Endoscope for the spinal column and drive device for surgical instruments thereof

Abstract

The application discloses a driving device of a spine endoscope and surgical instruments, a rotating platform of the driving device is rotationally installed on a base, and an encoder is installed on one end of the base; a motor one is used for driving the rotating platform to rotate; a motor three is used for driving an endoscope screw rod to rotate; an endoscope clamping device is screwedly matched with the endoscope screw rod and can slide along a guide rail; the endoscope is fixedly installed on the endoscope clamping device; a working sleeve is fixedly installed on the base, and a central axis is coincident with a rotating axis of the rotating platform; a motor two is used for driving an executor screw rod to rotate; an executor driving platform is screwedly matched with the executor screw rod; the executor driving platform is slidingly and matchingly installed on the guide rail and is used for installing an executor and a motor driving module; the executor is coaxially arranged with a working channel of the endoscope. The driving device can realize the rotating movement of the eccentric endoscope and the whole surgical executor, and the forward and backward movement of the surgical executor and the endoscope independently.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical operations, and in particular to a spinal endoscope and a driving device for a surgical instrument thereof. Background Art

[0002] During spinal endoscopic surgery, the physician is required to operate the endoscope with his left hand and the surgical instruments with his right hand, standing for long periods of time to complete the endoscopic surgery. This is labor-intensive and inefficient. Existing technology uses two ends to control the axial movement of the endoscope and surgical instruments, respectively. The two ends are fixed to two robotic arms. During the operation, it is necessary to ensure that the surgical instruments move along the working channel of the eccentric endoscope to perform endoscopic surgery. Using two robotic arms in clinical practice requires a large area, and control algorithms such as robotic arm motion planning and collision avoidance are required to ensure the safety of the surgical operation, resulting in high algorithm complexity. Summary of the Invention

[0003] The present invention provides a driving device for a spinal endoscope and its surgical instruments, which realizes the overall rotational movement of the eccentric endoscope and the surgical actuator, and the independent forward and backward movement of the surgical actuator and the endoscope through the driving device, reducing the impact of the doctor's hand shaking on the operation, thereby improving the accuracy of the surgical operation.

[0004] The present invention adopts the following specific technical solutions:

[0005] A spinal endoscope and a driving device for a surgical instrument thereof, the driving device comprising a working sleeve, an endoscope clamping device, an endoscope, an actuator, an actuator driving platform, a motor driving module, an encoder, a first motor, a guide rail, a rotating platform, a base, a third motor, an endoscope lead screw, an actuator lead screw, and a second motor;

[0006] The rotating platform is mounted on the base so as to be rotatable around a horizontal axis, and the encoder is mounted on one end of the base; the encoder is used to measure the overall rotation angle of the rotating platform;

[0007] The motor 1 is fixedly mounted on the base and is in transmission connection with the rotating platform, for driving the rotating platform to rotate;

[0008] The guide rail, the second motor and the third motor are all fixedly mounted on the rotating platform; the guide rail, the actuator screw and the endoscope screw are all arranged parallel to the horizontal axis;

[0009] The motor 3 is fixedly connected to the endoscope screw and is used to drive the endoscope screw to rotate; the endoscope clamping device is screw-coupled with the endoscope screw and can slide along the guide rail; the endoscope is fixedly mounted on the endoscope clamping device; the working sleeve is fixedly mounted on the base, and the central axis thereof coincides with the rotation axis of the rotating platform;

[0010] The motor two is fixedly connected with the actuator screw rod, and is used to drive the actuator screw rod to rotate; the actuator driving platform is screwedly connected with the actuator screw rod; the actuator driving platform is slidingly and matchingly installed on the guide rail, and is used to install the actuator and the motor driving module; the motor driving module is used to drive the actuator to act; the actuator is coaxially arranged with the working channel of the endoscope.

[0011] After the surgical channel is determined, the working sleeve is inserted into the surgical channel, and the endoscope is driven by the motor three to move along the guide rail into the working sleeve; the actuator is driven by the motor two to move along the guide rail into the working channel of the endoscope.

[0012] Further, the base comprises a base frame, and left and right end supports which are oppositely installed at two ends of the base frame;

[0013] The left and right end supports are axially distributed along the rotation axis of the rotating platform;

[0014] The rotating platform comprises a bottom plate which is arranged at the top of the base frame, and left and right side plates which are oppositely installed at two ends of the bottom plate;

[0015] The top end of the left side plate is rotationally installed at the top end of the left end support;

[0016] The top end of the right side plate is rotationally installed at the top end of the right end support;

[0017] The motor one is in transmission connection with the right side plate, and is used to drive the right side plate to rotate;

[0018] The working sleeve passes through the rotation axes of the left side plate and the left end support, and is fixedly installed on the left end support.

[0019] Further, bearings are installed between the left side plate and the left end support, and between the right side plate and the right end support.

[0020] Further, the right side plate is provided with a rotating shaft which extends out of the right end support;

[0021] A transmission mechanism is arranged between the rotating shaft and the motor one.

[0022] Further, the transmission mechanism is a belt transmission mechanism;

[0023] The motor one is a direct current motor.

[0024] Further, the bearing is a flange bearing;

[0025] The left side plate is provided with a mounting ring on a side facing the left end bracket;

[0026] The left end bracket is provided with a mounting hole on a side facing the left side plate;

[0027] The inner ring of the flange bearing is sleeved on the outer circumference of the mounting ring, and the outer ring is mounted in the mounting hole.

[0028] Furthermore, it also includes an actuator fixing device;

[0029] The actuator fixing device is used to fix the actuator on the actuator driving platform.

[0030] Furthermore, the motor drive module includes four motors four fixedly mounted on the actuator drive platform.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The driving device of the present invention integrates the spinal endoscope and the actuator serving as a surgical instrument onto the same rotating platform and guide rail, and the rotating platform can be mounted on the base for relative rotation, so that the spinal endoscope and the actuator can rotate simultaneously, and is provided with an encoder for measuring the overall rotation angle of the rotating platform; a motor and a screw are provided on the rotating platform for driving the endoscope and the actuator forward and backward respectively; therefore, the above-mentioned driving device can realize the overall rotational movement of the eccentric endoscope and the surgical actuator, and the independent forward and backward movement of the surgical actuator and the endoscope, thereby reducing the impact of the doctor's hand shaking on the operation, thereby improving the accuracy of the surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the spinal endoscope and the driving device of the surgical instrument thereof of the present invention;

[0034] Figure 2 for Figure 1 A front view of a mid-spine endoscope and a drive device for surgical instruments;

[0035] Figure 3 It is a structural diagram of the left end bracket;

[0036] Figure 4 It is a structural diagram of the left side panel;

[0037] Figure 5 This is a structural diagram of a flange bearing.

[0038] Among them, 1-working sleeve, 2-endoscopic clamping device, 3-endoscopic, 4-actuator fixing device, 5-actuator, 6-actuator drive platform, 7-motor drive module, 8-encoder, 9-belt transmission mechanism, 10-motor 1, 11-guide rail, 12-rotating platform, 13-base, 14-motor 3, 15-endoscopic screw, 16-actuator screw, 17-motor 2. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] like Figure 1 and Figure 2 As shown in the structure, an embodiment of the present invention provides a driving device for a spinal endoscope and a surgical instrument thereof, the driving device comprising a working sleeve 1, an endoscope clamping device 2, an endoscope 3, an actuator 5, an actuator driving platform 6, a motor driving module 7, an encoder 8, a motor 10, a guide rail 11, a rotating platform 12, a base 13, a motor 3 14, an endoscope screw 15, an actuator screw 16, and a motor 2 17;

[0041] The rotating platform 12 and the base 13 are both U-shaped structures, with the rotating platform 12 stacked inside the base 13. The rotating platform 12 is mounted on the base 13 so as to be rotatable about a horizontal axis, and an encoder 8 is mounted on one end of the base 13. The encoder 8 is mounted on the outside of the base 13 via a fixed bracket and is used to measure the overall rotation angle of the rotating platform 12.

[0042] The motor 10 is fixedly mounted on the bottom end of the base 13 and is in transmission connection with the rotating platform 12, and is used to drive the rotating platform 12 to rotate around the horizontal axis; the motor 10 can be a DC motor;

[0043] The guide rail 11, motor 2 17 and motor 3 14 are all fixedly mounted on the rotating platform 12; the guide rail 11, actuator screw 16 and endoscope screw 15 are all arranged parallel to the horizontal axis, thereby realizing the forward and backward movement of the actuator 5 and the endoscope 3, that is, Figure 2As shown, the rotation axis of the rotating platform 12 is a horizontal axis, extending horizontally from left to right or from right to left, the guide rail 11 also extends horizontally from left to right, the actuator lead screw 16 is arranged on the right side, and the endoscope lead screw 15 is arranged on the left side. The actuator lead screw 16 and the endoscope lead screw 15 do not need to be arranged along the length of the rotating platform 12, but the sum of the lengths of the actuator lead screw 16 and the endoscope lead screw 15 can be greater than the length of the rotating platform 12 from left to right;

[0044] The motor three 14 is fixedly installed on the rotating platform 12 and fixedly connected with the endoscope lead screw 15, for driving the endoscope lead screw 15 to rotate around the horizontal axis. The endoscope clamping device 2 is screwedly connected with the endoscope lead screw 15 and can slide along the guide rail 11, and the forward and backward movement is realized through the screw connection with the endoscope lead screw 15 and the guidance of the guide rail 11. The endoscope 3 is fixedly installed on the endoscope clamping device 2 and is driven to move back and forth by the endoscope clamping device 2. The working sleeve 1 is fixedly installed on the base 13, and the central axis of the working sleeve 1 coincides with the rotation axis of the rotating platform 12.

[0045] The motor two 17 is fixedly installed on the rotating platform 12 and fixedly connected with the actuator lead screw 16, for driving the actuator lead screw 16 to rotate. The actuator driving platform 6 is screwedly connected with the actuator lead screw 16. The actuator driving platform 6 is slidingly connected with the guide rail 11, for mounting the actuator 5 and the motor driving module 7 and driving the actuator 5 and the motor driving module 7 to move back and forth along the horizontal direction. The motor driving module 7 is used for driving the actuator 5 to act. The actuator 5 is coaxially arranged with the working channel of the endoscope 3. The endoscope 3 is coaxially arranged with the working sleeve 1. The motor driving module 7 includes four motor fours fixedly installed on the actuator driving platform 6, and the four motor fours of the motor driving module 7 are used for driving the actuator 5 to act.

[0046] After the surgical channel is determined, the working sleeve 1 is inserted into the surgical channel, and the endoscope 3 is driven by the motor three 14 to move along the guide rail 11 into the working sleeve 1. The actuator 5 is driven by the motor two 17 to move along the guide rail 11 into the working channel of the endoscope 3.

[0047] The above-mentioned driving device further includes an actuator fixing device 4. The actuator fixing device 4 is used for fixedly installing the actuator 5 on the actuator driving platform 6. The actuator fixing device 4 can realize quick replacement of the actuator 5 on the actuator driving platform 6 through a clamping structure.

[0048] In a specific embodiment, as shown in Figure 1 and Figure 2 The base 13 includes a chassis, and left and right end supports oppositely installed on both ends of the chassis. The left end support is fixedly installed on the left end of the chassis, and the right end support is fixedly installed on the right end of the chassis. The left and right end supports are axially distributed along the rotation axis of the rotating platform 12.

[0049] The rotating platform 12 includes a bottom plate spaced apart from the top of the base frame, and a left plate and a right plate mounted on both ends of the bottom plate; the left plate is fixedly mounted on the left end of the bottom plate and is located inside the left end bracket with a gap therebetween; the right plate is fixedly mounted on the right end of the bottom plate and is located inside the right end bracket with a gap therebetween; the top end of the left plate is rotatably mounted on the top end of the left end bracket via a bearing; the top end of the right plate is rotatably mounted on the top end of the right end bracket via a bearing; the right plate may be provided with a rotating shaft extending from the right end bracket, and a transmission member such as a pulley, gear, or sprocket is fixedly mounted on the rotating shaft;

[0050] The motor 10 is connected to the right side plate for driving the right side plate to rotate; a transmission mechanism such as a belt transmission mechanism 9, a gear transmission mechanism, a chain transmission mechanism, etc. can be provided between the rotating shaft and the motor 10. Similarly, a corresponding pulley, gear or sprocket and other transmission members are fixedly installed on the output shaft of the motor 10, and the transmission can be realized by a belt or chain between the two transmission members, thereby driving the right side plate to rotate through the motor 10, and then driving the entire rotating platform 12 to rotate; in this embodiment, the belt transmission mechanism 9 between the motor 10 and the right side plate is used as an example for explanation;

[0051] The working sleeve 1 passes through the rotation axis of the left side plate and the left end bracket and is fixedly installed on the left end bracket, so that the rotating platform 12 can rotate around the working sleeve 1 during the rotation process and keep the working sleeve 1 unchanged.

[0052] Furthermore, the bearings between the left side plate and the left end bracket and between the right side plate and the right end bracket can be flange bearings; Figure 1 and Figure 4 As shown, the left side plate is provided with a mounting ring on the side facing the left end bracket; Figure 1 and Figure 3 As shown, the left end bracket is provided with a mounting hole on the side facing the left side plate; Figure 1 and Figure 5 As shown, the inner ring of the flange bearing is sleeved on the outer circumference of the mounting ring, and the outer ring is installed in the mounting hole.

[0053] The above-mentioned driving device integrates the spinal endoscope and the actuator 5 serving as a surgical instrument into the same rotating platform 12 and guide rail 11, and the rotating platform 12 can be mounted on the base 13 for relative rotation, so that the spinal endoscope 3 and the actuator 5 can rotate at the same time, and is provided with an encoder 8 for measuring the overall rotation angle of the rotating platform 12; a motor and a screw are provided on the rotating platform 12 for driving the endoscope 3 and the actuator 5 forward and backward respectively; therefore, the above-mentioned driving device can realize the overall rotational movement of the eccentric endoscope 3 and the surgical actuator 5, and the independent forward and backward movement of the surgical actuator 5 and the endoscope 3, thereby reducing the impact of the doctor's hand shaking on the operation, thereby improving the accuracy of the surgical operation.

[0054] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A spinal endoscope and a driving device for a surgical instrument thereof, characterized in that: It includes a working sleeve, an endoscope clamping device, an endoscope, an actuator, an actuator drive platform, a motor drive module, an encoder, a motor 1, a guide rail, a rotating platform, a base, a motor 3, an endoscope lead screw, an actuator lead screw and a motor 2; The rotating platform is mounted on the base so as to be rotatable around a horizontal axis, and the encoder is mounted on one end of the base; the encoder is used to measure the overall rotation angle of the rotating platform; The motor 1 is fixedly mounted on the base and is in transmission connection with the rotating platform, for driving the rotating platform to rotate; The guide rail, the second motor and the third motor are all fixedly mounted on the rotating platform; the guide rail, the actuator screw and the endoscope screw are all arranged parallel to the horizontal axis; The motor 3 is fixedly connected to the endoscope screw and is used to drive the endoscope screw to rotate; the endoscope clamping device is screw-coupled with the endoscope screw and can slide along the guide rail; the endoscope is fixedly mounted on the endoscope clamping device; the working sleeve is fixedly mounted on the base, and the central axis thereof coincides with the rotation axis of the rotating platform; The second motor is fixedly connected to the actuator screw and is used to drive the actuator screw to rotate; the actuator drive platform is screw-fitted with the actuator screw; the actuator drive platform is slidably mounted on the guide rail and is used to mount the actuator and the motor drive module; The motor drive module is used to drive the actuator to move; the actuator is coaxially arranged with the working channel of the endoscope; After the surgical channel is determined, the working cannula is inserted into the surgical channel, and the endoscope moves along the guide rail into the working cannula under the drive of the motor three; the actuator moves along the guide rail into the working channel of the endoscope under the drive of the motor two.

2. The driving device according to claim 1, wherein: The base includes a bottom frame, and a left end bracket and a right end bracket relatively mounted at two ends of the bottom frame; The left end bracket and the right end bracket are axially distributed along the rotation axis of the rotating platform; The rotating platform includes a bottom plate spaced apart from the top of the bottom frame, and a left side plate and a right side plate mounted on both ends of the bottom plate. The top end of the left side plate is rotatably mounted on the top end of the left end bracket; The top end of the right side plate is rotatably mounted on the top end of the right end bracket; The motor 1 is in transmission connection with the right side plate, and is used to drive the right side plate to rotate; The working sleeve passes through the rotation axis of the left side plate and the left end bracket, and is fixedly installed on the left end bracket.

3. The driving device according to claim 2, wherein: Bearings are installed between the left side plate and the left end bracket, and between the right side plate and the right end bracket.

4. The driving device according to claim 2, wherein: The right side plate is provided with a rotating shaft extending out of the right end bracket; A transmission mechanism is provided between the rotating shaft and the motor 1.

5. The driving device according to claim 4, characterized in that The transmission mechanism is a belt transmission mechanism; The first motor is a DC motor.

6. The driving device according to claim 3, wherein: The bearing is a flange bearing; The left side plate is provided with a mounting ring on a side facing the left end bracket; The left end bracket is provided with a mounting hole on a side facing the left side plate; The inner ring of the flange bearing is sleeved on the outer circumference of the mounting ring, and the outer ring is mounted in the mounting hole.

7. The driving device according to claim 1, wherein: Also included is an actuator fixture; The actuator fixing device is used to fix the actuator on the actuator driving platform.

8. The driving device according to any one of claims 1 to 7, characterized in that: The motor drive module includes four motors four fixedly mounted on the actuator drive platform.

Images