A robotic system for assisting spinal endoscopic surgery

Abstract

The present invention discloses a robot system for assisting spinal endoscopic surgery, the robot system comprises a positioning robot arm, an endoscope operating mechanism, an instrument operating mechanism and an instrument mechanism. The endoscope operating mechanism comprises a first base plate, a first drive module, a rotating bracket, a bearing bracket, a rotating drive module, a spinal endoscope and a protective sleeve, the instrument operating mechanism comprises a second base plate, a second drive module and a drive box, the instrument mechanism comprises a wire wheel box and a flexible instrument, and the flexible instrument is set through the spinal endoscope. The doctor controls the robot system to perform surgery through remote control operation, without the need for handheld instruments and endoscopes, thereby improving the accuracy of surgical operations and the stability of surgical fields, and the robot system has flexible instruments, which increases the flexibility of operation during surgery and the accessibility of the operating space.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a robot system for assisting spinal endoscopic surgery. Background Art

[0002] Endoscopic spinal surgery is an interventional treatment method for intervertebral disc disease that has developed along with minimally invasive surgery. It is currently the most advanced minimally invasive spinal surgery technology in the world. Although endoscopic spinal surgery has many advantages, the anatomical structure of the spinal surgery area is narrow and complex, and the periphery is surrounded by multiple large arteries, spinal nerves, and ligaments that play an important supporting role in the human body, making it difficult for doctors to operate during surgery. The main problems are as follows: 1) The spinal endoscope and surgical instruments enter through the same working channel, and the two are nested in different axes. Under the constraints of the narrow approach and operating space, the doctor holds the endoscope with one hand and operates the surgical instruments with the other hand. Interference is likely to occur between the two, coordination is difficult, and the learning curve is long. 2) Currently, most spinal endoscopic surgical instruments are slender straight rod-shaped rigid instruments that cannot turn. The flexibility and space of intraoperative operation are limited, and many areas cannot be reached. 3) Long-term operation of holding the endoscope and instruments is prone to fatigue and shaking, and the stability of the surgical field and the operating accuracy of the instruments are difficult to guarantee. Summary of the invention

[0003] The purpose of the present invention is to propose a robotic system for assisting spinal endoscopic surgery. The doctor controls the robotic system through remote control to perform surgery without the need for handheld instruments and endoscopes, thereby improving the surgical operation accuracy and the stability of the surgical field of view. The robotic system has flexible instruments, which increases the operational flexibility and accessibility of the operating space during surgery.

[0004] In order to achieve the above technical effects, the technical solution of the present invention is as follows:

[0005] The present invention discloses a robot system for assisting spinal endoscopic surgery, comprising: a positioning robot arm; an endoscope operating mechanism, wherein the endoscope operating mechanism comprises a first base plate, a first drive module, a rotating bracket, a bearing bracket, a rotating drive module, a spinal endoscope and a protective sleeve, wherein the first base plate is connected to the positioning robot arm, the first drive module is arranged on the first base plate and is used to drive the rotating bracket to move in a preset direction, the rotating drive module is arranged on the rotating bracket and is used to drive the bearing bracket to rotate with a preset direction as a rotation axis, the protective sleeve is connected to the first base plate, and the spinal endoscope Passed through the bearing bracket; an instrument operating mechanism, the instrument operating mechanism includes a second base plate, a second drive module and a drive box, the second base plate is connected to the bearing bracket, the second drive module is arranged on the second base plate, and is used to drive the drive box to move along a preset direction, and the drive box has a plurality of independent drive flanges; an instrument mechanism, the instrument mechanism includes a pulley box and a flexible instrument, the pulley box includes a plurality of transmission flanges detachably matched with the drive flanges, the pulley box is spaced apart from the spinal endoscope and is used to drive the flexible instrument to move, and the flexible instrument is arranged through the spinal endoscope.

[0006] In some embodiments, the positioning robot arm includes: a base; a vertical adjustment module, the vertical adjustment module is arranged on the base, and the power output end of the vertical adjustment module can be raised and lowered relative to the base; a horizontal adjustment module, the horizontal adjustment module is arranged on the power output end of the vertical adjustment module, and the power output end of the horizontal adjustment module can rotate relative to the vertical adjustment module; a posture adjustment module, the posture adjustment module is arranged on the power output end of the horizontal adjustment module, and the power output end of the posture adjustment module has three degrees of rotational freedom, and is connected to the endoscope operating mechanism.

[0007] In some optional embodiments, a plurality of walking wheels are provided on the bottom wall of the base.

[0008] In some embodiments, the first drive module includes: a first drive motor, which is mounted on the first base plate through a first motor seat; a first lead screw, which is mounted on the first base plate through a first support seat; a first nut, which is engaged with the first lead screw, and when the first lead screw rotates, the first nut can move along the axial direction of the first lead screw, and the first nut is connected to the rotating bracket; a first transmission belt assembly, which includes a first synchronous pulley, a first conveyor belt and a second synchronous pulley, the first synchronous pulley is engaged with the motor shaft of the first drive motor, and the second synchronous pulley is engaged with the first lead screw.

[0009] In some specific embodiments, a first guide rail is provided on the first bottom plate, and a first guide sliding block cooperating with the first guide rail is provided on the first nut.

[0010] In some embodiments, the rotating bracket has a sleeve portion, the bearing bracket has a rotating portion inserted into the sleeve portion, and a bearing is provided between the rotating portion and the sleeve portion; the rotating drive module comprises: a rotating drive motor, the rotating drive motor is mounted on the rotating bracket; a second transmission belt assembly, the second transmission belt assembly comprises a third synchronous pulley, a second conveyor belt and a fourth synchronous pulley, the third synchronous pulley cooperates with the motor shaft of the rotating drive motor, and the fourth synchronous pulley is connected to the rotating portion.

[0011] In some embodiments, the endoscope operating mechanism includes a first fixing clamp and a second fixing clamp disposed on the bearing bracket, and one end of the spinal endoscope is clamped between the first fixing clamp and the second fixing clamp.

[0012] In some embodiments, the second drive module includes: a second drive motor, which is mounted on the second base plate through a second motor seat; a second lead screw, which is mounted on the second base plate through a second support seat; a second nut, which is fitted on the second lead screw, and when the second lead screw rotates, the second nut can move along the axial direction of the second lead screw, and the second nut is connected to the drive box through a connecting slider; a third transmission belt assembly, which includes a fifth synchronous pulley, a third conveyor belt and a sixth synchronous pulley, the fifth synchronous pulley cooperates with the motor shaft of the second drive motor, and the sixth synchronous pulley cooperates with the second lead screw.

[0013] In some specific embodiments, a second guide rail is provided on the second bottom plate, and a second guide slide block matched with the second guide rail is provided on the connecting slide block.

[0014] In some embodiments, there are four transmission flanges, and the reel box is provided with four reels connected to the four transmission flanges respectively, and each reel is provided with a driving wire; the flexible instrument includes a driving straight arm, a continuous body segment, a rotating wrist and an end clamp claw connected in sequence, and the driving straight arm, the continuous body segment, the rotating wrist and the end clamp claw are respectively connected to the four driving wires, and the driving straight arm passes through the spinal endoscope.

[0015] The beneficial effects of the robot system for assisting spinal endoscopic surgery of the present invention are as follows: since the spinal endoscope is driven by the first drive module and the rotation drive module, the instrument mechanism is driven by the first drive module, the rotation drive module and the second drive module, and the specific movements of the first drive module, the rotation drive module and the second drive module can be completed by remote control of the control system. During the entire operation, the doctor does not need to hold the instrument and the endoscope, which improves the accuracy of the surgical operation and the stability of the surgical field. In addition, since the instrument mechanism includes a flexible instrument arranged on a wire wheel box, the wire wheel box can drive the flexible instrument to bend or rotate, which increases the flexibility of operation and the accessibility of the operation space during the operation.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of a robot system for assisting spinal endoscopic surgery according to an embodiment of the present invention;

[0018] Figure 2 is a schematic structural diagram of a positioning mechanical arm according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of the coordination structure of an endoscope operating mechanism and an instrument operating mechanism according to an embodiment of the present invention;

[0020] Figure 4 is a schematic structural diagram of an endoscope operating mechanism according to an embodiment of the present invention;

[0021] Figure 5 is a schematic structural diagram of the endoscope operating mechanism in another direction according to an embodiment of the present invention;

[0022] Figure 6 is a schematic structural diagram of an instrument operating mechanism according to an embodiment of the present invention;

[0023] Figure 7 It is a schematic diagram of the structure of the instrument mechanism according to an embodiment of the present invention.

[0024] Reference numerals:

[0025] 100, positioning robot arm; 110, vertical adjustment module; 120, horizontal adjustment module; 130, posture adjustment module; 140, base; 141, walking wheel;

[0026] 200, endoscope operating mechanism; 201, first base plate; 202, first drive motor; 203, first motor seat; 204, first support seat; 205, first synchronous pulley; 206, second synchronous pulley; 207, first lead screw; 208, first guide rail; 210, first guide slider; 211, first nut; 212, rotating bracket; 213, rotating drive motor; 214, third synchronous pulley; 215, fourth synchronous pulley; 216, bearing bracket; 217, spinal endoscope; 218, first fixing clip; 219, second fixing clip; 220, protective cover; 221, connecting plate;

[0027] 300, instrument operating mechanism; 301, second drive motor; 302, second motor seat; 303, fifth synchronous pulley; 304, second bottom plate; 305, sixth synchronous pulley; 306, second support seat; 307, second guide rail; 308, second lead screw; 309, second nut; 310, connecting slider; 311, second guide slider; 312, drive box; 3121, drive flange;

[0028] 400, instrument mechanism; 410, reel box; 411, transmission flange; 420, driving straight arm; 430, continuous body segment; 440, rotating wrist; 450, end clamp claw. DETAILED DESCRIPTION

[0029] In order to make the technical problem solved by the present invention, the technical solution adopted and the technical effect achieved more clearly, the technical solution of the present invention is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0031] In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Reference below Figure 1-Figure 7 The specific structure of a robot system for assisting spinal endoscopic surgery according to an embodiment of the present invention is described.

[0034] The present invention discloses a robot system for assisting spinal endoscopic surgery, such as Figure 1-Figure 2 As shown, the robot system for assisting spinal endoscopic surgery includes a positioning robot arm 100, an endoscope operating mechanism 200, an instrument operating mechanism 300 and an instrument mechanism 400. Figure 4-Figure 5 As shown, the endoscope operating mechanism 200 includes a first base plate 201, a first driving module, a rotating bracket 212, a bearing bracket 216, a rotating driving module, a spinal endoscope 217 and a protective sleeve 220. The first base plate 201 is connected to the positioning robot 100. The first driving module is arranged on the first base plate 201 and is used to drive the rotating bracket 212 to move along a preset direction. The rotating driving module is arranged on the rotating bracket 212 and is used to drive the bearing bracket 216 to rotate with a preset direction as the rotation axis. The protective sleeve 220 is connected to the first base plate 201, and the spinal endoscope 217 is inserted into the bearing bracket 216. Figure 6 As shown, the instrument operating mechanism 300 includes a second base plate 304, a second driving module and a driving box 312. The second base plate 304 is connected to the bearing bracket 216. The second driving module is arranged on the second base plate 304 and is used to drive the driving box 312 to move along a preset direction. The driving box 312 has a plurality of independent driving flanges 3121. Figure 7 As shown, the instrument mechanism 400 includes a reel box 410 and a flexible instrument. The reel box 410 includes a plurality of transmission flanges 411 that are detachably matched with the driving flange 3121. The reel box 410 is spaced apart from the spinal endoscope 217 and is used to drive the flexible instrument to move. The flexible instrument is set through the spinal endoscope 217.

[0035] It can be understood that in the actual working process, under the driving action of the positioning robot arm 100, the endoscope operating mechanism 200, the instrument operating mechanism 300 and the instrument mechanism 400 can reach the designated position, and the control of the positioning robot arm 100 can be remotely controlled by the doctor. The first driving module provided on the first base plate 201 can drive the rotating bracket 212 to move along a preset direction (in this embodiment, the preset direction is the axial direction of the protective sleeve 220). Since the bearing bracket 216 is rotatably provided on the rotating bracket 212, and the entire instrument mechanism 400 and the instrument operating mechanism are provided on the bearing bracket 216, when the rotating bracket 212 moves along the preset direction, the bearing bracket 216 can also move along the preset direction, so that the spinal endoscope 217 and the entire instrument mechanism 400 can move along the preset direction, that is, the spinal endoscope 217 and the instrument mechanism 400 can move along the preset direction, and since the bearing bracket 216 can rotate under the action of the rotating driving module, that is, the spinal endoscope 217 and the instrument mechanism 400 both rotate with the preset direction as the rotation axis. At the same time, due to the existence of the second driving module, the entire instrument mechanism 400 can also move along a preset direction relative to the bearing bracket 216, so that the flexible instrument of the instrument mechanism 400 can move along a preset direction relative to the spinal endoscope 217.

[0036] In summary, in this embodiment, the spinal endoscope 217 is driven by the first drive module and the rotation drive module, and the instrument mechanism 400 is driven by the first drive module, the rotation drive module and the second drive module, and the specific movements of the first drive module, the rotation drive module and the second drive module can be completed by remote control of the control system. During the entire operation, the doctor does not need to hold the instrument and the endoscope, which improves the accuracy of the surgical operation and the stability of the surgical field. In addition, since the instrument mechanism 400 includes a flexible instrument arranged on the reel box 410, the reel box 410 can drive the flexible instrument to bend or rotate, which increases the flexibility of operation and the accessibility of the operation space during the operation.

[0037] In some embodiments, Figure 2 As shown, the positioning robot 100 includes a base 140, a vertical adjustment module 110, a horizontal adjustment module 120 and a posture adjustment module 130. The vertical adjustment module 110 is arranged on the base 140, and the power output end of the vertical adjustment module 110 can be raised and lowered relative to the base 140. The horizontal adjustment module 120 is arranged on the power output end of the vertical adjustment module 110, and the power output end of the horizontal adjustment module 120 can be rotated relative to the vertical adjustment module 110. The posture adjustment module 130 is arranged on the power output end of the horizontal adjustment module 120, and the power output end of the posture adjustment module 130 has three degrees of rotational freedom and is connected to the endoscope operating mechanism 200.

[0038] It is understandable that the first base plate 201 can be moved to any position in the space by the vertical adjustment module 110, the horizontal adjustment module 120 and the posture adjustment module 130 under the drive of the positioning robot arm 100, thereby improving the accuracy of surgical operations, increasing the flexibility of operations during surgery and the accessibility of the operating space. In this embodiment, the vertical adjustment module 110 can be a linear drive mechanism such as a cylinder or an electric push rod, the horizontal adjustment module 120 can be a rotating cylinder or a motor, and the posture adjustment module 130 can select a multi-axis clamp of the prior art. The vertical adjustment module 110, the horizontal adjustment module 120 and the posture adjustment module 130 can all be purchased, and there is no need to make specific restrictions on the vertical adjustment module 110, the horizontal adjustment module 120 and the posture adjustment module 130.

[0039] In some optional embodiments, such as Figure 2 As shown, a plurality of running wheels 141 are provided on the bottom wall of the base 140. Thus, the entire robot system can be easily pushed to move, which is convenient for users to use.

[0040] In some embodiments, Figure 4-Figure 5 As shown, the first drive module includes a first drive motor 202, a first lead screw 207, a first nut 211 and a first transmission belt assembly. The first drive motor 202 is installed on the first base plate 201 through the first motor seat 203, and the first lead screw 207 is installed on the first base plate 201 through the first support seat 204. The first nut 211 is matched with the first lead screw 207, and when the first lead screw 207 rotates, the first nut 211 can move along the axial direction of the first lead screw 207. The first nut 211 is connected to the rotating bracket 212, and the first transmission belt assembly includes a first synchronous pulley 205, a first conveyor belt (not shown) and a second synchronous pulley 206. The first synchronous pulley 205 cooperates with the motor shaft of the first drive motor 202, and the second synchronous pulley 206 cooperates with the first lead screw 207.

[0041] It is understandable that, in the actual working process, the first driving motor 202 drives the first synchronous pulley 205 to rotate, and when the first synchronous pulley 205 rotates, it can drive the first conveyor belt to move, thereby driving the second synchronous pulley 206 to rotate, so as to realize the driving of the first lead screw 207, and when the first lead screw 207 rotates, the first nut 211 can move along the axial direction of the first lead screw 207, thereby realizing the driving of the rotating bracket 212. Compared with the movement mode in which the first driving motor 202 directly drives the first lead screw 207 to rotate, using the first transmission belt assembly as the transmission assembly can make the first lead screw 207 rotate more smoothly, thereby making the first nut 211 and the rotating bracket 212 move more smoothly. At the same time, the driving mechanism in which the first lead screw 207 and the first nut 211 cooperate to realize the movement of the rotating bracket 212 can improve the movement accuracy of the rotating bracket 212, thereby ensuring the safe and orderly operation.

[0042] In some specific embodiments, the first bottom plate 201 is provided with a first guide rail 208, and the first nut 211 is provided with a first guide slider 210 that cooperates with the first guide rail 208. It can be understood that the cooperation between the first guide rail 208 and the first guide slider 210 can limit the movement direction of the first nut 211, thereby preventing the first nut 211 from being skewed during movement.

[0043] Of course, in other embodiments of the present invention, the first driving module may also select a cylinder, an electric push rod or other structures according to actual needs.

[0044] In some embodiments, Figure 4-Figure 5 As shown, the rotating bracket 212 has a sleeve portion (not shown in the figure), the bearing bracket 216 has a rotating portion (not shown in the figure) inserted into the sleeve portion, and a bearing (not shown in the figure) is provided between the rotating portion and the sleeve portion; the rotating drive module includes a rotating drive motor 213 and a second transmission belt assembly, the rotating drive motor 213 is installed on the rotating bracket 212, the second transmission belt assembly includes a third synchronous pulley 214, a second conveyor belt and a fourth synchronous pulley 215, the third synchronous pulley 214 cooperates with the motor shaft of the rotating drive motor 213, and the fourth synchronous pulley 215 is connected to the rotating portion.

[0045] It can be understood that in the actual working process, the rotary drive motor 213 drives the third synchronous pulley 214 to rotate. When the third synchronous pulley 214 rotates, it can drive the second conveyor belt to move and thereby drive the fourth synchronous pulley 215 to rotate, so as to realize the driving of the rotating part. Compared with the technical solution that the second drive motor 301 directly drives the rotating part, using the third transmission belt assembly as the transmission assembly can make the rotation of the rotating part smoother, thereby allowing the spinal endoscope 217 to rotate smoothly.

[0046] In some embodiments, Figure 4-Figure 5 As shown, the endoscope operating mechanism 200 includes a first fixing clamp 218 and a second fixing clamp 219 provided on a bearing bracket 216, and one end of a spinal endoscope 217 is clamped between the first fixing clamp 218 and the second fixing clamp 219. It can be understood that the use of the first fixing clamp 218 and the second fixing clamp 219 to clamp the spinal endoscope 217 can facilitate the installation and removal of the spinal endoscope 217, thereby facilitating the operation of the user.

[0047] In some embodiments, Figure 6 As shown, the second drive module includes a second drive motor 301, a second lead screw 308, a second nut 309 and a third transmission belt assembly. The second drive motor 301 is installed on the second base plate 304 through the second motor seat 302, and the second lead screw 308 is installed on the second base plate 304 through the second support seat 306. The second nut 309 is matched on the second lead screw 308, and when the second lead screw 308 rotates, the second nut 309 can move along the axial direction of the second lead screw 308. The second nut 309 is connected to the drive box 312 through the connecting slider 310. The third transmission belt assembly includes a fifth synchronous pulley 303, a third conveyor belt and a sixth synchronous pulley 305. The fifth synchronous pulley 303 cooperates with the motor shaft of the second drive motor 301, and the sixth synchronous pulley 305 cooperates with the second lead screw 308.

[0048] It is understandable that, in the actual working process, the second drive motor 301 drives the fifth synchronous pulley 303 to rotate, and the third synchronous pulley 214 can drive the third conveyor belt to rotate, thereby driving the sixth synchronous pulley 305 to rotate, so as to realize the driving of the second lead screw 308, and when the second lead screw 308 rotates, the second nut 309 can move along the axial direction of the second lead screw 308, so as to realize the driving of the driving box 312. Compared with the movement mode in which the second drive motor 301 directly drives the second lead screw 308 to rotate, the third transmission belt assembly is used as the transmission assembly, so that the second lead screw 308 can rotate more smoothly. Thereby, the movement of the second nut 309 and the driving box 312 is more stable. At the same time, the driving mechanism in which the second lead screw 308 and the second nut 309 cooperate to realize the movement of the driving box 312 can improve the movement accuracy of the driving direction, so as to ensure the safe and orderly operation.

[0049] In some specific embodiments, Figure 6 As shown, the second bottom plate 304 is provided with a second guide rail 307, and the connecting slider 310 is provided with a second guide slider 311 that cooperates with the second guide rail 307. It can be understood that the cooperation between the second guide rail 307 and the second guide slider 311 can limit the movement direction of the second nut 309, thereby preventing the second nut 309 from being skewed during the movement.

[0050] Of course, in other embodiments of the present invention, the second driving module may also select a cylinder, an electric push rod or other structures according to actual needs.

[0051] In some embodiments, Figure 7 As shown, there are four transmission flanges 411, and four reels connected to the four transmission flanges 411 are respectively arranged in the reel box 410, and each reel is provided with a driving wire; the flexible instrument includes a driving straight arm 420, a continuous body segment 430, a rotating wrist 440 and an end clamp claw 450 which are connected in sequence, and the driving straight arm 420, the continuous body segment 430, the rotating wrist 440 and the end clamp claw 450 are respectively connected to the four driving wires, and the driving straight arm 420 is set through the spinal endoscope 217.

[0052] It is understandable that in the actual working process, it is only necessary to directly connect the transmission flange 411 to the driving flange 3121, and the connection can be a screw connection or a snap connection. In this way, when the driving source inside the driving box 312 drives the driving flange 3121 to rotate, the transmission flange 411 can rotate accordingly to rotate the wire wheel, and during the rotation of the wire wheel, the driving wire can be released or reeled in, and the driving wire can drive the straight arm 420 to rotate around the axis, the continuous body segment 430 and the rotating wrist 440 to bend, and the end jaw 450 to rotate around the axis and open and close, thereby increasing the flexibility of operation and the accessibility of the operation space during surgery.

[0053] It should be noted that the specific structures of the reel box 410 and the drive box 312 are prior arts, and the internal structure of the reel box 410 will not be described in detail here.

[0054] Example:

[0055] Reference below Figure 1-Figure 7 The specific structure of a robot system for assisting spinal endoscopic surgery according to a specific embodiment of the present invention is described.

[0056] like Figure 1-Figure 2 As shown, the robot system for assisting spinal endoscopic surgery of this embodiment includes a positioning robot arm 100 , an endoscope operating mechanism 200 , an instrument operating mechanism 300 and an instrument mechanism 400 .

[0057] like Figure 3As shown, the positioning robot 100 includes a base 140, a vertical adjustment module 110, a horizontal adjustment module 120, and a posture adjustment module 130. The vertical adjustment module 110 is arranged on the base 140, and the power output end of the vertical adjustment module 110 can be lifted and lowered relative to the base 140, the horizontal adjustment module 120 is arranged on the power output end of the vertical adjustment module 110, and the power output end of the horizontal adjustment module 120 can rotate relative to the vertical adjustment module 110, and the posture adjustment module 130 is arranged on the power output end of the horizontal adjustment module 120, and the power output end of the posture adjustment module 130 has three rotational degrees of freedom.

[0058] like Figure 3-Figure 5 As shown, the endoscope operating mechanism 200 includes a first base plate 201, a first drive module, a rotating bracket 212, a bearing bracket 216, a rotating drive module, a spinal endoscope 217, a protective sleeve 220, a connecting plate 221, a first fixing clamp 218 and a second fixing clamp 219. The first base plate 201 cooperates with the power output end of the posture adjustment module 130, and the first drive module includes a first drive motor 202, a first lead screw 207, a first nut 211 and a first transmission belt assembly. The first drive motor 202 is installed on the first base plate 201 through the first motor seat 203. The first screw 207 is mounted on the first base plate 201 through the first support seat 204. The first nut 211 is matched with the first screw 207, and the first nut 211 can move along the axial direction of the first screw 207 when the first screw 207 rotates. The first nut 211 is connected to the rotating bracket 212. The first transmission belt assembly includes a first synchronous pulley 205, a first transmission belt and a second synchronous pulley 206. The first synchronous pulley 205 is matched with the motor shaft of the first drive motor 202, and the second synchronous pulley 206 is matched with the first screw 207. The first base plate 201 is provided with a first guide rail 208, and the first nut 211 is provided with a first guide slider 210 matched with the first guide rail 208. The rotating bracket 212 has a sleeve portion, and the bearing bracket 216 has a rotating portion inserted into the sleeve portion, and a bearing is provided between the rotating portion and the sleeve portion. The rotary drive module includes a rotary drive motor 213 and a second transmission belt assembly, the rotary drive motor 213 is mounted on the rotary bracket 212, the second transmission belt assembly includes a third synchronous pulley 214, a second transmission belt and a fourth synchronous pulley 215, the third synchronous pulley 214 cooperates with the motor shaft of the rotary drive motor 213, and the fourth synchronous pulley 215 is connected to the rotating part. The protective sleeve 220 is connected to the first base plate 201 through a connecting plate 221, the first fixing clip 218 and the second fixing clip 219 are arranged on the bearing bracket 216, and one end of the spinal endoscope 217 is clamped between the first fixing clip 218 and the second fixing clip 219, and is inserted into the bearing bracket 216.

[0059] like Figure 6As shown, the instrument operating mechanism 300 includes a second base plate 304, a second drive module and a drive box 312. The second base plate 304 is connected to the bearing bracket 216. The second drive module is arranged on the second base plate 304 and is used to drive the drive box 312 to move in a preset direction. The drive box 312 has four drive flanges 3121, each drive flange 3121 has an independent drive source, the second drive module includes a second drive motor 301, a second lead screw 308, a second nut 309 and a third transmission belt assembly. The second drive motor 301 is installed on the first drive motor 301 through the second motor seat 302. On the second base plate 304, the second lead screw 308 is mounted on the second base plate 304 through the second support seat 306, the second nut 309 is matched with the second lead screw 308, and when the second lead screw 308 rotates, the second nut 309 can move along the axial direction of the second lead screw 308, the second nut 309 is connected to the driving box 312 through the connecting slider 310, the third transmission belt assembly includes the fifth synchronous pulley 303, the third conveyor belt and the sixth synchronous pulley 305, the fifth synchronous pulley 303 is matched with the motor shaft of the second drive motor 301, and the sixth synchronous pulley 305 is matched with the second lead screw 308. A second guide rail 307 is provided on the second base plate 304, and a second guide slide 311 matched with the second guide rail 307 is provided on the connecting slide 310.

[0060] like Figure 7 As shown, the instrument mechanism 400 includes a reel box 410 and a flexible instrument. The reel box 410 includes four transmission flanges 411 that are detachably matched with the driving flange 3121, and the reel box 410 is provided with four reels respectively connected to the four transmission flanges 411, each reel is provided with a driving wire, and the flexible instrument includes a driving straight arm 420, a continuous body segment 430, a rotating wrist 440 and an end clamp claw 450 that are connected in sequence. The driving straight arm 420, the continuous body segment 430, the rotating wrist 440 and the end clamp claw 450 are respectively connected to the four driving wires, and the driving straight arm 420 is set through the spinal endoscope 217.

[0061] The advantages of the robot system for assisting spinal endoscopic surgery according to the embodiment of the present invention are as follows:

[0062] First: the spinal endoscope 217 is driven by the first drive module and the rotation drive module, and the instrument mechanism 400 is driven by the first drive module, the rotation drive module and the second drive module. The specific movements of the first drive module, the rotation drive module and the second drive module can be completed by remote control through the control system. During the entire operation, the doctor does not need to hold the instrument and the endoscope, which improves the accuracy of the surgical operation and the stability of the surgical field. In addition, since the instrument mechanism 400 includes a flexible instrument arranged on the reel box 410, the reel box 410 can drive the flexible instrument to bend or rotate, which increases the flexibility of the operation and the accessibility of the operation space during the operation;

[0063] Second: the instrument mechanism 400 is detachably matched with the driving flange 3121 through the transmission flange 411, which facilitates the replacement of the instrument mechanism 400 during the operation, so that the robot system for assisting spinal endoscopic surgery of this embodiment can replace surgical instruments according to actual needs, and has good compatibility;

[0064] Third: The instrument mechanism 400 includes a flexible instrument driven by a pulley box 410. During the actual working process, the pulley box 410 can drive the straight arm 420 to rotate around the axis, the continuous body segment 430 and the rotating wrist 440 to bend, and the end clamp claw 450 to rotate around the axis and open and close, thereby increasing the operational flexibility and accessibility of the operating space during surgery.

[0065] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0066] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A robot system for assisting spinal endoscopic surgery, characterized in that: include: Positioning the robotic arm (100); An endoscope operating mechanism (200), the endoscope operating mechanism (200) comprising a first base plate (201), a first driving module, a rotating support (212), a bearing support (216), a rotating driving module, a spinal endoscope (217) and a protective sleeve (220), the first base plate (201) being connected to the positioning mechanical arm (100), the first driving module being arranged on the first base plate (201) and being used for driving the rotating support (212) to move along a preset direction, the rotating driving module being arranged on the rotating support (212) and being used for driving the bearing support (216) to rotate with a preset direction as a rotation axis, the protective sleeve (220) being connected to the first base plate (201), and the spinal endoscope (217) being inserted into the bearing support (216); An instrument operating mechanism (300), the instrument operating mechanism (300) comprising a second base plate (304), a second drive module and a drive box (312), the second base plate (304) being connected to the bearing bracket (216), the second drive module being arranged on the second base plate (304) and used for driving the drive box (312) to move along a preset direction, the drive box (312) having a plurality of independent drive flanges (3121); An instrument mechanism (400), the instrument mechanism (400) comprising a reel box (410) and a flexible instrument, the reel box (410) comprising a plurality of transmission flanges (411) detachably matched with the drive flange (3121), the reel box (410) being spaced apart from the spinal endoscope (217) and used for driving the flexible instrument to move, the flexible instrument being arranged through the spinal endoscope (217); The first driving module comprises: A first drive motor (202), wherein the first drive motor (202) is mounted on the first base plate (201) via a first motor seat (203); A first lead screw (207), the first lead screw (207) being mounted on the first base plate (201) via a first support seat (204); a first nut (211), the first nut (211) being fitted on the first lead screw (207), and the first nut (211) being able to move along the axial direction of the first lead screw (207) when the first lead screw (207) rotates, and the first nut (211) being connected to the rotating bracket (212); A first transmission belt assembly, the first transmission belt assembly comprising a first synchronous pulley (205), a first conveyor belt and a second synchronous pulley (206), the first synchronous pulley (205) being matched with the motor shaft of the first drive motor (202), and the second synchronous pulley (206) being matched with the first lead screw (207); A first guide rail (208) is provided on the first bottom plate (201), and a first guide sliding block (210) matched with the first guide rail (208) is provided on the first nut (211).

2. The robot system for assisting spinal endoscopic surgery according to claim 1, characterized in that: The positioning mechanical arm (100) comprises: Base (140); A vertical adjustment module (110), wherein the vertical adjustment module (110) is arranged on the base (140), and a power output end of the vertical adjustment module (110) can be raised and lowered relative to the base (140); a horizontal adjustment module (120), wherein the horizontal adjustment module (120) is arranged on the power output end of the vertical adjustment module (110), and the power output end of the horizontal adjustment module (120) is capable of rotating relative to the vertical adjustment module (110); A posture adjustment module (130), wherein the posture adjustment module (130) is arranged on the power output end of the horizontal adjustment module (120), and the power output end of the posture adjustment module (130) has three rotational degrees of freedom and is connected to the endoscope operating mechanism (200).

3. The robot system for assisting spinal endoscopic surgery according to claim 2, characterized in that: A plurality of running wheels (141) are provided on the bottom wall of the base (140).

4. The robot system for assisting spinal endoscopic surgery according to any one of claims 1 to 3, characterized in that: The rotating bracket (212) has a sleeve portion, the bearing bracket (216) has a rotating portion inserted into the sleeve portion, and a bearing is provided between the rotating portion and the sleeve portion; The rotary drive module comprises: A rotation drive motor (213), wherein the rotation drive motor (213) is mounted on the rotation bracket (212); A second transmission belt assembly, wherein the second transmission belt assembly comprises a third synchronous pulley (214), a second conveyor belt and a fourth synchronous pulley (215), wherein the third synchronous pulley (214) cooperates with the motor shaft of the rotary drive motor (213), and the fourth synchronous pulley (215) is connected to the rotating part.

5. The robot system for assisting spinal endoscopic surgery according to any one of claims 1 to 3, characterized in that: The endoscope operating mechanism (200) comprises a first fixing clamp (218) and a second fixing clamp (219) arranged on the bearing bracket (216), and one end of the spinal endoscope (217) is clamped between the first fixing clamp (218) and the second fixing clamp (219).

6. The robot system for assisting spinal endoscopic surgery according to any one of claims 1 to 3, characterized in that: The second driving module comprises: A second drive motor (301), wherein the second drive motor (301) is mounted on the second bottom plate (304) via a second motor base (302); A second lead screw (308), the second lead screw (308) being mounted on the second base plate (304) via a second support seat (306); a second nut (309), wherein the second nut (309) is fitted on the second lead screw (308), and when the second lead screw (308) rotates, the second nut (309) can move along the axial direction of the second lead screw (308), and the second nut (309) is connected to the driving box (312) via a connecting slider (310); A third transmission belt assembly, the third transmission belt assembly comprising a fifth synchronous pulley (303), a third conveyor belt and a sixth synchronous pulley (305), the fifth synchronous pulley (303) being matched with the motor shaft of the second drive motor (301), and the sixth synchronous pulley (305) being matched with the second lead screw (308).

7. The robot system for assisting spinal endoscopic surgery according to claim 6, characterized in that: The second bottom plate (304) is provided with a second guide rail (307), and the connecting slide block (310) is provided with a second guide slide block (311) that cooperates with the second guide rail (307).

8. The robot system for assisting spinal endoscopic surgery according to any one of claims 1 to 3, characterized in that: There are four transmission flanges (411), and four wire wheels connected to the four transmission flanges (411) are arranged in the wire wheel box (410), and each wire wheel is provided with a driving wire; The flexible instrument includes a driving straight arm (420), a continuous body segment (430), a rotating wrist (440) and an end clamp claw (450) which are connected in sequence. The driving straight arm (420), the continuous body segment (430), the rotating wrist (440) and the end clamp claw (450) are respectively connected to the four driving wires, and the driving straight arm (420) is set through the spinal endoscope (217).

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