Orthopedic micro robot

Abstract

An orthopedic microrobot includes: a transparent front shell, a miniature camera fixed inside the front of the shell, a ring drill fixed to the front of the shell, a drive device fixed to the rear of the shell, a control board fixed inside the shell and connected to the miniature camera, a power supply connected to the control board, and a drive device connected to the control board and located at the rear of the shell; the rear of the shell has an opening. This invention uses the miniature camera to collect video of the external environment and accurately locate the surgical site; the ring drill performs cutting of bone and related diseased tissues; and the power controller provides energy storage and wireless power supply. This invention enables active movement within the fluid environment between human bone and muscle tissue and remotely resection of lesions on the surface of bone tissue, solving the problem of significant collateral damage caused by endoscopic surgery.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to an orthopedic microrobot. Background Technology

[0002] With the increasing aging of society, the number of patients with spinal and osteoarthritis is growing. Surgical treatment is an important approach for these conditions. Precision and minimally invasive surgery represent the future direction.

[0003] Currently, endoscopic treatment is a commonly used minimally invasive treatment method for spinal and joint diseases. Traditional endoscopes consist of a lens assembly, working channel, adjustment components, and an image display screen. However, traditional endoscopic operation has the following shortcomings: First, the traditional endoscope operating channel is rigid, meaning it can only be inserted through a pre-set surgical channel, resulting in a relatively limited surgical field. Surgical operations can only be performed on the visible surgical field by rotating the lens. Second, because the endoscope operates through a single port and channel, the types of surgical instruments that can be accommodated within the working channel are relatively limited, making surgical operations on bony structures more difficult. Third, the rigid endoscope body may cause collateral damage during surgery, leading to unnecessary complications. Summary of the Invention

[0004] The purpose of this invention is to provide an orthopedic microrobot to solve the problem of significant collateral damage caused by endoscopy.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An orthopedic microrobot includes: a transparent shell at the front end, a micro-camera fixed inside the front end of the shell, a ring-shaped drill fixed at the front end of the shell, a control board fixed inside the shell and connected to the micro-camera, a power supply connected to the control board, and a drive device connected to the control board and located at the end of the shell; the end of the shell has an opening.

[0007] Preferably, the orthopedic microrobot further includes a sensing chip connected to the control board.

[0008] Preferably, the annular drill is made of zirconia ceramic, alumina ceramic, or silicon nitride ceramic.

[0009] Preferably, the annular drill includes an annular electromagnetic actuator, the annular drill is connected to the moving coil of the electromagnetic actuator, and the fixed coil of the electromagnetic actuator is connected and fixed to the housing.

[0010] Preferably, the annular electromagnetic driver is driven by a high-frequency alternating signal to perform circumferential reciprocating vibration.

[0011] Preferably, the outer front end of the outer shell has multiple gill openings for liquid-driven reflux.

[0012] Preferably, the power supply includes a power controller, a battery connected to the power controller, and an inductive receiving coil for wireless power supply.

[0013] Preferably, the driving device includes an electromagnetic driving device and a driver connected to the electromagnetic driving device.

[0014] Preferably, the drive includes one or a combination of a propeller, a shaftless propeller, and a oscillating blade.

[0015] Preferably, the control board includes a computing unit and a communication module connected to the computing unit.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] This invention discloses an orthopedic microrobot, comprising: a transparent front shell, a miniature camera fixed inside the front of the shell, a ring drill fixed to the front of the shell, a control board fixed inside the shell and connected to the miniature camera, a power supply connected to the control board, and a drive device connected to the control board and located at the end of the shell; the end of the shell has an opening. This invention achieves sealed protection for the miniature camera through the transparent front shell; enables video collection of the external environment and accurate positioning of the surgical site through the miniature camera; achieves active displacement and direction change through the drive device; enables data transmission and wireless control through the control board; enables cutting of bone and related diseased tissues through the ring drill; and provides energy storage and wireless power supply through the power controller. This orthopedic microrobot enables active movement within the fluid environment between human bone and muscle tissue and remotely resection of lesions on the surface of bone tissue, solving the problem of significant collateral damage caused by endoscopic surgery. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] The components are: 1-outer shell, 2-ring drill, 3-induction coil, 4-camera, 5-control board, 6-sensor chip, 7-power supply, 8-drive device, 9-data power bus, 11-transparent cover, 12-inner shell, 13-gill opening, 61-detection port, 81-flexible drive shaft, 82-driver, 83-steering cantilever, 84-steering bushing, 85-artificial muscle. Detailed Implementation

[0020] The technical solution will be further described below with reference to the accompanying drawings and specific embodiments to help understand the content of the present invention.

[0021] This invention provides a configuration, manipulation system, and method for an orthopedic microrobot. It allows for minimally invasive or even non-invasive access to surgical sites, such as entering the spinal canal through intermuscular spaces or the joint capsule into the joint cavity. This technology also features remote intelligence, enabling precise external operation and remote command. The microrobot can transmit intraoperative images in real time, and its front-mounted high-definition pinhole camera provides a 360° field of view, reducing blind spots and lowering the incidence of intraoperative collateral damage. Beyond its intraoperative detection function, the robot can also perform surgical procedures, such as nerve decompression, bony decompression, and intervertebral disc repair in spinal surgery; and synovectomy, loose body removal, and cartilage repair in joint surgery.

[0022] like Figure 1 As shown, an orthopedic microrobot includes: a transparent shell at the front end, a micro-camera 4 fixed inside the front end of the shell, a ring-shaped drill 2 fixed at the front end of the shell, a control board 5 fixed inside the shell and connected to the micro-camera, a power supply 7 connected to the control board 5, and a drive device 8 connected to the control board 5 and located at the end of the shell; the end of the shell has an opening.

[0023] The shell includes a transparent cover 11 mounted at the front end, an inner shell 12 for protecting electronic components, and gill openings 13 for forming a fluid flow to improve driving efficiency. The annular drill 2 divides the shell into a sealed front chamber and an open rear chamber. In the rear chamber, a space is formed between the inner shell 12 and the outer shell 1 to form a driving fluid flow. When the orthopedic microrobot operates in a body fluid environment, the driving device 8 pushes the body fluid to flow backward. The outer front end of the outer shell 1 has multiple gill openings 13 for driving fluid return. External body fluid continuously enters the outer shell 1 from the gill openings 13, thereby forming a driving fluid flow with propulsion, thus enabling the orthopedic microrobot to move forward actively. When the driving device 8 reverses the driving fluid flow, the orthopedic microrobot can move backward actively.

[0024] The orthopedic microrobot also includes an induction coil 3 for wireless communication and wireless power supply. The induction coil 3 is installed inside the transparent cover for sealed protection; simultaneously, the induction coil 3 is also located on the outer circumference of the control board 5, thereby providing electromagnetic protection for the control board 5. The induction coil 3 distinguishes between the electromagnetic induction of communication signals and wireless power supply through frequency division or time division.

[0025] The orthopedic microrobot also includes a sensor chip 6 connected to the control board. The sensor chip 6 is installed and fixed in close contact with the inner shell 12. The inner shell 12 has a detection port to enable the sensor chip 6 to come into contact with body fluids, thereby measuring various physicochemical parameters of human body fluids in real time through the sensor chip 6, so as to provide the information required for treatment and diagnosis.

[0026] The orthopedic microrobot also includes a data power bus 9 for data and power transmission. The annular drill 2, induction coil 3, miniature camera 4, sensing chip 6, power supply 7, and drive device 8 are all connected to the control board 5 through the data power bus 9.

[0027] The ring drill 2 is made of zirconia ceramic, alumina ceramic or silicon nitride ceramic to achieve high hardness while avoiding electromagnetic interference and reducing irritation to human tissues.

[0028] The annular drill 2 includes an annular electromagnetic actuator (located on the inner side, not shown in the figure). The annular drill 2 is connected to the moving coil of the electromagnetic actuator, and the fixed coil of the electromagnetic actuator is connected and fixed to the housing.

[0029] The ring electromagnetic actuator is driven by a high-frequency alternating signal to perform circumferential reciprocating vibration, and the high-frequency vibration of the reciprocating motion realizes the removal of lesions in the human body; another preferred method is to set two sets of ring drills 2 with opposite directions of motion in close proximity, so that the opposite cutting motion cancels out the momentum to achieve the body stability of the orthopedic microrobot; similarly, three or more sets of ring drills 2 are used to rotate in opposite directions to balance the opposite momentum, thereby achieving body balance.

[0030] The power supply 7 includes a power controller and a battery connected to the power controller; the power controller is connected to the induction coil 3 via a data power bus 9.

[0031] The drive device 8 includes an electromagnetic drive device, a flexible transmission shaft 81 connected to the electromagnetic drive device, and a driver 82; the electromagnetic drive device is a micro motor; the driver 82 is a propeller. The drive device 8 also includes multiple (at least three) steering cantilever arms 83 fixed to the inner shell 12. A steering shaft sleeve 84 is fitted on the flexible transmission shaft, and artificial muscles 85 are fixed between the steering cantilever arms 83 and the steering shaft sleeve 84; the artificial muscles 85 are electrically connected to the control board 5 through the data power bus 9. The artificial muscles 85 generate tensile forces of different intensities according to the magnitude of the current signal given by the control board 5, thereby controlling the deflection direction of the flexible transmission shaft 81, and thus realizing the vector drive of the orthopedic microrobot to change its direction of travel.

[0032] The artificial muscle 85, also known as an electroactive polymer, is a novel intelligent polymer material. Under an applied electric field, it can stretch, bend, tighten, or expand by altering its internal structure, exhibiting contractile functions similar to biological muscles. The artificial muscle 85 is made by bonding two materials with drastically different coefficients of thermal expansion into a fiber. For example, one polymer might be a highly stretchable cyclic olefin copolymer elastomer, and the other a stiffer high-density polyethylene. This means that when heated, the material that expands faster is blocked by the slower-expanding portion, causing the composite fiber to bend towards the slower-expanding side. This asymmetrical contraction pulls the entire fiber into a helical structure, simultaneously providing significant tensile force. The artificial muscle 85 also includes electrically heated fibers for heating, adjusting the tensile force and stroke of the artificial muscle 85 by adjusting the current. Another type of artificial muscle 85 involves sandwiching a processable high-performance dielectric elastomer film (PHDE) between two electrodes to convert electrical energy into mechanical energy.

[0033] Each PHDE film is as thin as a hair, about 35 micrometers thick. When multiple layers are stacked together, they become a miniature electric motor, functioning like muscle tissue and generating enough energy to power the movement of robots or sensors. Currently, it is possible to fabricate stacks of 4 to 50 layers of PHDE films.

[0034] The drive 82 includes one or more of the following: a propeller, a shaftless propeller, and a oscillating blade.

[0035] The control board 5 includes a computing unit and a communication module connected to the computing unit; the communication module realizes wireless data transmission and control with the external control terminal through the induction coil 3; the functions of the computing unit include communication decoding and task allocation.

[0036] Power is supplied by the power supply unit 7 to the drive unit 8, which drives the propeller for propulsion. Combined with the steering device, it can move forward, backward, and laterally. If the power is insufficient, it can be replenished wirelessly via the induction coil. The operating component currently uses a ring drill 2, which can be replaced with an ultrasonic bone scalpel or other surgical instruments, such as those used for chemotherapy or even biological therapy, depending on the surgical needs.

[0037] The orthopedic microrobot possesses high-precision active control capabilities, enabling physicians to remotely control it for precise translational and scanning movements. Furthermore, through wireless data transmission and a front-mounted high-definition pinhole camera, it allows for 360° comprehensive examination and surgical procedures at the surgical site, significantly improving the robot's detection effectiveness, physician efficiency, and reducing operating costs. Additionally, this orthopedic microrobot, with its tiny size and ability to carry surgical instruments, plays a significant role in the exploration and surgical treatment of various spinal and joint diseases, showing promising application prospects in spinal and joint surgery. With further miniaturization and even micronization of related components such as cameras, coupled with advancements in diagnostic tools (mechanical, radio frequency, biological, etc.), the microrobot can be used in the diagnosis and treatment of common degenerative diseases of the spinal and joint systems.

[0038] The microrobot designed in this invention has the characteristics of high-precision active control, high-speed real-time transmission performance, and the ability to carry surgical instruments for surgical operations. It is of vital importance for surgical exploration and operation of various diseases in orthopedics, and has good practical value and broad application prospects.

[0039] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of the claims of the present invention pending approval.

Claims

1. An orthopedic micro robot, characterized by, The robot comprises a front-end transparent shell, a miniature camera fixed inside the front end of the shell, a ring-shaped abrasive drill fixed to the front end of the shell, a control board fixed inside the shell and connected with the miniature camera, an electric energy supplier connected with the control board, and a driving device connected with the control board and located at the end of the shell; the end of the shell has an opening; The ring-shaped abrasive drill comprises a ring-shaped electromagnetic driver, the ring-shaped abrasive drill is connected with the moving coil of the electromagnetic driver, and the fixed coil of the electromagnetic driver is fixed with the shell; The shell comprises a transparent cover installed at the front end and an inner shell for protecting electronic components; the ring-shaped abrasive drill divides the shell into a sealed front cabin and a rear cabin with an opening, and a space for forming a driving liquid flow is formed between the inner shell and the outer shell in the rear cabin; The outer side of the front end of the outer shell has a plurality of gill mouths for liquid driving backflow; The orthopedic miniature robot further comprises a data power bus for data and power transmission, and the ring-shaped abrasive drill, the miniature camera, the electric energy supplier, and the driving device are connected with the control board through the data power bus; The driving device comprises an electromagnetic driving device, a flexible transmission shaft connected with the electromagnetic driving device, and a driver; the electromagnetic driving device adopts a miniature motor; the driving device further comprises a plurality of steering cantilevers fixed with the inner shell, a steering shaft sleeve is sleeved on the flexible transmission shaft, an artificial muscle is fixed between the steering cantilever and the steering shaft sleeve; the artificial muscle is electrically connected with the control board through the data power bus, the artificial muscle generates different stretching forces according to the size of the current signal given by the control board, so as to realize the control of the deflection direction of the flexible transmission shaft.

2. The orthopedic micro robot of claim 1, wherein, The orthopedic miniature robot further comprises a sensing chip connected with the control board.

3. The orthopedic micro robot of claim 1, wherein, The ring-shaped abrasive drill is made of zirconia ceramic, alumina ceramic, or silicon nitride ceramic.

4. The orthopedic micro robot of claim 1, wherein, The ring-shaped electromagnetic driver is driven by a high-frequency alternating signal to perform circumferential reciprocating vibration.

5. The orthopedic micro robot of claim 1, wherein, The electric energy supplier comprises a power controller, and a storage battery and an inductive power receiving coil for wireless power supply connected with the power controller, respectively.

6. The orthopedic micro robot of claim 1, wherein, The driver comprises one or a combination of a propeller, a shaftless propeller, and an oscillating blade.

7. The orthopedic micro robot of claim 1, wherein, The control board comprises an operation unit and a communication module connected with the operation unit.

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