Flexible surgical robot system for oral cavity

Abstract

The utility model discloses a flexible surgical robot system for an oral cavity. The flexible surgical robot system comprises a clamping mechanism, a mechanical arm and a flexible oral cavity mechanism, wherein the clamping mechanism is used for realizing clamping and fixing; the mechanical arm is mounted on one side of the clamping mechanism and is used for multi-angle posture change; the oral cavity flexible mechanism comprises a flexible hose fixed to the top end of the mechanical arm, a plurality of deformation grooves formed in the side face of the flexible hose, and electric field deformation blocks arranged on the inner sides of the deformation grooves and used for deforming under stimulation of an electric field. Under the cooperation of the mechanical arm, the flexible hose, the electric field deformation block and the electric field stimulator, the flexible hose can realize fine and accurate multi-angle posture change in an oral cavity, can adapt to a complex and changeable environment in the oral cavity, is helpful for the oral cavity operation equipment to accurately operate a focus area, and is convenient to use. And unnecessary damage to oral tissues can be greatly avoided, so that the flexibility and the practicability are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical robot technical field especially relates to a flexible oral surgery robot system. BACKGROUND

[0002] Medical robot refers to the professional service robot of hospital, clinic and other medical institutions for medical treatment or auxiliary medical treatment. According to the different medical application fields, medical robot can be divided into surgery robot, rehabilitation robot, diagnosis and treatment robot, auxiliary robot and other types of medical robot.

[0003] In the field of oral medicine, the accuracy and safety of surgical operation have always been the focus of doctors and researchers. Traditional oral surgery often requires doctors to directly operate surgical instruments, which not only requires high skill level of doctors, but also in some complex or difficult-to-reach parts, the surgical operation may be limited, increasing the risk and difficulty of surgery. There are some oral surgery robots in the current clinical practice, but most of them use rigid mechanical arms, which have limited flexibility and adaptability, and are difficult to adapt to the complex and variable environment inside the mouth. The rigid mechanical arm may not be able to reach the target area due to space limitations, or cause unnecessary damage to the surrounding tissues, thus having certain limitations. SUMMARY

[0004] The utility model overcomes the insufficient of prior art, provides a flexible oral surgery robot system.

[0005] To achieve the above-mentioned purpose, the utility model adopts the technical scheme of a flexible oral surgery robot system, which comprises a clamping mechanism for clamping and fixing, a mechanical arm installed on one side of the clamping mechanism for multi-angle posture change, and a flexible oral mechanism installed at the top end of the mechanical arm.

[0006] The flexible oral mechanism comprises a flexible hose fixed at the top end of the mechanical arm, a plurality of deformation grooves opened on the side surface of the flexible hose, and an electric field deformation block arranged inside the deformation groove for deformation under the stimulation of electric field; the electric field deformation block is fixed with an electric field stimulator on the side facing the inside of the flexible hose.

[0007] The side surface of the flexible hose near one end is provided with an endoscope for acquiring the image of the front end of the flexible hose, the flexible hose is a hollow structure, and an internal thread for connecting an oral surgery device is arranged on the inside of one end of the flexible hose.

[0008] In a preferred embodiment of the utility model, the distribution of a plurality of deformation grooves is that, in the vertical direction, they are uniformly distributed on the side surface of the flexible hose in a linear array manner, and in the plane direction, they are uniformly distributed on the side surface of the flexible hose in a circumferential array manner.

[0009] In a preferred embodiment of the utility model, the material of the flexible hose is one of rubber or silicone; the electric field deformation block is an electroactive polymer, and the electroactive polymer is one of polyvinyl glycol, polyvinfluoride or ionomer.

[0010] In a preferred embodiment of the utility model, the endoscope comprises a protective cylinder fixed to the side of the flexible hose, a camera lens arranged at one end of the protective cylinder, and a plurality of illuminating lamps arranged at one end of the protective cylinder.

[0011] In a preferred embodiment of the utility model, the plurality of illuminating lamps are evenly distributed in the circumferential direction of the side of the camera lens.

[0012] In a preferred embodiment of the utility model, the clamping mechanism comprises a fixed frame, a movable slot opened in one side of the fixed frame, and a servo motor fixed to the top of the fixed frame; the other side of the fixed frame is fixed to the bottom end of the mechanical arm, the output end of the servo motor towards the inside of the movable slot is fixed with a rotating rod, and a plurality of clamping plates are symmetrically arranged on the side of the rotating rod.

[0013] In a preferred embodiment of the utility model, the side of the rotating rod is provided with threads in opposite directions, and the inner side of the plurality of clamping plates is threadedly connected with the side of the rotating rod.

[0014] In a preferred embodiment of the utility model, the side of the rotating rod close to the two ends is rotatably connected with the inner side of the fixed frame through a bearing.

[0015] In a preferred embodiment of the utility model, the side of the clamping plate is convex, and the width dimension of the clamping plate inside the movable slot is the same as the width dimension of the movable slot.

[0016] In a preferred embodiment of the utility model, the clamping surface of the clamping plate is provided with anti-skid lines for improving clamping stability.

[0017] The utility model solves the defects in the background art, and has the following beneficial effects:

[0018] (1) The utility model provides a kind of oral flexible surgical robot system, by installing oral flexible mechanism in the top end of mechanical arm, when the oral surgery equipment required by oral surgery, by the cooperation of internal thread, it is connected to the one end of flexible hose, by the cooperation of mechanical arm, flexible hose, electric field deformation block and electric field stimulator, flexible hose can realize subtle and accurate multi-angle attitude change in oral cavity, can adapt to the complex and changeable environment inside oral cavity, help oral surgery equipment accurately to the lesion area is operated, and can greatly avoid unnecessary damage to oral tissue, to improve flexibility and practicality.

[0019] (2) The utility model discloses a clamping mechanism is set, after placing the clamping area between a plurality of clamping plates, through the cooperation of servo motor, rotary rod, movable slot and a plurality of clamping plates, because the side of rotary rod is set as opposite direction thread, can drive a plurality of clamping plates of side thread connection close to each other, make a side of a plurality of clamping plates contact to clamping area, realize the accurate movement of clamping plate and the accurate control of clamping force, improve the stability and accuracy of clamping, thereby improve the reliability of operation. BRIEF DESCRIPTION OF DRAWINGS

[0020] The utility model is further described below in combination with the drawings and examples;

[0021] Figure 1 It is the oral cavity flexible surgery robot solid structure diagram of preferred embodiment of the utility model;

[0022] Figure 2 It is the oral cavity flexible mechanism solid structure diagram of preferred embodiment of the utility model;

[0023] Figure 3 It is the flexible hose half cut structure diagram of preferred embodiment of the utility model;

[0024] Figure 4 It is the fixed frame half cut structure diagram of preferred embodiment of the utility model;

[0025] In the drawing: 1, clamping mechanism;11, fixed frame;12, movable slot;13, servo motor;14, rotary rod;15, clamping plate;2, mechanical arm;3, oral cavity flexible mechanism;31, flexible hose;32, deformation slot;33, electric field deformation block;34, electric field stimulator;4, endoscope;41, protection cylinder;42, camera lens;43, illuminating lamp;5, internal thread. DETAILED DESCRIPTION

[0026] The utility model will be further described in detail in combination with the drawings and examples, these drawings are all simplified schematic diagram, just with the schematic way the basic structure of the utility model is shown, therefore it just shows the constitution related with the utility model.

[0027] As Figure 1 , Figure 2 and Figure 3As shown, a flexible oral surgery robot system comprises a clamping mechanism 1 for realizing clamping fixation, a mechanical arm 2 installed on one side of the clamping mechanism 1 for multi-angle posture change, and a flexible oral mechanism 3 installed at the top end of the mechanical arm 2; the flexible oral mechanism 3 comprises a flexible hose 31 fixed at the top end of the mechanical arm 2, a plurality of deformation grooves 32 opened on the side surface of the flexible hose 31, and an electric field deformation block 33 arranged inside the deformation groove 32 for deformation under electric field stimulation; the electric field deformation block 33 is fixed with an electric field stimulator 34 on the side facing the inside of the flexible hose 31; an endoscope 4 for acquiring the image of the front end of the flexible hose 31 is installed on the side surface of the flexible hose 31 close to one end, the flexible hose 31 is a hollow structure, and an internal thread 5 for externally connecting an oral surgery device is arranged inside one end of the flexible hose 31.

[0028] It should be noted that the distribution of the plurality of deformation grooves 32 is that, in the vertical direction, they are uniformly distributed in a linear array on the side surface of the flexible hose 31, and in the plane direction, they are uniformly distributed in a circumferential array on the side surface of the flexible hose 31; after being fixed by the clamping mechanism 1, the oral surgery device required for oral surgery is externally connected to one end of the flexible hose 31 through the internal thread 5, and through the cooperation of the mechanical arm 2, multi-angle posture change is realized, so that the flexible hose 31 and the oral surgery device are pushed into the patient's oral cavity, the image of the front end of the flexible hose 31 is acquired through the endoscope 4, the electric field stimulator 34 at the corresponding position is controlled to output voltage to the electric field deformation block 33 inside the deformation groove 32 for electric field stimulation, so that the electric field deformation block 33 deforms and expands in the deformation groove 32, after the corresponding position of the flexible hose 31 is extruded by the expansion, the flexible hose 31 bends in the opposite direction of the electric field deformation block 33 subjected to electric field stimulation, and then the flexible hose 31 can realize fine and accurate multi-angle posture change in the oral cavity, can adapt to the complex environment inside the oral cavity, can help the oral surgery device to accurately operate the lesion area, and can greatly avoid unnecessary damage to the oral tissue, thereby improving flexibility and practicality.

[0029] In some embodiments, the material of the flexible hose 31 is one of rubber or silicone; the electric field deformation block 33 is an electroactive deformation material, and the electroactive deformation material is one of polyethylene glycol, polyvinylidene fluoride or ionic polymer.

[0030] It should be noted that by adopting the electro-deformation material for the electric field deformation block 33, the electric field deformation block 33 can be deformed and expanded when stimulated by the electric field, and can return to the initial state when the electric field stimulation ends. This phenomenon is called the "piezoelectric effect" or "martensitic effect" of the electro-deformation material. By cooperating with the flexible hose 31 made of rubber or silicone material, the flexible hose 31 can be squeezed and expanded to achieve multi-angle posture changes.

[0031] In some embodiments, the endoscope 4 includes a protective cylinder 41 fixed on the side of the flexible hose 31, a camera lens 42 arranged at one end of the protective cylinder 41, and a plurality of illumination lamps 43 arranged at one end of the protective cylinder 41.

[0032] It should be noted that the plurality of illumination lamps 43 are uniformly distributed on the side of the camera lens 42. By arranging the protective cylinder 41, the camera lens 42, the illumination lamps 43 or the built-in chip circuit can be protected during use, and the camera picture can be obtained through the camera lens 42. The medical staff can control the operation during the operation according to the patient's oral lesion, and the illumination lamps 43 can provide illumination effect in the oral cavity, improve the clarity and visibility of the picture during shooting.

[0033] As shown in Figure 4 In some embodiments, the clamping mechanism 1 includes a fixed frame 11, a movable groove 12 opened on one side of the fixed frame 11, and a servo motor 13 fixed on the top of the fixed frame 11. The other side of the fixed frame 11 is fixed with the bottom end of the mechanical arm 2. The output end of the servo motor 13 towards the inside of the movable groove 12 is fixed with a rotating rod 14. The side of the rotating rod 14 is symmetrically provided with a plurality of clamping plates 15.

[0034] It should be noted that the side of the rotating rod 14 is provided with opposite threads, and the inner side of the plurality of clamping plates 15 is connected with the side threads of the rotating rod 14. The side of the rotating rod 14 close to the two ends is rotatably connected with the inner side of the fixed frame 11 through a bearing. The side of the clamping plate 15 is convex, and the width size of the clamping plate 15 inside the movable groove 12 is the same as the width size of the movable groove 12. By placing the clamping area between the plurality of clamping plates 15, starting the forward rotation of the servo motor 13, and driving the rotating rod 14 of the output end to rotate inside the movable groove 12, since the side of the rotating rod 14 is provided with opposite threads, the plurality of clamping plates 15 connected with the side threads can be brought close to each other, so that one side of the plurality of clamping plates 15 contacts the clamping area, realizing the accurate movement and clamping force of the clamping plate 15, improving the stability and accuracy of clamping, and thus improving the reliability of the operation.

[0035] In some embodiments, the clamping surface of the clamping plate 15 is provided with anti-skid lines for improving clamping stability; through the arrangement of the anti-skid lines, the stability and anti-skid property of the clamping plate 15 during clamping can be improved, thereby helping to improve the clamping effect.

[0036] In use, the clamping area is placed between the plurality of clamping plates 15, the servo motor 13 is started and rotated in the positive direction, the rotating rod 14 at the driving output end is rotated in the inside of the movable slot 12, because the side surface of the rotating rod 14 is provided with threads in opposite directions, the plurality of clamping plates 15 connected with the side threads are driven to approach each other, one side of the plurality of clamping plates 15 is in contact with the clamping area, clamping and fixing can be completed, the oral surgery equipment required for oral surgery is connected to one end of the flexible hose 31 through the internal thread 5, through the cooperation of the mechanical arm 2, multi-angle posture changes are carried out, the flexible hose 31 and the oral surgery equipment are pushed into the patient's oral cavity, the illuminating lamp 43 is used to provide the illumination effect in the oral cavity, the camera lens 42 is used to obtain the camera picture, the electric field stimulator 34 at the corresponding position is controlled to output the voltage to the electric field deformation block 33 inside the deformation slot 32 for electric field stimulation, so that the electric field deformation block 33 is deformed and expands in the deformation slot 32, after the flexible hose 31 at the corresponding position is extruded due to the expansion, the flexible hose 31 bends in the opposite direction of the electric field deformation block 33 subjected to the electric field stimulation, thereby the flexible hose 31 can realize fine and accurate multi-angle posture changes in the oral cavity, the complex and changeable environment in the oral cavity can be adapted, the oral surgery equipment can accurately operate the lesion area, unnecessary damage to the oral tissue can be greatly avoided, and the flexibility and practicability are improved.

[0037] The above is based on the ideal embodiment of the utility model, and for those skilled in the art, the utility model is obviously not limited to the details of the above exemplary embodiments, and can be realized in other specific forms without departing from the spirit or basic characteristics of the utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the utility model is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0038] In addition, it should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be properly combined to form other embodiments that those skilled in the art can understand.

Claims

1. An oral flexible surgical robotic system, characterized by, Include: Clamping mechanism (1) for realizing clamping fixation, mechanical arm (2) for multi-angle posture change installed on one side of the clamping mechanism (1), and oral flexible mechanism (3) installed at the top end of the mechanical arm (2); The oral flexible mechanism (3) comprises: a flexible hose (31) fixed at the top end of the mechanical arm (2), a plurality of deformation grooves (32) opened on the side of the flexible hose (31), and an electric field deformation block (33) arranged inside the deformation groove (32) for deformation under the stimulation of electric field; The electric field deformation block (33) is fixed with an electric field stimulator (34) on the side facing the inside of the flexible hose (31); The side of the flexible hose (31) near one end is provided with an endoscope (4) for acquiring the image of the front end of the flexible hose (31), the flexible hose (31) is a hollow structure, and the inside of one end of the flexible hose (31) is provided with an internal thread (5) for connecting an external oral surgery device.

2. The oral flexible surgical robotic system of claim 1, wherein: The distribution of a plurality of deformation grooves (32) is: in the vertical direction, uniformly distributed in linear array on the side of the flexible hose (31), and in the plane direction, uniformly distributed in circumferential array on the side of the flexible hose (31).

3. The oral flexible surgical robotic system of claim 1, wherein: The material of the flexible hose (31) is one of rubber or silicone; the electric field deformation block (33) is an electroactive material, and the electroactive material is one of polyethylene glycol, polyvinylidene fluoride or ionic polymer.

4. The oral flexible surgical robotic system of claim 1, wherein: The endoscope (4) comprises: a protective cylinder (41) fixed on the side of the flexible hose (31), a camera lens (42) arranged at one end of the protective cylinder (41), and a plurality of illuminating lamps (43) arranged at one end of the protective cylinder (41).

5. The oral flexible surgical robotic system of claim 4, wherein: A plurality of illuminating lamps (43) are uniformly distributed on the side of the camera lens (42) in the circumferential direction.

6. The oral flexible surgical robotic system of claim 1, wherein: The clamping mechanism (1) comprises: a fixed frame (11), a movable slot (12) opened on one side of the fixed frame (11), and a servo motor (13) fixed on the top of the fixed frame (11); The other side of the fixed frame (11) is fixed with the bottom end of the mechanical arm (2), the output end of the servo motor (13) fixed with the rotating rod (14) towards the inside of the movable slot (12), and a plurality of clamping plates (15) are symmetrically arranged on the side of the rotating rod (14).

7. The oral flexible surgical robotic system of claim 6, wherein: The side of the rotating rod (14) is provided with threads in opposite directions, and the inner side of a plurality of clamping plates (15) is connected with the side threads of the rotating rod (14).

8. The oral flexible surgical robotic system of claim 6, wherein: The side of the rotating rod (14) near both ends is rotatably connected with the inner side of the fixed frame (11) through a bearing.

9. The oral flexible surgical robotic system of claim 6, wherein: The side of the clamping plate (15) is convex, and the width size of the clamping plate (15) located inside the movable slot (12) is the same as the width size of the movable slot (12).

10. The oral flexible surgical robotic system of claim 6, wherein: The clamping surface of the clamping plate (15) is provided with anti-slip lines for improving clamping stability.

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