A robotic arm for an adaptive decompression tunnel robot

Abstract

The present invention relates to a robotic arm for an adaptive decompression tunnel robot, which includes a nose connection seat. A buffer assembly is provided on the nose connection seat. A telescopic column is provided inside the buffer assembly. A working channel is provided below the telescopic column. A rotating motor is installed at the upper end of the telescopic column. A hollow shaft is provided at the upper end of the rotating motor. A fixed seat is installed on the hollow shaft. A hollow shaft lifting motor is installed on the fixed seat. A conducting cavity is provided among the hollow shaft lifting motor, the fixed seat, the hollow shaft, the rotating motor, the telescopic column and the working channel. Surgical devices are provided inside the cavity. Thus, the upper telescopic spring and the lower telescopic spring can satisfy the effective "floating" of the telescopic column within a specific range, can adapt to the change of the bone height itself and the change brought by the respiratory movement, and improve the implementation progress. With the presence of the rotating motor, it can effectively drive the surgical devices to rotate 360 degrees and has a better pose for soft tissue ablation and resection.

Description

Technical Field

[0001] The present invention relates to a robotic arm for minimally invasive surgery, and particularly to a robotic arm for an adaptive decompression tunnel-type robot. Background Art

[0002] In recent years, some major progress has been made in the field of spinal surgery, and the surgical treatment method for lumbar disc herniation will undergo a revolutionary change: the mode of mainly "removing" the herniated intervertebral disc will enter the mode of mainly "retaining" the herniated intervertebral disc to allow it to absorb naturally. Literature reports that the artificial spinal double-opening expansionplasty (CMEL) can widely "induce" the natural absorption (RHNP) phenomenon of the herniated intervertebral disc, and the absorption ratio can reach 81.3%, and the absorption rate can reach 100%. However, the artificial spinal double-opening expansionplasty (CMEL) has problems such as a large incision and cumbersome surgical operations, especially the installation of steel plates, which affects the popularization of this new technology. Although spinal surgery robots have been successfully applied clinically, including the Mazor spinal assistant in Israel, the SPINEBOT spinal robot in South Korea, the Mazor X spinal surgery robot in the United States, and the Tianji spinal surgery robot in China, etc., they basically use the method of registering intraoperative X-ray images with preoperative CT images and can only be used for pedicle screw placement, with very single functions. At present, there is no spinal minimally invasive surgery robot that can complete the CMEL procedure, achieve double-opening decompression of the spinal canal, posterior displacement and expansion of the spinous process ligament complex, and thus "induce" extensive natural absorption (RHNP) of the herniated intervertebral disc.

[0003] In view of the above defects, the inventor actively conducts research and innovation in order to create a robotic arm for an adaptive decompression tunnel-type robot, making it more valuable in industry. Summary of the Invention

[0004] To solve the above technical problems, the object of the present invention is to provide a robotic arm for an adaptive decompression tunnel-type robot.

[0005] A robotic arm for an adaptive decompression tunnel-type robot of the present invention includes a head connecting seat, wherein: a buffer assembly is arranged on the head connecting seat, a telescopic column is arranged inside the buffer assembly, a working channel is arranged below the telescopic column, a rotating motor is installed at the upper end of the telescopic column, the shaft of the rotating motor is a hollow shaft, a fixing seat is installed at the upper end of the hollow shaft, a hollow shaft lifting motor is installed on the fixing seat, a conducting cavity is arranged among the hollow shaft lifting motor, the fixing seat, the hollow shaft of the rotating motor, the telescopic column and the working channel, and surgical devices are arranged inside the cavity.

[0006] Further, for the robotic arm of an adaptive decompression tunnel robot described above, the buffer assembly is a stepped cavity. A telescopic column is installed in the stepped cavity. An adjustment space is formed between the stepped cavity and the telescopic column. An upper telescopic spring is arranged at the upper end of the adjustment space, and a lower telescopic spring is arranged at the lower end of the adjustment space. The telescopic column passes through the upper telescopic spring and the lower telescopic spring respectively.

[0007] Furthermore, for the robotic arm of an adaptive decompression tunnel robot described above, the surgical device includes a lower clamp and an upper clamp. The lower jaw of the lower clamp is solid or hollow; a hook-like structure is arranged at the lower end of the upper clamp.

[0008] Furthermore, for the robotic arm of an adaptive decompression tunnel robot described above, a fiber optic endoscope is arranged in the cavity. A limiting hole is formed on one side of the telescopic column. One end of the fiber optic endoscope passes through the limiting hole and is restricted by the limiting hole.

[0009] Still further, for the robotic arm of an adaptive decompression tunnel robot described above, the head connecting seat is connected to the head fixing seat by a locking screw.

[0010] By means of the above solution, the present invention has at least the following advantages:

[0011] 1. The upper telescopic spring and the lower telescopic spring can satisfy the effective "floating" of the telescopic column within a specific range, can adapt to the change of the bone height itself and the change brought by the respiratory movement, and improve the implementation progress.

[0012] 2. Due to the presence of the rotating motor, it can effectively drive the surgical device to rotate 360 degrees, and has a better angle for soft tissue ablation and resection.

[0013] 3. The upper clamp and the lower clamp can effectively clamp tissues, and achieve precise ablation after being energized, meeting the decompression needs.

[0014] 4. It can be conveniently connected to the head fixing seat of the robot, and is convenient to use and easy to disinfect.

[0015] 5. The overall structure is simple, which is convenient for manufacturing and maintenance.

[0016] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly and implement it according to the content of the specification, the following takes the preferred embodiment of the present invention and combines with the drawings to describe in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the robotic arm of this adaptive decompression tunnel robot.

[0018] Figure 2 It is a schematic cross-sectional structure diagram of the robotic arm for the self-adaptive decompression tunnel robot.

[0019] The meanings of the reference numerals in the figure are as follows.

[0020] 1. Head connecting seat 2. Telescopic column

[0021] 3. Working channel 4. Rotary motor

[0022] 5. Fixed seat 6. Hollow shaft lifting motor

[0023] 7. Step-shaped cavity 8. Upper telescopic spring

[0024] 9. Lower telescopic spring 10. Lower pliers

[0025] 11. Upper pliers 12. Fiber optic endoscope

[0026] 13. Locking screw 14. Head fixing seat

[0027] 15. Limit hole Detailed implementation manners

[0028] The following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0029] As Figures 1 to 2 a robotic arm for a self-adaptive decompression tunnel robot, including a head connecting seat 1, which is different in that: in order to achieve effective guiding and damping, avoid unnecessary vibrations, and improve the surgical precision, a buffer assembly is provided on the head connecting seat 1. At the same time, considering the precise control of the longitudinal extension, a telescopic column 2 is provided in the buffer assembly, and a working channel 3 is provided below the telescopic column 2. And, in order to achieve axial rotation control and meet the precise axial positioning during the use of the robotic arm, a rotary motor 4 is installed at the upper end of the telescopic column 2. In the present invention, the rotary motor 4 is a hollow shaft, and a fixed seat 5 is installed at the upper end of the hollow shaft, and a hollow shaft lifting motor 6 is installed on the fixed seat 5. In this way, longitudinal attitude control can be achieved. Furthermore, a conducting cavity is provided between the hollow shaft lifting motor 6, the fixed seat 5, the hollow shaft of the rotary motor 4, the telescopic column 2, and the working channel 3, and surgical devices are provided in the cavity. In this way, the surgical devices can achieve more precise attitude adjustment and better act on the affected area.

[0030] In view of a preferred embodiment of the present invention, in order to achieve stable forward guidance and have appropriate buffering during forward movement, the buffer component adopted is a stepped cavity 7, and a telescopic column 2 is installed in the stepped cavity 7. Specifically, an adjustment space is formed between the stepped cavity 7 and the telescopic column 2. An upper telescopic spring 8 is provided at the upper end of the adjustment space, and a lower telescopic spring 9 is provided at the lower end of the adjustment space. The telescopic column 2 passes through the upper telescopic spring 8 and the lower telescopic spring 9 respectively.

[0031] Furthermore, the surgical device adopted in the present invention includes a lower pliers 10 and an upper pliers 11 (i.e., an electrocautery). The lower jaw of the lower pliers 10 is solid or hollow. At the same time, a hook-shaped structure is provided at the lower end of the upper pliers 11. In this way, the affected area can be incised or appropriate tissue resection can be performed according to actual needs.

[0032] In view of the actual implementation, a fiber endoscope 12 is provided in the cavity of the present invention. A limiting hole 15 is opened on one side of the telescopic column 2. One end of the fiber endoscope 12 passes through the limiting hole 15 and is restricted by the limiting hole 15. In this way, the fiber endoscope 12 can move along with the telescopic column 2 while not affecting the transmission of the image. Further, in order to achieve stable and convenient assembly, the head connecting seat 1 adopted in the present invention is connected to the head fixing seat 14 by a locking screw 13. In this way, it can be docked and used with the adaptive decompression tunnel robot. Of course, for different structures or implementation methods, screws, connecting rods, magnetic attraction, etc. can also be used. Any structure that can realize the combination of the head connecting seat 1 and the head fixing seat 14 can be adopted and will not be elaborated here. At the same time, in some extreme cases, the head connecting seat 1 can also be directly docked and connected to the adaptive decompression tunnel robot.

[0033] The working principle of the present invention is as follows:

[0034] The upper telescopic spring 8 and the lower telescopic spring 9 can automatically "float". In this way, it can automatically adapt to the changes brought about by the change of the bone height itself and the respiratory movement. At the same time, the rotary motor 4 can drive the lower pliers 10 and the upper pliers 11 to rotate 360 degrees around the hollow shaft of the rotary motor 4. By controlling the hollow shaft lifting motor 6, the upper pliers 11 can be driven to achieve lifting movement. Thus, the upper pliers 11 and the lower pliers 10 can clamp soft tissues such as ligaments together. After that, after the upper pliers 11 are energized, the clamped soft tissues can be ablated and resected to achieve decompression.

[0035] From the above text description and in combination with the drawings, it can be seen that after adopting the present invention, the following advantages are obtained:

[0036] 1. The upper telescopic spring and the lower telescopic spring can satisfy the effective "floating" of the telescopic column within a specific range, can adapt to the changes brought about by the change of the bone height itself and the respiratory movement, and improve the implementation progress.

[0037] 2. The presence of the rotating motor can effectively drive the surgical device to rotate 360 degrees, providing a better angle for soft tissue ablation and resection.

[0038] 3. The upper forceps and the lower forceps can effectively clamp tissues and achieve precise ablation after power-on, meeting the need for decompression.

[0039] 4. It can be conveniently connected to the head fixing seat of the robot, which is convenient to use and easy to disinfect.

[0040] 5. The overall structure is simple, facilitating manufacturing and maintenance.

[0041] In addition, the orientation or positional relationship described in the present invention is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or structure referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0042] The terms "main" and "subsidiary" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "main" and "subsidiary" may explicitly or implicitly include one or more of such features. In the description of the present invention, "several" means two or more, unless otherwise specifically defined.

[0043] Similarly, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "multiple" means two or more, unless otherwise specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, terms such as "connection" and "setting" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. And it can be directly on another component or indirectly on that another component. When a component is referred to as "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0045] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0046] The above description is only a preferred embodiment of the present invention and is not used to limit the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A robotic arm for an adaptive decompression tunnel robot, including a nose connection seat, Characterized in that: A buffer assembly is arranged on the nose connection seat, a telescopic column is arranged in the buffer assembly, a working channel is arranged below the telescopic column, a rotating motor is installed at the upper end of the telescopic column, a hollow shaft is arranged at the upper end of the rotating motor, a fixed seat is installed on the hollow shaft, a hollow shaft lifting motor is installed on the fixed seat, and a conducting cavity is arranged among the hollow shaft lifting motor, the fixed seat, the hollow shaft, the rotating motor, the telescopic column and the working channel, and surgical devices are arranged in the cavity; The buffer assembly is a stepped cavity, the telescopic column is installed in the stepped cavity, an adjustment space is formed between the stepped cavity and the telescopic column, an upper telescopic spring is arranged at the upper end of the adjustment space, a lower telescopic spring is arranged at the lower end of the adjustment space, and the telescopic column passes through the upper telescopic spring and the lower telescopic spring respectively; The surgical devices include a lower clamp and an upper clamp, the lower jaw of the lower clamp is solid or hollow; a hook-shaped structure is arranged at the lower end of the upper clamp; The upper telescopic spring and the lower telescopic spring can float automatically and can automatically adapt to the changes brought about by the change of the bone height itself and the respiratory movement. The rotating motor can drive the lower clamp and the upper clamp to rotate 360 degrees around the hollow shaft of the rotating motor. By controlling the hollow shaft lifting motor to drive the upper clamp to realize the lifting movement, the upper clamp and the lower clamp are used together to clamp soft tissues such as ligaments. After the upper clamp is powered on, the clamped soft tissues are ablated and removed to achieve decompression.

2. A robotic arm for an adaptive decompression tunnel robot according to claim 1, Characterized in that: An optical fiber endoscope is arranged in the cavity, a limiting hole is formed on one side of the telescopic column, and one end of the optical fiber endoscope passes through the limiting hole and is restricted by the limiting hole.

3. A robotic arm for an adaptive decompression tunnel robot according to claim 1, Characterized in that: The nose connection seat is connected to the nose fixing seat through a locking screw.

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