An inner ear injection sampling actuator for an otological surgical robot

Abstract

An inner ear injection sampling actuator for an otological surgical robot, which relates to an inner ear injection sampling actuator. The present invention aims to solve the problem that existing actuators cannot effectively and controllably apply drugs directly to the target position. The present invention includes a linear guide rail module (4), and also includes a flexible segment module (1), a driving module (2) and a microneedle driving module (5). The driving module (2) is installed on the linear guide rail module (4). The flexible segment module (1) can achieve flexible bending degrees of freedom in four directions. The flexible segment module (1) is installed at the front of the driving module (2). The microneedle driving module (5) is installed at the rear of the driving module (2). The flexible segment module (1) realizes the telescoping of the surgical microneedle (1-5) in the flexible segment module (1) under the action of the microneedle driving module (5). The present invention is used for otological surgery.

Description

Technical Field

[0001] The present invention relates to a sampling actuator, and more particularly to an inner ear injection sampling actuator for an otological surgical robot. Background Art

[0002] With the accelerating pace of life, the incidence of sudden deafness patients is increasing year by year, and there is a trend of younger age. Inner ear injection of hormones is a mature treatment method with high safety and few systemic side effects. It is mainly used for rescue treatment after ineffective systemic hormone treatment in sudden deafness patients, initial treatment in patients with contraindications to systemic hormone application and severe deafness patients, and can also be used as one of the treatment methods for patients with Meniere's disease with low-frequency hearing loss and recurrent vertigo attacks.

[0003] However, for otological diseases that require surgery, inner ear injection and sampling operations are rarely used as an independent operation in functional otological clinics due to factors such as operation precision and path trauma, which affects the early intervention treatment of functional ear diseases such as deafness, tinnitus, and vertigo. Moreover, indirect drug administration methods such as systemic drug administration and intratympanic injection have disadvantages such as poor efficacy and large side effects.

[0004] The tissue for inner ear drug administration - sampling surgery is located inside the tympanic cavity. Due to the narrow and complex environmental characteristics of the inner ear, it is difficult for surgical instruments to enter. As a result, most otological surgical robot systems at home and abroad use drilling on the temporal bone surface to generate a channel, and then the surgical instruments enter the middle ear or inner ear through the channel to complete the corresponding surgery. The execution difficulty is relatively high, there is a certain degree of damage to the human body, and a relatively long postoperative recovery period is required. The inner ear injection - sampling surgical robot system through the ear canal controls the flexible end actuator to pass through the external ear canal, bypass the internal ear bones and other parts to reach the surgical target position, and uses a micro needle to complete surgical operations such as inner ear injection and biopsy. As a new surgical paradigm, it has the advantages of less trauma, short time, and low risk of postoperative complications. However, due to the limitation of the size of the otological surgical robot actuator and the limitation of the operable space during the surgical process, the injection accuracy requirements for the otological injection sampling needle are very high. Existing conventional inner ear drug administration actuators have difficulty in controlling the flexible movement of the needle tip part, resulting in the problem that the drug cannot be effectively and controllably directly act on the target position. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem that the existing actuator cannot effectively and controllably directly act the drug on the target position, and further provide an inner ear injection sampling actuator for an otological surgical robot.

[0006] The technical solution of the present invention is as follows: An inner ear injection sampling actuator for an otological surgical robot includes a linear guide rail module, and it further includes a flexible section module, a driving module, and a microneedle driving module. The driving module is installed on the linear guide rail module. The flexible section module can achieve flexible bending degrees of freedom in four directions. The flexible section module is installed at the front of the driving module, and the microneedle driving module is installed at the rear of the driving module. The flexible section module realizes the telescoping of the surgical microneedle in the flexible section module under the action of the microneedle driving module.

[0007] Further, the flexible section module includes a saddle joint, an inner tube, a camera module, a light guide fiber, a surgical microneedle, a middle section, and multiple driving steel wires. The saddle joint and the middle section are connected in sequence from left to right. The inner tube is inserted into the saddle joint. The front end of the inner tube is installed with a camera module, a surgical microneedle, and a light guide fiber. One end of multiple driving steel wires passes through and is installed on the saddle joint, and the other end of multiple driving steel wires is connected to the driving module and drives the flexible bending degrees of freedom of the saddle joint.

[0008] Further, the driving module includes a base, a linear slide rail, an adjustment table, two guide frames, multiple lead screws, multiple lead screw nuts, multiple nut seats, multiple guide rollers, multiple driving DC motors, and multiple encoders; the base is slidably installed on the linear guide rail module, the adjustment table is vertically installed on the base, the adjustment table is a disc-shaped adjustment table, multiple driving DC motors are installed on the right end face of the adjustment table in a circular array, and an encoder is installed at the rear end of each driving DC motor; a linear slide rail is coaxially installed with the adjustment table in the middle of the left side of the adjustment table, multiple nut seats are slidably installed on the linear slide rail in a circular array, a lead screw nut is installed on each nut seat, one end of each lead screw is connected to the output end of a driving DC motor, the other end of each lead screw is sleeved with two guide frames, multiple guide rollers are installed on the guide frames in the circumferential direction, and the other end of the driving steel wire bypasses multiple guide rollers and is fixed on the nut seat through the lead screw nut.

[0009] Further, multiple guide seats are machined on the guide frames in the circumferential direction, and a guide roller is rotatably installed perpendicular to the axis of the adjustment table in each guide seat.

[0010] Further, the number of driving DC motors is 6 or 8.

[0011] Further, the linear guide rail module includes a driving motor, a sliding platform, and a linear guide rail. The sliding platform is installed on the linear guide rail. The driving motor is installed on one side of the linear guide rail, and the output shaft of the driving motor is connected to a lead screw located in the linear guide rail. The rotation of the lead screw drives the base to slide horizontally on the sliding platform.

[0012] Furthermore, the microneedle driving module includes a driving pulley, multiple guide rail pulleys, a microneedle inner tube, a guide rail support platform, a microneedle DC motor, and an encoder. The guide rail support platform is installed on the right side of the adjustment table. The microneedle inner tube is installed on the upper end face of the guide rail support platform. The multiple guide rail pulleys are respectively located on both sides of the microneedle inner tube and are in contact with it. The driving pulley is installed on the guide rail support platform. The microneedle DC motor is installed on the lower end face of the guide rail support platform, and the driving pulley is sleeved on the output shaft of the microneedle DC motor. The driving pulley drives the microneedle inner tube to move.

[0013] Furthermore, a microhole channel is provided on the guide rail support platform.

[0014] Furthermore, the microhole channel sequentially includes a stepped hole and a tapered hole from left to right.

[0015] Furthermore, it further includes an actuator fixing seat, and the actuator fixing seat is installed on the linear guide rail module and connected to an external operating arm.

[0016] The present invention has the following effects compared with the prior art:

[0017] 1. The inner ear injection-sampling actuator of the present invention is an actuator installed at the end of an inner ear-sampling surgical robot through the ear canal. It enters the middle ear through a 3mm hole pre-opened on the eardrum through the external auditory canal (which can heal itself after the operation), bypasses the inner ear structure, moves to the round window, delivers drugs to the surgical target position, and completes the biopsy of inner ear tissue fluid. The present invention breaks through the bottleneck of the blood-labyrinth barrier in traditional inner ear drug delivery that hinders precise inner ear treatment. By adopting a steel wire flexible drive to control the curvature of the microneedle and cooperating with the microneedle driving module, it can effectively and controllably deliver drugs directly to the target position, greatly improving the surgical efficiency and curative effect of the drug delivery method; by sampling inner ear tissue fluid to understand the disease and microenvironment changes, it realizes the early prevention and precise diagnosis of inner ear diseases; from the perspective of clinical surgery, the entire surgical process causes less damage to the human body, shortens the operation time, and greatly improves the surgical safety.

[0018] 2. The driving steel wire of the present invention can enable the flexible section module to achieve four-direction flexible bending degrees of freedom under the control of the motor, changing the motion postures of the two spatial curves, thereby ensuring the flexibility of the end motion. In addition, the flexible section adopts a hollow design, and a hole is provided inside its end to accommodate a camera module, a light guide fiber, and a surgical microneedle integrated at the end, completing real-time imaging, illumination, and drug delivery biopsy-related operations during the surgical process. Among them, the surgical microneedle is made of a flexible material and is wrapped inside a flexible inner tube and an outer tube, and can adjust its posture simultaneously with the flexible section. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is an isometric view of the present invention. Figure 2 is Figure 1 the top view ofFigure 3 is Figure 1 the front view of Figure 4 is Figure 1 the side view of Figure 5 is Figure 1 the main sectional view of Figure 6 is Figure 5 the sectional view at A of Figure 7 is the axonometric schematic diagram of the microneedle driving module 5. Figure 8 is Figure 6 the enlarged partial view at B in Specific implementation manners

[0020] Specific implementation manner one: With reference to Figures 1 to 8 to illustrate this implementation manner, an inner ear injection sampling actuator of an otological surgical robot in this implementation manner includes a linear guide rail module 4, and it further includes a flexible section module 1, a driving module 2, and a microneedle driving module 5. The driving module 2 is installed on the linear guide rail module 4. The flexible section module 1 can achieve flexible bending degrees of freedom in four directions. The flexible section module 1 is installed at the front of the driving module 2. The microneedle driving module 5 is installed at the rear of the driving module 2. The flexible section module 1 realizes the telescoping of the surgical microneedle in the flexible section module 1 under the action of the microneedle driving module 5.

[0021] The microneedle driving module 5 in this implementation manner is fixedly connected to the linear module module 4 by bolts. The linear motion is controlled by a driving motor 4-1 to rotate the lead screw and convert it into the horizontal linear motion of a sliding platform 4-2 on a linear slide rail 4-3.

[0022] The surgical microneedle in this implementation manner is made of a flexible material and is wrapped inside a flexible inner tube and an outer tube, and can adjust its posture simultaneously with the flexible section.

[0023] Specific implementation manner two: With reference to Figures 1 to 5 to illustrate this implementation manner, the flexible section module 1 in this implementation manner includes a saddle joint 1-1, an inner tube 1-2, a camera module, a light guide optical fiber, a surgical microneedle, a middle section 1-7, and multiple driving wires 1-6. The saddle joint 1-1 and the middle section 1-7 are connected in sequence from left to right. The inner tube 1-2 is inserted into the saddle joint 1-1. A camera module, a surgical microneedle, and a light guide optical fiber are installed at the front end of the inner tube 1-2. One ends of multiple driving wires 1-6 pass through and are installed on the saddle joint 1-1, and the other ends of multiple driving wires 1-6 are connected to the driving module 2 and drive the flexible bending degrees of freedom of the saddle joint 1-1.

[0024] With such a setting, not only can flexible and flexible bending be achieved, but also visual operation can be realized, ensuring the accuracy of the operation process. Other compositions and connection relationships are the same as those in specific implementation manner one.

[0025] Specific implementation manner three: With reference toFigures 1 to 6 Referring to this embodiment, the driving module 2 of this embodiment includes a base 2-10, a linear slide rail 2-3, an adjustment table 2-7, two guide frames 2-1, a plurality of lead screws 2-4, a plurality of lead screw nuts 2-5, a plurality of nut seats 2-6, a plurality of guide rollers 2-2, a plurality of driving DC motors 2-8 and a plurality of first encoders 2-9; the base 2-10 is slidably mounted on the linear guide rail module 4, the adjustment table 2-7 is vertically mounted on the base 2-10, the adjustment table 2-7 is a disc-shaped adjustment table, and a plurality of driving DC motors 2-8 are mounted on the right end face of the adjustment table 2-7 in an annular array, and a first encoder 2-9 is mounted at the rear end of each driving DC motor 2-8; a linear slide rail 2-3 is coaxially mounted with the adjustment table 2-7 in the middle of the left side of the adjustment table 2-7, a plurality of nut seats 2-6 are slidably mounted on the linear slide rail 2-3 in an annular array, a lead screw nut 2-5 is mounted on each nut seat 2-6, one end of each lead screw 2-4 is connected to the output end of a driving DC motor 2-8, the other end of each lead screw 2-4 is sleeved with two guide frames 2-1, a plurality of guide rollers 2-2 are mounted on the guide frames 2-1 in the circumferential direction, and the other end of the driving wire 1-6 bypasses a plurality of guide rollers 2-2 and is fixed to the nut seat 2-6 through the lead screw nut 2-5.

[0026] With such a setting, by controlling the driving DC motor 2-8, the telescoping of different driving wires is adjusted to flexibly operate the working state of the flexible section module 1. Other compositions and connection relationships are the same as those in the first or second specific embodiment.

[0027] Specific embodiment four: Combining Figure 1 and Figure 5 Referring to this embodiment, a plurality of guide seats are machined on the guide frame 2-1 of this embodiment in the circumferential direction, and a guide roller 2-2 is rotatably mounted perpendicular to the axis of the adjustment table 2-7 in each guide seat.

[0028] With such a setting, since the driving wire is wound around the guide roller 2-2, in order to ensure the flexible adjustment of the driving wire. Other compositions and connection relationships are the same as those in the first, second or third specific embodiment.

[0029] Each guide seat protrudes outwards, and the guide roller 2-2 is rotatably mounted on the guide seat through a pin shaft.

[0030] Specific embodiment five: Combining Figures 1 to 5 Referring to this embodiment, the number of the driving DC motors 2-8 of this embodiment is 6 or 8. With such a setting, the more the number of driving wires, the more flexible and accurate the operation, but if the number of driving wires is more, it will cause complex control. Therefore, the preferred number is 6. Other compositions and connection relationships are the same as those in the first, second, third or fourth specific embodiment.

[0031] Embodiment Six: In combination with Figures 1 to 5 This embodiment will be described. The linear guide rail module 4 of this embodiment includes a driving motor 4-1, a sliding platform 4-2, and a linear guide rail 4-3. The sliding platform 4-2 is installed on the linear guide rail 4-3. The driving motor 4-1 is installed on one side of the linear guide rail 4-3. The output shaft of the driving motor 4-1 is connected to a lead screw located inside the linear guide rail 4-3. The rotation of the lead screw drives the base 2-10 to slide horizontally on the sliding platform 4-2.

[0032] With such a setting, a stable moving platform is provided by adopting the sliding platform 4-2, and precise driving is achieved through the lead screw pair, thereby realizing the accurate movement of the driving module 2. The other components and connection relationships are the same as those in Embodiment One, Two, Three, Four, or Five.

[0033] Embodiment Seven: In combination with Figure 7 This embodiment will be described. The microneedle driving module 5 of this embodiment includes a driving pulley 5-1, a plurality of guide rail pulleys 5-2, a microneedle inner tube 5-3, a guide rail support platform 5-4, a microneedle DC motor 5-5, and a second encoder 5-6. The guide rail support platform 5-4 is installed on the right side of the adjustment table 2-7. The microneedle inner tube 5-3 is installed on the upper end surface of the guide rail support platform 5-4. A plurality of guide rail pulleys 5-2 are respectively located on both sides of the microneedle inner tube 5-3 and are in contact with it. The driving pulley 5-1 is installed on the guide rail support platform 5-4. The microneedle DC motor 5-5 is installed on the lower end surface of the guide rail support platform 5-4, and the driving pulley 5-1 is sleeved on the output shaft of the microneedle DC motor 5-5. The driving pulley 5-1 drives the microneedle inner tube 5-3 to move.

[0034] With such a setting, the surgical microneedle is driven by a motor. Its driving device is placed in a guide rail composed of four pulleys 5-2 to limit its moving direction. The driving gear 5-1 holds the microneedle inner tube 5-3 tightly. When the driving motor 5-5 drives the gear to rotate, the feeding movement of the microneedle inner tube along the guide rail can be realized. The microneedle inner tube passes through the micro hole 5-7 and is nested in an outer tube that holds the micro hole tightly. Under the action of the driving force, it can move relative to the outer tube, thereby realizing the release of the microneedle. This module is equipped with a high-precision optical encoder that can provide real-time position and speed information for speed control, motion compensation, etc. By feeding back information such as the real-time current and torque of the motor, excessive force during injection and sampling can be avoided, ensuring the safety of the surgical system. The motor, reducer, and encoder are integrated into one body and are connected and fixed to the flange hole of the guide rail support platform through threads. On the one hand, it can ensure parallelism and concentricity, improving the assembly accuracy; on the other hand, it reduces the assembly difficulty and is convenient for disassembly. The other components and connection relationships are the same as those in Embodiment One, Two, Three, Four, Five, or Six.

[0035] Embodiment Eight: In combination withFigure 6 Regarding this embodiment, a micro-hole channel 5-7 is formed on the guide rail support platform 5-4 of this embodiment. With such an arrangement, the inner tube 5-3 of the micro-needle can be nested inside the outer tube, providing protection to the inner tube. Other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0036] Specific Embodiment Nine: Figure 6 Regarding this embodiment, the micro-hole channel 5-7 of this embodiment sequentially includes a stepped hole and a tapered hole from left to right. With such an arrangement, the outer tube of the micro-needle is tightly held by the stepped hole part in the micro-hole channel, enabling relative movement between the inner tube 5-3 of the micro-needle and the micro-tube, thereby realizing the release of the micro-needle. Other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0037] Specific Embodiment Ten: Figures 1 to 5 Regarding this embodiment, this embodiment further includes an actuator fixing seat 3, and the actuator fixing seat 3 is installed on the linear guide rail module 4 and connected to an external operating arm. With such an arrangement, the connection method is simple and reliable. Other components and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, or seventh specific embodiments.

[0038] Regarding Figures 1 to 8 Describe the working principle of the present invention:

[0039] The working principle of the end effector of the inner ear injection-sampling surgical robot through the ear canal is that, through the movement of the surgical robot operating arm it is fixed to, it reaches the designated position, and uses the feed freedom provided by the linear module module 4 to enter the inner ear through the hole pre-opened on the patient's eardrum through the external auditory canal. With the help of the pre-written motion control program, the motor is controlled to drive eight steel wires to stretch or shorten according to the motion plan, so that the end makes a four-degree-of-freedom bending motion, reaches the target position of the round window of the inner ear, releases the surgical micro-needle, and completes surgical operations such as drug injection and biopsy.

[0040] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Those skilled in the art can also make other changes within the spirit of the present invention and apply them to fields not mentioned in the present invention. Of course, these changes made according to the spirit of the present invention should be included within the scope claimed by the present invention.

Claims

1. An inner ear injection sampling actuator for an otological surgical robot, which comprises a linear guide rail module (4), and is characterized in that: It further includes a flexible segment module (1), a driving module (2), and a microneedle driving module (5). The driving module (2) is installed on the linear guide rail module (4). The flexible segment module (1) can achieve flexible bending degrees of freedom in four directions. The flexible segment module (1) is installed at the front of the driving module (2), and the microneedle driving module (5) is installed at the rear of the driving module (2). The flexible segment module (1) realizes the telescoping of the surgical microneedle in the flexible segment module (1) under the action of the microneedle driving module (5). The flexible segment module (1) includes a saddle joint (1-1), an inner tube (1-2), a camera module, a light guide fiber, a surgical microneedle, a middle section (1-7), and multiple driving steel wires (1-6). The saddle joint (1-1) and the middle section (1-7) are connected in sequence from left to right. The inner tube (1-2) is arranged inside the saddle joint (1-1). The front end of the inner tube (1-2) is equipped with a camera module, a surgical microneedle, and a light guide fiber. One end of multiple driving steel wires (1-6) passes through and is installed on the saddle joint (1-1), and the other ends of multiple driving steel wires (1-6) are connected to the driving module (2) and drive the flexible bending degrees of freedom of the saddle joint (1-1). The microneedle driving module (5) includes a driving pulley (5-1), multiple guide rail pulleys (5-2), a microneedle inner tube (5-3), a guide rail support platform (5-4), a microneedle DC motor (5-5), and a second encoder (5-6). The guide rail support platform (5-4) is installed on the right side of the adjustment table (2-7). The microneedle inner tube (5-3) is installed on the upper end surface of the guide rail support platform (5-4). Multiple guide rail pulleys (5-2) are respectively located on both sides of the microneedle inner tube (5-3) and are in contact with it. The driving pulley (5-1) is installed on the guide rail support platform (5-4). The microneedle DC motor (5-5) is installed on the lower end surface of the guide rail support platform (5-4), and the driving pulley (5-1) is sleeved on the output shaft of the microneedle DC motor (5-5). The driving pulley (5-1) drives the microneedle inner tube (5-3) to move.

2. The inner ear injection sampling actuator of the otological surgical robot according to claim 1, characterized in that: The driving module (2) includes a base (2-10), a linear slide rail (2-3), an adjustment table (2-7), two guide frames (2-1), multiple lead screws (2-4), multiple lead screw nuts (2-5), multiple nut seats (2-6), multiple guide rollers (2-2), multiple driving DC motors (2-8), and multiple first encoders (2-9). The base (2-10) is slidably installed on the linear guide rail module (4). The adjustment table (2-7) is vertically installed on the base (2-10). The adjustment table (2-7) is a disc-shaped adjustment table. Multiple driving DC motors (2-8) are installed on the right end surface of the adjustment table (2-7) in an annular array, and a first encoder (2-9) is installed at the rear end of each driving DC motor (2-8). In the middle of the left side of the adjustment table (2-7), a linear slide rail (2-3) is coaxially installed with the adjustment table (2-7). A plurality of nut seats (2-6) are slidably installed on the linear slide rail (2-3) in an annular array. A lead screw nut (2-5) is installed on each nut seat (2-6). One end of each lead screw (2-4) is connected to the output end of a driving DC motor (2-8). The other end of each lead screw (2-4) is sleeved with two guide frames (2-1). A plurality of guide rollers (2-2) are installed on the guide frame (2-1) in the circumferential direction. The other end of the driving wire (1-6) bypasses a plurality of guide rollers (2-2) and is fixed to the nut seat (2-6) through the lead screw nut (2-5).

3. The inner ear injection sampling actuator of an otological surgical robot according to claim 2, characterized in that: The guide frame (2-1) is machined with a plurality of guide seats in the circumferential direction. A guide roller (2-2) is rotatably installed perpendicular to the axis of the adjustment table (2-7) in each guide seat.

4. An inner ear injection sampling actuator of an otological surgical robot according to claim 3, characterized in that: The number of driving DC motors (2-8) is 6 or 8.

5. An inner ear injection sampling actuator for an otological surgical robot according to claim 4, characterized in that: The linear guide rail module (4) includes a driving motor (4-1), a sliding platform (4-2) and a linear guide rail (4-3). The sliding platform (4-2) is installed on the linear guide rail (4-3). The driving motor (4-1) is installed on one side of the linear guide rail (4-3). The output shaft of the driving motor (4-1) is connected to a lead screw located in the linear guide rail (4-3). The rotation of the lead screw drives the base (2-10) to slide horizontally on the sliding platform (4-2).

6. An inner ear injection sampling actuator for an otological surgical robot according to claim 5, characterized in that: The guide rail support platform (5-4) is provided with a micro-hole channel (5-7).

7. An inner ear injection sampling actuator for an otological surgical robot according to claim 6, characterized in that: The micro-hole channel (5-7) sequentially includes a stepped hole and a tapered hole from left to right.

8. An inner ear injection sampling actuator of an otological surgical robot according to claim 7, characterized in that: It further includes an actuator fixing seat (3). The actuator fixing seat (3) is installed on the linear guide rail module (4) and is connected to an external operating arm.

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