Robot for measuring pressure in artificial cochlea implantation operation

Abstract

The utility model relates to the technical field of medical instruments, and provides a robot for measuring the pressure of an artificial cochlea implantation operation, which comprises a movable chassis, a support body, a connecting arm, a tail end steering handle, a pitching joint and a clamping bracket, and is characterized in that the bottom of the support body is arranged at the top of the movable chassis; the near end of the connecting arm is arranged on the top of the supporting body, and the position of the far end of the connecting arm in the space can be adjusted. The tail end steering handle is connected with the far end of the connecting arm; the pitching joint is rotatably arranged on the tail end steering handle and is connected with the near end of the connecting rod; the clamping support is detachably fixed to the far end of the connecting rod and used for fixing the pressure guide wire catheter and the pressure guide wire. The pressure guide wire can be accurately guided to the round window membrane of a human body, accurate positioning is achieved, the shaking problem caused by holding the guide wire by hand can be avoided, measurement errors are greatly reduced, and the pressure guide wire has the advantages of being convenient to operate and observe and convenient and fast to mount and dismount.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a robot for measuring pressure during cochlear implantation surgery. Background Technology

[0002] Fiber optic pressure sensors combine the quantity to be measured with various parameters of the fiber optic cable based on the performance of the fiber itself, thereby transmitting the measured signal in the form of an optical signal. They have advantages such as small size, high sensitivity, high security, and strong resistance to electromagnetic interference. Using light as the system signal, they can sense changes in the optical signal in real time and monitor the pressure in real time.

[0003] Our current animal studies have demonstrated that micro-pressure measurement technology based on fiber optic pressure sensors has a certain guiding role in cochlear implantation procedures, and that changes in cochlear pressure take precedence over deformation of the cochlear implant electrodes. However, current pressure monitoring during cochlear implantation procedures mainly relies on manual placement of the pressure measurement guidewire at the circular window entrance, which inevitably leads to hand tremors, causing errors in the pressure monitoring results, and is also difficult to operate and observe. Therefore, there is an urgent need to design a new device to solve the problem of pressure monitoring errors caused by device tremors, in order to meet the needs of surgery. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of this utility model is to provide a robot for measuring pressure during cochlear implantation surgery.

[0005] A robot for measuring pressure during cochlear implantation surgery according to this utility model includes:

[0006] The movable chassis has both movable and immovable states.

[0007] The support body is located at the bottom of the movable chassis on top;

[0008] The connecting arm has its proximal end positioned on top of the support body, and its distal end can be adjusted in space.

[0009] The end steering handle is connected to the distal end of the connecting arm;

[0010] The pitch joint is rotatably mounted on the end steering handle and connected to the proximal end of the connecting rod;

[0011] A clamping bracket, detachably fixed to the distal end of the connecting rod, is used to fix the pressure guidewire conduit and the pressure guidewire. The pressure guidewire passes through the pressure guidewire conduit. The fixed end of the pressure guidewire is a straight end that cannot be bent, while the other end of the pressure guidewire is a bendable end that allows the orientation of the end of the pressure guidewire to be adjusted. A miniature pressure sensor is provided at the end of the pressure guidewire.

[0012] Preferably, the clamping bracket has a U-shaped structure.

[0013] Preferably, the clamping bracket includes a first support rod and a second support rod. The first support rod has a first guide hole, and a left support platform and a right support platform are respectively provided on both sides of the first guide hole. The left support platform has a left guide groove, and the right support platform has a right guide groove. The second support rod has a second guide hole.

[0014] One end of the pressure guide wire conduit passes through the second guide hole and enters the first guide hole through the left guide groove. The other end of the pressure guide wire conduit passes through the second guide hole and extends to the outside of the second guide hole. The pressure guide wire passes through the pressure guide wire conduit and extends into the right guide groove. A conduit clamping block is installed above the left support platform and fixed to the left support platform by a fastener to fix the pressure guide wire conduit. A guide wire clamping block is installed above the right support platform and fixed to the right support platform by a fastener to fix the pressure guide wire.

[0015] Preferably, a protective element is provided between the pressure guide wire and the guide wire clamping block.

[0016] Preferably, the protective component is made of tile-shaped rubber material.

[0017] Preferably, the connecting arm includes a lifting body, a first rotating rod, a second rotating rod, and an end steering joint. The lower end of the lifting body extends into the support body and can move up and down relative to the support body to adjust the height of the upper end of the lifting body.

[0018] The proximal end of the first rotating rod is rotatably engaged with the upper end of the lifting body, the proximal end of the second rotating rod is rotatably engaged with the distal end of the first rotating rod, the upper end of the end steering joint is fixed to the distal end of the second rotating rod, and the end steering handle is disposed at the lower end of the end steering joint.

[0019] Preferably, a button is provided on the connecting rod, and passive joints are provided at the joints between the lifting body and the support body, the joints between the first rotating rod and the lifting body, the joints between the second rotating rod and the first rotating rod, and the interior of the end steering joint. A brake component is provided inside each of the four passive joints, and the brake component is electrically connected to the button.

[0020] Preferably, the end effector steering joint is provided with a steering joint motor and a braking component. The steering joint motor can drive the end effector steering handle at the lower end of the end effector steering joint to rotate around the axis. The braking component has two states: braking and open. When the button is pressed, the braking component is open, allowing the steering joint motor to rotate and thus drive the end effector steering joint to adjust its own rotation angle so that the robot end effector reaches the predetermined position. When the button is released, the braking component is in the braking state and the steering joint motor is not allowed to rotate.

[0021] Preferably, the pitch joint is equipped with a pitch joint motor, which provides torque when energized, thereby driving the connecting rod to rotate the components at its end.

[0022] Preferably, the bottom of the movable chassis is provided with multiple casters and multiple electric support feet;

[0023] When the robot needs to move, the electric support legs are retracted so that the casters touch the ground; when the robot needs to work, the electric support legs are extended so that they support the ground.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The robot of this invention, through the combination of a movable chassis, connecting arm, end-effector, pitch joint, and clamping bracket, can precisely guide the pressure guide wire to the circular window membrane of the human body, achieving accurate positioning. This avoids the shaking problem caused by holding the guide wire by hand, greatly reduces measurement errors, and has the advantages of convenient operation and observation, as well as easy installation and disassembly. Attached Figure Description

[0026] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0027] Figure 1 This is a simplified structural diagram of the present invention;

[0028] Figure 2 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 3 This is a schematic diagram of the cross-section of the clamping bracket;

[0030] Figure 4 This is a schematic diagram of the first support rod;

[0031] Figure 5 This is a schematic diagram of the clamping bracket structure;

[0032] Figure 6This is a schematic diagram of the right support platform and the guide wire clamping block;

[0033] Figure 7 This is a schematic diagram of the structure of the left support platform and the guide tube clamping block;

[0034] Figure 8 This is a schematic diagram showing the structural relationship between the end steering handle and the pitch joint.

[0035] The diagram shows:

[0036] 1 omnidirectional wheel

[0037] Movable chassis 2

[0038] Support 3

[0039] 4-handle cart

[0040] Lifting body 5

[0041] First axis 51

[0042] First pivot 6

[0043] Second axis 61

[0044] Second lever 7

[0045] Third axis 71

[0046] End-of-touch steering joint 8

[0047] Fourth axis 81

[0048] End turn handle 9

[0049] Lance joint 10

[0050] Connecting rod 11

[0051] Button 12

[0052] Clamping bracket 13

[0053] First support rod 131

[0054] First guide hole 1311

[0055] Left support platform 1312

[0056] Right support platform 1313

[0057] Second support rod 132

[0058] Second guide hole 1321

[0059] Protective component 14

[0060] Guide wire clamp 15

[0061] Fastener 16

[0062] catheter compression block 17

[0063] Pressure guidewire catheter 18

[0064] Pressure guide wire 19 Detailed Implementation

[0065] 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 present 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 protection scope of the present invention.

[0066] This utility model provides a robot for pressure measurement in cochlear implantation surgery, including a caster wheel 1, a movable chassis 2, a support body 3, a connecting arm, an end-effector steering handle 9, a pitch joint 10, a connecting rod 11, a button 12, a clamping bracket 13, a protective component 14, a guide wire clamping block 15, a fixing component 16, a catheter clamping block 17, a pressure guide wire catheter 18, and a pressure guide wire 19. The proximal end of the connecting arm is arranged on the top of the support body 3, and the position of the distal end of the connecting arm in space can be adjusted. The connecting arm includes a lifting body 5, a first rotating rod 6, a second rotating rod 7, and an end-effector steering joint 8.

[0067] like Figure 1 , Figure 2 As shown, the movable chassis 2 has two states: movable and immovable. Casters 1 are arranged at the bottom of the movable chassis 2, and multiple casters 1 and multiple motorized support legs are arranged at the bottom of the movable chassis 2. Preferably, the movable chassis 2 has four casters 1 and four motorized support legs at the bottom. When movement is needed, the motorized support legs are retracted, allowing the casters 1 to touch the ground, at which point the movable chassis 2 is in a movable state. When the robot needs to work, the motorized support legs are lowered, allowing the motorized support legs to support the ground, and the casters 1 are no longer in use. At this time, the movable chassis 2 is in a immovable state, making the movable chassis 2 more stable.

[0068] like Figure 2 As shown, the support body 3 is arranged on the top of the movable chassis 2. A trolley handle 4 is provided on one side of the support body 3. The operator can push the robot to move by means of the trolley handle 4, including forward, backward and turning. The support body 3 is the guide structure of the lifting body 5. The lower end of the lifting body 5 extends into the support body 3, allowing the lifting body 5 to move up and down in the support body 3 along the direction of the first axis 51 to adjust the height of the upper end of the lifting body 5.

[0069] like Figure 1 , Figure 2As shown, the proximal end of the first rotating rod 6 is rotatably engaged with the upper end of the lifting body 5, meaning the proximal end of the first rotating rod 6 can rotate around the second axis 61. The proximal end of the second rotating rod 7 is rotatably engaged with the distal end of the first rotating rod 6, meaning the proximal end of the second rotating rod 7 can rotate around the third axis 71. The upper end of the end-effector joint 8 is fixed to the distal end of the second rotating rod 7. The end-effector joint 8 is equipped with a steering joint motor and a braking component. The steering joint motor can drive the end-effector handle 9 at the lower end of the end-effector joint 8 to rotate around the fourth axis 81. The braking component has two states: braking and open. It is electrically connected to the button 12 arranged on the connecting rod 11. When the button 12 is pressed, the braking component is open, allowing the steering joint motor to rotate and thus drive the end of the end-effector joint 8 to adjust its own rotation angle so that the robot end-effector reaches the predetermined position.

[0070] like Figure 1 , Figure 2 , Figure 8 As shown, button 12 is located on connecting rod 11. The first axis 51, the second axis 61, the third axis 71, and the fourth axis 81 are all passive joints, each containing a braking component. The active joint 10 contains a brake, a pitch joint motor, and a reducer. After pressing button 12, the braking components in each joint are opened, thereby adjusting the position and attitude of components such as lifting body 5, first rotating rod 6, second rotating rod 7, end steering joint 8, and connecting rod 11.

[0071] like Figure 8 As shown, the end effector 9 is located at the distal end of the connecting arm; the pitch joint 10 is rotatably mounted on the end effector 9 and connected to the proximal end of the connecting rod 11. Specifically, the end effector 9 has an installation space, and the proximal end of the connecting rod 11 is rotatably mounted in the installation space via the pitch joint 10. When the pitch joint motor in the pitch joint 10 is energized, it provides torque to achieve gravitational balance of the connecting rod 11 and the components at the end of the connecting rod 11, preventing it from falling. This allows the end effector at the end of the connecting rod 11 to reach a suitable position, facilitating the pressure guide wire conduit 18 to contact the desired area of ​​the inner ear.

[0072] It should be noted that the brake, button 12, and the signal control between them in this utility model are all existing technologies. For example, the related technologies of the brake and button disclosed in patent document CN201299597Y can be used, or other structures in the prior art can be used, which will not be elaborated here.

[0073] like Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8As shown, the clamping bracket 13 is detachably fixed to the far end of the connecting rod 11. The clamping bracket 13 is preferably a U-shaped structure. The clamping bracket 13 includes a first support rod 131 and a second support rod 132. The first support rod 131 has a first guide hole 1311. A left support platform 1312 and a right support platform 1313 are respectively provided on both sides of the first guide hole 1311. The left support platform 1312 has a left guide groove, and the right support platform 1313 has a right guide groove. The second support rod 132 has a second guide hole 1321.

[0074] During assembly, one end of the pressure guide wire conduit 18 passes through the second guide hole 1321 and enters the first guide hole 1311 through the left guide groove, but does not reach the right guide groove. The other end of the pressure guide wire conduit 18 passes through the second guide hole 1321 and extends to the outside of the second guide hole 1321. The pressure guide wire 19 passes through the pressure guide wire conduit 18 and extends into the right guide groove. A guide wire clamping block 17 is installed above the left support platform 1312 and fixed to the left support platform 1312 by a fixing member 16 to fix the pressure guide wire conduit 18. A guide wire clamping block 15 is installed above the right support platform 1313 and fixed to the right support platform 1313 by a fixing member 16 to fix the pressure guide wire 19. To prevent damage to the pressure guide wire 19, a protective member 14 is provided between the pressure guide wire 19 and the guide wire clamping block 15. The protective member 14 is preferably made of tile-shaped rubber material. Under the squeezing action of the guide wire clamping block 15, the pressure guide wire 19 can be clamped without causing damage to the pressure guide wire 19.

[0075] It should be noted that both the left support platform 1312 and the right support platform 1313 are equipped with threaded holes, so that the fixing member 16 can fix the guide wire clamping block 15 and the guide tube clamping block 17 to the clamping bracket 13. The first guide hole 1311 and the second guide hole 1321 are arranged coaxially, so that they can work together to support the pressure guide wire and guide tube 18 during use.

[0076] For ease of use, the fastener 16 is preferably a screw. To increase the firmness of the fastener 16 when it is fixed, multiple screws can be provided on both the left support platform 1312 and the right support platform 1313, respectively, on both sides of the left guide groove and the right guide groove.

[0077] like Figure 6 As shown, loosening the fixing member 16 releases the guide wire pressure block 15, allowing the pressure guide wire 19 to be removed.

[0078] like Figure 7 As shown, loosening the fixing piece 16 releases the conduit pressure block 17, allowing the pressure guide wire conduit 18 to be removed.

[0079] In this invention, the pressure guidewire conduit 18 guides the pressure guidewire 19. It has a hollow cavity inside, with one end being a straight, inflexible opening and the other end a bendable port. In use, the pressure guidewire 19 enters through the straight opening and exits through the bend port. After exiting the pressure guidewire conduit 18, the direction of the pressure guidewire 19 can be changed by adjusting the curvature of the bend port, thus allowing the end of the pressure guidewire 19 to achieve the desired orientation. It should be noted that the pressure guidewire conduit 18 can have different bending angles for measuring the pressure of the inner ear lymphatic fluid at the round window membrane during cochlear implantation surgery. The pressure guidewire conduit 18 is generally made of optical fiber and has a miniature pressure sensor at its end.

[0080] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0081] The specific embodiments of this utility model have been described above. It should be understood that this utility model 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 substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A robot for measuring pressure during cochlear implantation surgery, characterized in that, include: The movable chassis (2) has two states: movable and immovable. The support body (3) is located at the bottom of the top of the movable chassis (2); The connecting arm has its proximal end positioned on top of the support (3), and its distal end can be adjusted in space. End steering handle (9) is connected to the distal end of the connecting arm; The pitch joint (10) is rotatably mounted on the end steering handle (9) and connected to the proximal end of the connecting rod (11); The clamping bracket (13) is detachably fixed to the distal end of the connecting rod (11) for fixing the pressure guide wire conduit (18) and the pressure guide wire (19). The pressure guide wire (19) passes through the pressure guide wire conduit (18). The fixed end of the pressure guide wire (19) is a straight end that cannot be bent. The other end of the pressure guide wire (19) is a bent end that is bendable, which allows the orientation of the end of the pressure guide wire (19) to be adjusted. A miniature pressure sensor is provided at the end of the pressure guide wire (19).

2. The robot for measuring pressure during cochlear implantation surgery according to claim 1, characterized in that, The clamping bracket (13) has a U-shaped structure.

3. The robot for measuring pressure during cochlear implantation surgery according to claim 1, characterized in that, The clamping bracket (13) includes a first support rod (131) and a second support rod (132). The first support rod (131) has a first guide hole (1311). A left support platform (1312) and a right support platform (1313) are respectively provided on both sides of the first guide hole (1311). The left support platform (1312) has a left guide groove, and the right support platform (1313) has a right guide groove. The second support rod (132) has a second guide hole (1321). One end of the pressure guide wire conduit (18) passes through the second guide hole (1321) and enters the first guide hole (1311) through the left guide groove. The other end of the pressure guide wire conduit (18) passes through the second guide hole (1321) and extends to the outside of the second guide hole (1321). The pressure guide wire (19) passes through the pressure guide wire conduit (18) and extends to the right guide groove. A guide wire clamping block (17) is installed above the left support platform (1312) and fixed on the left support platform (1312) by a fixing member (16) to fix the pressure guide wire conduit (18). A guide wire clamping block (15) is installed above the right support platform (1313) and fixed on the right support platform (1313) by a fixing member (16) to fix the pressure guide wire (19).

4. The robot for measuring pressure during cochlear implantation surgery according to claim 3, characterized in that, A protective element (14) is provided between the pressure guide wire (19) and the guide wire pressure block (15).

5. The robot for measuring pressure during cochlear implantation surgery according to claim 4, characterized in that, The protective component (14) is made of tile-shaped rubber.

6. The robot for measuring pressure during cochlear implantation surgery according to claim 1, characterized in that, The connecting arm includes a lifting body (5), a first rotating rod (6), a second rotating rod (7), and an end steering joint (8). The lower end of the lifting body (5) extends into the support body (3) and can move up and down relative to the support body (3) to adjust the height of the upper end of the lifting body (5). The proximal end of the first rotating rod (6) is rotatably engaged with the upper end of the lifting body (5), the proximal end of the second rotating rod (7) is rotatably engaged with the distal end of the first rotating rod (6), the upper end of the end steering joint (8) is fixed to the distal end of the second rotating rod (7), and the end steering handle (9) is disposed at the lower end of the end steering joint (8).

7. The robot for measuring pressure during cochlear implantation surgery according to claim 6, characterized in that, A button (12) is provided on the connecting rod (11). Passive joints are provided at the joints between the lifting body (5) and the support body (3), the joints between the first rotating rod (6) and the lifting body (5), the joints between the second rotating rod (7) and the first rotating rod (6), and the interior of the end steering joint (8). A brake component is provided inside each of the four passive joints. The brake component is electrically connected to the button (12).

8. The robot for measuring pressure during cochlear implantation surgery according to claim 7, characterized in that, The end-effector (8) is equipped with a steering joint motor and a braking component. The steering joint motor can drive the end-effector handle (9) at the lower end of the end-effector (8) to rotate around the axis. The braking component has two states: braking and open. When the button (12) is pressed, the braking component is open, allowing the steering joint motor to rotate and thus drive the end of the end-effector (8) to adjust its own rotation angle so that the robot end reaches the predetermined position. When the button (12) is released, the braking component is in the braking state and the steering joint motor is not allowed to rotate.

9. The robot for measuring pressure during cochlear implantation surgery according to claim 1, characterized in that, The pitch joint (10) is equipped with a pitch joint motor. When the pitch joint motor is powered on, it can provide torque to drive the connecting rod (11) to rotate the components at its end.

10. The robot for measuring pressure during cochlear implantation surgery according to claim 1, characterized in that, The bottom of the movable chassis (2) is provided with multiple casters (1) and multiple electric support feet; When movement is required, the electric support legs are retracted so that the caster wheel (1) touches the ground; When the robot needs to work, it lowers the electric support legs so that the electric support legs support the ground.

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