Soft robot convenient for multi-angle adjustment and medical equipment with the device

Abstract

The present invention proposes a soft robot that is easy to adjust at multiple angles and a medical device having the device, taking into account the characteristics of arthroscopic surgery: during arthroscopic surgery, the field of view will be continuously flushed with saline, the entire joint will be filled with saline, and the saline will be discharged through the outlet, and the entire joint will be in a state of water flushing. Therefore, by utilizing this feature, the soft robot is driven by saline, and the saline discharge process is regulated to drive the robot joint to expand and contract, thereby driving the arthroscopic surgical equipment to flexibly bend.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a soft robot that is easy to adjust at multiple angles and medical equipment having the same. Background Art

[0002] Arthroscopic techniques have evolved from surgical procedures that were typically performed through large incisions, and the key elements of the procedure (such as removal of a torn meniscus) generally remain unchanged. The smaller size of the incisions and less tissue damage associated with arthroscopic surgery can reduce the incidence of postoperative complications. Therapeutic arthroscopy now includes the removal, reconstruction, and replacement of damaged or abnormal tissue.

[0003] The surgery to reconstruct damaged tissues is complex and requires many instruments, including arthroscopic observation, and the use of electric drills to create holes in the tissues, further implant rivets or use drills to grind the bone hyperplasia.

[0004] In order to achieve better surgical results, surgeons often have to change the incision method. Such operations increase the difficulty for doctors who are new to arthroscopy. But even with this method, due to some anatomical limitations of the human body, the equipment used in arthroscopic surgery often has unavoidable blind spots. For example, when using a hip arthroscopy, the posterior medial side of the femoral neck is a difficult area to grind, and it is difficult to drill holes in this area and then repair the labrum with rivets; in addition, in order to accurately locate the position where surgery is required, rigid-structured equipment is often achieved by the surgeon pulling hard, and this pulling during the operation will also cause unnecessary damage to the tissue.

[0005] Soft robots are characterized by their continuously deformable structures that are compliant and can deform significantly under normal operation. Their flexibility makes precise control more challenging than rigid structures, but soft robots are more adaptable and safer in complex environments than rigid structures, and have greater potential in search and rescue operations and human-centered tasks. The most common driving method for soft robots is pneumatic artificial muscles, which are basically soft membranes that expand and contract when inflated with compressed gas, causing the artificial muscles to contract and relax.

[0006] Considering the characteristics of arthroscopic surgery: during arthroscopic surgery, the field of vision will be continuously flushed with saline, the entire joint will be filled with saline, and the saline will be discharged through the outlet, and the entire joint will be in a state of water flushing. Therefore, taking advantage of this feature, the saline is used to drive the artificial muscle, and the saline discharge process is regulated to drive the robot joint to relax and contract, thereby driving the arthroscopic surgical equipment to flexibly bend. Summary of the invention

[0007] The purpose of the present invention is to provide a soft robot that utilizes the discharge process of physiological saline to drive arthroscopic surgical equipment to achieve flexible bending movement and is easy to adjust at multiple angles, and a medical device having the device.

[0008] To achieve the above object, the present invention provides a soft robot that is easy to adjust at multiple angles, comprising a plurality of hoses, wherein the plurality of hoses are connected end to end in sequence;

[0009] The water inlet end of each section of the hose is provided with a water inlet valve; the water outlet end of each section of the hose is provided with a water outlet valve; the middle part of each section of the hose is provided with a bending-assisting cavity, and a control valve is preset between the bending-assisting cavity and the hose.

[0010] Preferably, the upper end surface of the bending-assisting cavity is a continuously concave-convex accordion-like structure.

[0011] Preferably, the hose is a rubber hose or a deformable metal hose; and the bending-assisting cavity is a rubber soft body.

[0012] The present invention also provides an arthroscopy, comprising a plurality of soft robots, a camera, a bendable waterproof layer and a cable;

[0013] The camera is fixed to the end of the cable, and the outer circumference of the cable is wrapped with the flexible waterproof layer;

[0014] A plurality of the soft robots are arranged between the cable and the flexible waterproof layer, and the plurality of the soft robots are evenly arranged along the outer circumference of the cable; the length direction of the soft robots is consistent with the length direction of the cable.

[0015] Preferably, at the end of the cable, an optical fiber is provided around the camera to supplement the light for the camera.

[0016] The present invention also provides a grinding drill, comprising a plurality of soft robots, a grinding head, a bendable waterproof layer and a bendable driving rod;

[0017] The grinding head is fixed to the end of the driving rod, and the outer circumference of the driving rod is wrapped with the flexible waterproof layer;

[0018] A plurality of the soft robots are disposed between the driving rod and the flexible waterproof layer, and the plurality of the soft robots are evenly arranged along the outer circumference of the driving rod; the length direction of the soft robots is consistent with the length direction of the driving rod.

[0019] Preferably, a wear-resistant layer is preset between the driving rod and the soft robot.

[0020] The present invention also provides an electric drill, comprising a plurality of soft robots, a drill bit, a bendable waterproof layer and a bendable driving rod;

[0021] The drill bit is fixed to the end of the driving rod, and the outer circumference of the driving rod is wrapped with the flexible waterproof layer;

[0022] A plurality of the soft robots are arranged between the driving rod and the flexible waterproof layer, and the plurality of the soft robots are evenly arranged along the outer circumference of the driving rod; the length direction of the soft robots is consistent with the length direction of the driving rod.

[0023] Preferably, a wear-resistant layer is preset between the driving rod and the soft robot.

[0024] The present invention also provides a rivet clamp, comprising a plurality of soft robots, a rivet clamp, a bendable waterproof layer and a bendable fixing rod;

[0025] The rivet clip is fixed to the end of the fixing rod, and the outer periphery of the fixing rod is wrapped with the flexible waterproof layer;

[0026] A plurality of the soft robots are arranged between the fixed rod and the flexible waterproof layer, and the plurality of the soft robots are evenly arranged along the outer circumference of the fixed rod; the length direction of the soft robots is consistent with the length direction of the fixed rod.

[0027] Compared with the prior art, the advantages of the present invention are: the structure of the soft robot that is easy to adjust at multiple angles proposed in the present invention can adjust the volume of liquid in the bending-assisting cavity by regulating the switching of three electronic valves, and further adjust the curvature of the hose, so as to use physiological saline to achieve flexible control of multiple angles of medical equipment equipped with the soft robot, so that surgical equipment can minimize surgical blind spots in the human body, reduce surgical difficulty, and reduce harm to the patient's body. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of a multi-angle adjustable soft robot in one embodiment of the present invention;

[0029] Figure 2 A schematic diagram of a "maintaining state" of a multi-angle adjustable soft robot according to an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of a "bending state" of a multi-angle adjustable soft robot according to an embodiment of the present invention;

[0031] Figure 4 A schematic diagram of a "recovery state" of a multi-angle adjustable soft robot according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the serial structure of a multi-angle adjustable soft robot in one embodiment of the present invention;

[0033] Figure 6 It is a schematic structural diagram of an arthroscopy in one embodiment of the present invention;

[0034] Figure 7 A schematic diagram of the structure of a grinding drill in one embodiment of the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of an electric drill in one embodiment of the present invention;

[0036] Fig. 9 Schematic diagram of the structure of a rivet holder in one embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described below.

[0038] like Figure 1 and Figure 5 As shown, the present invention provides a soft robot that is easy to adjust at multiple angles, comprising a multi-section hose 1, which is connected end to end in sequence;

[0039] The water inlet end of each section of the hose 1 is provided with a water inlet valve 2; the water outlet end of each section of the hose 1 is provided with a water outlet valve 3; the middle part of each section of the hose 1 is provided with a bending-assisting cavity 5, and a control valve 4 is preset between the bending-assisting cavity 5 and the hose 1.

[0040] In this embodiment, the upper end surface of the bending-assisting cavity 5 is a continuously concave-convex accordion-like structure.

[0041] A soft robot 6 that is easy to adjust at multiple angles comprises a multi-section hose 1, which is connected end to end in sequence;

[0042] The water inlet end of each section of the hose 1 is provided with a water inlet valve 2; the water outlet end of each section of the hose 1 is provided with a water outlet valve 3; the middle part of each section of the hose 1 is provided with a bending-assisting cavity 5, and a control valve 4 is preset between the bending-assisting cavity 5 and the hose 1.

[0043] In this embodiment, the upper end surface of the bending-assisting cavity 5 is a continuously concave-convex accordion-like structure.

[0044] In this embodiment, the hose 1 is a rubber hose 1 or a deformable metal hose; the bending-assisting cavity 5 is a rubber soft body.

[0045] In this embodiment, the operator controls the water inlet valve 2, the water outlet valve 3 and the control valve 4 to realize the three states of the soft robot 6:

[0046] like Figure 2 As described, the maintenance state is: open the water inlet valve 2 and the water outlet valve 3, close the control valve 4, and the physiological saline in the joint cavity enters the suction device through the water channel of the hose 1. At this time, the soft robot 6 is equivalent to a suction tube, serving as a channel to suck out the physiological saline in the joint cavity.

[0047] like Figure 3 As shown, bending state: when the water inlet valve 2 and the control valve 4 are opened, and the water outlet valve 3 is closed, at this time, the physiological saline in the joint cavity enters the bending-assisting cavity 5 through the hose 1. Due to the accumulation of liquid in the bending-assisting cavity 5, the upper end surface of the accordion-shaped structure begins to stretch, thereby compressing the hose 1 to achieve the bending of the hose 1.

[0048] like Figure 4 As shown, in the recovery state: the control valve 4 and the water outlet valve 3 are opened, and the water inlet valve 2 is closed. At this time, the physiological saline in the bending-assisting cavity 5 is discharged from the hose 1 into the suction device, and the curvature of the hose 1 decreases until it is restored.

[0049] Among them, the water outlet valve 3, the water inlet valve 2 and the control valve 4 are all electronic valves, which can be opened and closed by an external connection device.

[0050] like Figure 6 As shown, the present invention also provides an arthroscopy, comprising a plurality of soft robots 6, a camera 9, a bendable waterproof layer 7 and a cable 8;

[0051] The camera 9 is fixed to the end of the cable 8, and the outer periphery of the cable 8 is wrapped with a flexible waterproof layer 7;

[0052] A plurality of soft robots 6 are arranged between the cable 8 and the flexible waterproof layer 7 , and the plurality of soft robots 6 are evenly arranged along the outer circumference of the cable 8 ; the length direction of the soft robots 6 is consistent with the length direction of the cable 8 .

[0053] At the end of the cable 8 , an optical fiber is arranged around the camera 9 to provide supplementary light for the camera 9 .

[0054] The operator can control the three valves on the multiple soft robots 6 to switch between the maintenance state, the bending state and the recovery state, and further drive the cable 8 to adjust the angle. The external operating device can power the camera 9 through the cable 8, thereby driving the camera to explore various joints in the human body. The optical fiber can provide fill light for the camera 9 to further ensure the image acquisition effect.

[0055] like Figure 7 As shown, the present invention also provides a grinding drill, comprising a plurality of soft robots 6, a grinding head 10, a bendable waterproof layer 7 and a bendable driving rod 13;

[0056] The grinding head 10 is fixed to the end of the driving rod 13, and the outer periphery of the driving rod 13 is wrapped with a flexible waterproof layer 7;

[0057] A plurality of soft robots 6 are disposed between the driving rod 13 and the flexible waterproof layer 7 , and the plurality of soft robots 6 are evenly arranged along the outer circumference of the driving rod 13 ; the length direction of the soft robots 6 is consistent with the length direction of the driving rod 13 .

[0058] The operator can control the three valves on the multiple soft robots 6 to switch between the maintenance state, the bending state and the recovery state, and further use physiological saline to realize the flexible angle switching of the driving rod 13. At the same time, external operating devices such as motors can be fixedly connected to the tail end of the driving rod 13 to drive the driving rod 13 to rotate, and further drive the grinding drill to rotate, so as to facilitate the grinding of various joints in the human body; by setting a wear-resistant layer between the driving rod 13 and the soft robot 6, the driving rod 13 is effectively prevented from causing wear to the soft robot 6 during rotation, thereby extending the service life of the equipment.

[0059] like Figure 8 As shown, the present invention also provides an electric drill, comprising a plurality of soft robots 6, a drill bit 11, a bendable waterproof layer 7 and a bendable driving rod 13;

[0060] The drill bit 11 is fixed to the end of the driving rod 13, and the outer periphery of the driving rod 13 is wrapped with a flexible waterproof layer 7;

[0061] A plurality of soft robots 6 are disposed between the driving rod 13 and the flexible waterproof layer 7 , and the plurality of soft robots 6 are evenly arranged along the outer circumference of the driving rod 13 ; the length direction of the soft robots 6 is consistent with the length direction of the driving rod 13 .

[0062] The operator can control the three valves on the multiple soft robots 6 to switch between the maintenance state, the bending state and the recovery state, and further use physiological saline to realize the flexible angle switching of the driving rod 13. At the same time, the external operating equipment such as the motor can be fixedly connected to the tail end of the driving rod 13 to drive the driving rod 13 to rotate, and further drive the drill bit 11 to rotate, so as to facilitate drilling various joints in the human body; a wear-resistant layer is set between the driving rod 13 and the soft robot 6 to effectively avoid the driving rod 13 from causing wear to the soft robot 6 during the rotation process, thereby extending the service life of the equipment.

[0063] like Fig. 9As shown, the present invention also provides a rivet clamp, comprising a plurality of soft robots 6, a rivet clamp 12, a bendable waterproof layer 7 and a bendable fixing rod 14;

[0064] The rivet clip 12 is fixed to the end of the fixing rod 14, and the outer periphery of the fixing rod 14 is wrapped with a flexible waterproof layer 7;

[0065] A plurality of soft robots 6 are arranged between the fixed rod 14 and the flexible waterproof layer 7 , and the plurality of soft robots 6 are evenly arranged along the outer circumference of the fixed rod 14 ; the length direction of the soft robots 6 is consistent with the length direction of the fixed rod 14 .

[0066] The operator can control the three valves on the multiple soft robots 6 to switch between the maintenance state, the bending state and the recovery state, and further use physiological saline to achieve flexible angle switching of the fixing rod 14, so as to facilitate the rivet clamp 12 to fix the rivets on various joints in the human body.

[0067] The above is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any technician in the relevant technical field, without departing from the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification to the technical solution and technical content disclosed in the present invention, which does not depart from the content of the technical solution of the present invention and still falls within the protection scope of the present invention.

Claims

1. A soft robot that is easy to adjust at multiple angles, characterized in that: It comprises a plurality of sections of hose, wherein the plurality of sections of hose are connected end to end in sequence; The water inlet end of each section of the hose is provided with a water inlet valve; the water outlet end of each section of the hose is provided with a water outlet valve; the middle part of each section of the hose is provided with a bending-assisting cavity, and a control valve is preset between the bending-assisting cavity and the hose; the upper end surface of the bending-assisting cavity is a continuously concave-convex accordion-like structure; the hose is a rubber hose or a metal hose with flexibility; the bending-assisting cavity is a rubber soft body.

2. An arthroscopy, using the multi-angle adjustable soft robot as claimed in claim 1, characterized in that: Includes multiple soft robots, cameras, bendable water barriers and cables; The camera is fixed to the end of the cable, and the outer circumference of the cable is wrapped with the flexible waterproof layer; A plurality of the soft robots are arranged between the cable and the flexible waterproof layer, and the plurality of the soft robots are evenly arranged along the outer circumference of the cable; the length direction of the soft robots is consistent with the length direction of the cable.

3. The arthroscopy according to claim 2, characterized in that: At the end of the cable, an optical fiber for supplementing light for the camera is arranged around the camera.

4. A drill grinder, using the multi-angle adjustable soft robot as claimed in claim 1, characterized in that: It includes multiple soft robots, a grinding head, a bendable water-proof layer and a bendable driving rod; The grinding head is fixed to the end of the driving rod, and the outer circumference of the driving rod is wrapped with the flexible waterproof layer; A plurality of the soft robots are disposed between the driving rod and the flexible waterproof layer, and the plurality of the soft robots are evenly arranged along the outer circumference of the driving rod; the length direction of the soft robots is consistent with the length direction of the driving rod.

5. The drill grinder according to claim 4, characterized in that: A wear-resistant layer is preset between the driving rod and the soft robot.

6. An electric drill, using the multi-angle adjustable soft robot as claimed in claim 1, characterized in that: It includes multiple soft robots, a drill, a bendable water-proof layer and a bendable driving rod; The drill bit is fixed to the end of the driving rod, and the outer circumference of the driving rod is wrapped with the flexible waterproof layer; A plurality of the soft robots are arranged between the driving rod and the flexible waterproof layer, and the plurality of the soft robots are evenly arranged along the outer circumference of the driving rod; the length direction of the soft robots is consistent with the length direction of the driving rod.

7. The electric drill according to claim 6, characterized in that: A wear-resistant layer is preset between the driving rod and the soft robot.

8. A rivet clamp, using the multi-angle adjustable soft robot as claimed in claim 1, characterized in that: It includes multiple soft robots, rivet clips, a bendable waterproof layer and a bendable fixing rod; The rivet clip is fixed to the end of the fixing rod, and the outer periphery of the fixing rod is wrapped with the flexible waterproof layer; A plurality of the soft robots are arranged between the fixed rod and the flexible waterproof layer, and the plurality of the soft robots are evenly arranged along the outer circumference of the fixed rod; the length direction of the soft robots is consistent with the length direction of the fixed rod.

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