Continue to receive the monitoring data from the first probe in real time, and control the current opening angle of the first expander according to the monitoring data of the first probe until the blood oxygen value detected by the first probe does not reach the preset blood oxygen safety threshold. Determine if the first expander has retracted; Calculate the retraction value if the first expander determines to retract. The compensation value is obtained based on the rollback value; the compensation value can be equal to the rollback value, or it can be a certain proportion of the rollback value. Determine whether the compensation value meets the preset conditions; the preset conditions can be the maximum compensation value obtained from data analysis. When the compensation value meets the preset conditions, the current opening angle of the second spreader is adjusted to the compensation value. The system receives real-time monitoring data from the second probe and determines the operating status of the intelligent adjustable expansion mechanism when the blood oxygen value detected by the second probe reaches the preset blood oxygen safety threshold. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the second spreading device is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the second spreading device is controlled to return to the preset value. Continue to receive the monitoring data from the second probe in real time, and control the current opening angle of the second expander according to the monitoring data of the second probe until the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold. Determine whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions; If the current opening angle of the intelligent adjustable opening mechanism does not meet the operating conditions, the position adjustment mechanism is adjusted according to the monitoring of the vision sensor 12 to adjust the spatial angle of the intelligent adjustable opening mechanism so that the intelligent adjustable opening mechanism can meet the adjustment of the spatial angle. Adjust the current opening angle of the intelligent adjustable opening mechanism; The system repeatedly receives real-time monitoring data from the first probe, first pressure sensor, second probe, and second pressure sensor until it determines whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions, until the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions or the system reports an error.

[0055] In an optional embodiment, if the current opening angle still cannot meet the operating conditions after traversing all operable spatial angles, the system will report an error. In this case, manual operation can be switched to the doctor adjusting the spatial angle and the opening angle. Alternatively, the recorded spatial angle and its corresponding opening angle can be displayed, and the device can automatically adjust to the selected state after the doctor selects one.

[0056] In an optional embodiment, if the blood oxygen value detected by the first probe and the second probe does not reach the preset blood oxygen safety threshold, and the pressure value detected by at least one of the thin-film pressure sensors of the first pressure sensor and the second pressure sensor reaches the preset pressure safety threshold, the corresponding expander will be retracted. If only one expander retracts, the blood oxygen value and pressure value are determined after compensation using the other expander. If neither reaches the safety threshold, the process directly proceeds to the step of determining whether the current opening angle of the intelligent adjustable expander mechanism meets the operating conditions. If one value reaches the safety threshold, the process retracts again and directly proceeds to the step of determining whether the current opening angle of the intelligent adjustable expander mechanism meets the operating conditions. If both expanders retract, the process directly proceeds to the step of determining whether the current opening angle of the intelligent adjustable expander mechanism meets the operating conditions.

[0057] In an optional embodiment, if the first extender does not retract, the process directly proceeds to the step of determining whether the current extension angle of the intelligent adjustable extender mechanism meets the operating conditions.

[0058] In an optional embodiment, if the compensation value does not meet the preset conditions, the process directly proceeds to the step of determining whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions.

[0059] In an optional embodiment, if the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold, the process directly proceeds to the step of determining whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions.

[0060] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features of the present invention can be arbitrarily combined with each other.

Claims

1. An arthroscopic retraction device, characterized in that, It includes a fixed structure, a position adjustment mechanism, and an intelligent adjustable expansion mechanism, wherein the fixed structure and the intelligent adjustable expansion mechanism are connected through the position adjustment mechanism; The fixing structure is used to fix the arthroscopic opening device to the fixing point; The intelligent adjustable spreading mechanism includes a mounting frame (2), with spreaders rotatably connected to both sides of the mounting frame (2). Each spreader includes a linkage (4) and an arc-shaped spreading arm (6). The upper end of the linkage (4) is rotatably connected to the mounting frame (2), and the lower end is connected to the arc-shaped spreading arm (6). At least one micro probe (27) is provided on the opposite sides of the two arc-shaped spreading arms (6). An angle sensor (7) is also provided on at least one of the spreaders for real-time monitoring of the spreading angle of the spreader. A vision sensor (12) and a control component are also provided on the mounting frame (2). The vision sensor (12) is located between the two spreaders. The control component controls the spreading angle of the spreader according to the monitoring of the micro probe (27) and / or the vision sensor (12). The position adjustment mechanism is used to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism according to the monitoring of the micro probe (27) and / or the vision sensor (12).

2. The arthroscopic retraction device according to claim 1, characterized in that, The control component includes a dual-axis motor (9), with worm gears (10) at both ends of the dual-axis motor (9). A worm wheel (11) is connected to the outer side of the worm gear (10). The worm wheel (11) is connected to the spreader so that the spreader can adjust its spreading angle by driving the worm gear (10) to rotate the worm wheel (11) through the dual-axis motor (9).

3. The arthroscopic retraction device according to claim 2, characterized in that, Angle sensors (7) are provided on both of the spreaders. The dual-axis motor (9) and the worm gear (10) are connected by an electromagnetic clutch to enable individual adjustment of the spreading angle of the two spreaders.

4. The arthroscopic retraction device according to claim 3, characterized in that, The mounting bracket (2) has a horizontally arranged H-shaped structure. The two spreaders are symmetrically distributed in the recessed part of the mounting bracket (2). The upper end of the linkage (4) is provided with a shaft (3). One end of the shaft (3) is embedded in the mounting bracket (2) and rotatably connected to the mounting bracket (2). The other end passes through the mounting bracket (2) and is connected to the worm gear (11).

5. The arthroscopic retraction device according to claim 1, characterized in that, The upper end of the arc-shaped support arm (6) is provided with a connecting block (5), and the lower end of the linkage (4) is provided with a groove that matches the connecting block (5). The connecting block (5) is located in the groove and is detachably connected to the groove so as to facilitate the personalized installation of different arc-shaped support arms (6).

6. An arthroscopic retraction device according to any one of claims 1 to 5, characterized in that, The arc-shaped expansion arm (6) includes a contact layer (601), a pressure buffer layer (602), and a main support layer (603) arranged sequentially. The contact layer (601) is a transparent and flexible layer. The micro probe (27) is located inside the contact layer (601). The pressure buffer layer (602) includes an elastic buffer block and a thin-film pressure sensor. The thin-film pressure sensor is located between the elastic buffer block and the contact layer (601). The main support layer (603) is made of a rigid material. The control component controls the adjustment of the expansion angle of the expander according to the monitoring of the micro probe (27) and / or the thin-film pressure sensor.

7. The arthroscopic retraction device according to claim 6, characterized in that, The position adjustment mechanism includes a sliding component, an angle adjustment component, and a telescopic component connected in sequence. The sliding component is used to adjust the spatial position of the intelligent adjustable spreading mechanism in the X-axis direction according to the monitoring of the vision sensor (12); The angle adjustment component is used to adjust the spatial angle of the intelligent adjustable spreading mechanism according to the monitoring of the micro probe (27) and / or the vision sensor (12); The telescopic component is used to adjust the spatial position of the intelligent adjustable spreading mechanism in the Y-axis direction according to the monitoring of the vision sensor (12).

8. A method for controlling an arthroscopic retraction device, applied to an arthroscopic retraction device as described in any one of claims 1 to 7, characterized in that, The method includes: According to the monitoring of the vision sensor (12), the position adjustment mechanism is adjusted to adjust the spatial position and spatial angle of the intelligent adjustable spreading mechanism so that the arc-shaped spreading arm (6) reaches the target area and the intelligent adjustable spreading mechanism meets the initial spatial angle. The opening angle of the intelligent adjustable opening mechanism is adjusted to a preset opening angle; the preset opening angle is set in advance. The system receives the monitoring data from the micro probe (27) in real time. When the blood oxygen value detected by the micro probe (27) reaches the preset blood oxygen safety threshold, the system determines the operating status of the intelligent adjustable expansion mechanism. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the intelligent adjustable spreading mechanism is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the intelligent adjustable spreading mechanism is controlled to return to a preset value. Continue to receive the monitoring status of the micro probe (27) in real time, and control the current opening angle of the intelligent adjustable opening mechanism according to the monitoring status of the micro probe (27) until the blood oxygen value monitored by the micro probe (27) does not reach the preset blood oxygen safety threshold. Determine whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions; If the current opening angle of the intelligent adjustable opening mechanism does not meet the operating conditions, the position adjustment mechanism is adjusted according to the monitoring of the vision sensor (12) to adjust the spatial angle of the intelligent adjustable opening mechanism so that the intelligent adjustable opening mechanism can meet the adjustment of the spatial angle. Adjust the current opening angle of the intelligent adjustable opening mechanism; Repeat the process of receiving the monitoring data of the micro probe (27) in real time until the step of determining whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions is repeated, until the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions or the system reports an error.

9. A method for controlling an arthroscopic distraction device according to claim 8, characterized in that, When the opening angles of the two expanders can be controlled independently and only one of the expanders' corresponding microprobes (27) detects a blood oxygen value that reaches the preset blood oxygen safety threshold, the microprobe (27) that detects a blood oxygen value that reaches the preset blood oxygen safety threshold is defined as the first probe, and the expander corresponding to the first probe is defined as the first expander; the microprobe (27) that detects a blood oxygen value that does not reach the preset blood oxygen safety threshold is defined as the second probe, and the expander corresponding to the second probe is defined as the second expander. Then the method further includes: The system receives real-time monitoring data from the first probe and the second probe. If the blood oxygen value detected by the first probe reaches the preset blood oxygen safety threshold and the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold, the system determines the operating status of the intelligent adjustable expansion mechanism. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the first spreader is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the first spreader is controlled to return to the preset value. Continue to receive the monitoring data from the first probe in real time, and control the current opening angle of the first expander according to the monitoring data of the first probe until the blood oxygen value detected by the first probe does not reach the preset blood oxygen safety threshold. Determine whether the first expander has retracted; If the first expander determines to retract, calculate the retraction value; The compensation value is obtained based on the rollback value; Determine whether the compensation value meets the preset conditions; When the compensation value meets the preset condition, the current opening angle of the second spreader is adjusted with the compensation value as the target. The system receives real-time monitoring data from the second probe and determines the operating status of the intelligent adjustable expansion mechanism when the blood oxygen value detected by the second probe reaches the preset blood oxygen safety threshold. When the operating status indicator of the intelligent adjustable spreading mechanism is in the spreading state, the second spreader is controlled to stop spreading; when the operating status indicator of the intelligent adjustable spreading mechanism is in the maintaining state, the current spreading angle of the second spreader is controlled to return to the preset value. Continue to receive the monitoring data from the second probe in real time, and control the current opening angle of the second expander according to the monitoring data of the second probe until the blood oxygen value detected by the second probe does not reach the preset blood oxygen safety threshold; Determine whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions; If the current opening angle of the intelligent adjustable opening mechanism does not meet the operating conditions, the position adjustment mechanism is adjusted according to the monitoring of the vision sensor (12) to adjust the spatial angle of the intelligent adjustable opening mechanism so that the intelligent adjustable opening mechanism can meet the adjustment of the spatial angle. Adjust the current opening angle of the intelligent adjustable opening mechanism; Repeat the process of receiving real-time monitoring data from the first and second probes until the step of determining whether the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions is performed, until the current opening angle of the intelligent adjustable opening mechanism meets the operating conditions or the system reports an error.

10. A method for controlling an arthroscopic distraction device according to claim 8 or 9, characterized in that, The method further includes: While receiving the monitoring data from the micro probe (27) in real time, it also receives the monitoring data from the thin-film pressure sensor installed on the expander in real time. When the pressure value detected by the thin-film pressure sensor reaches a preset pressure safety threshold, the current opening angle of the spreader is controlled to revert to the preset value.

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