Micro actuator for inner ear injection sampling operation

Abstract

The invention discloses a micro actuator for an inner ear injection sampling operation, and relates to the field of medical instruments. The problems that an existing actuator cannot more accurately assist a doctor in judging the operation progress, clinical operation practicability is lacked in design, and certain operation difficulty still exists in the otology operation are solved. A microneedle puncture mechanism module is embedded in a driving and sensing module, the driving and sensing module is installed on a high-precision linear driving module, a tail end operating mechanism module is installed on the front portion of the driving and sensing module, and the microneedle puncture mechanism module penetrates through the tail end operating mechanism module and extends out. An endoscope camera module located in the tail end operating mechanism module is used for providing real-time images in the operation process, a tension sensor in the driving and sensing module monitors the change of the tension of a steel wire in real time, and safe interaction with the auditory meatus environment is ensured. The device is used for the inner ear injection sampling operation.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a micro-actuator for inner ear injection sampling surgery, which is used for sampling and surgery on the inner ear. Background Art

[0002] At present, the incidence of inner ear dysfunction is high worldwide, such as hearing loss, tinnitus, and vertigo. If not treated in time, it often leads to serious sequelae, seriously affecting the patient's quality of life. Because the inner ear is located deep in the temporal bone and has a complex anatomical structure, traditional treatments such as systemic or local administration have limited efficacy, and invasive surgeries such as cochlear implants are relatively traumatic. The ear canal, as a natural cavity of the human body, provides a low-traumatic path for surgery. By perforating the tympanic membrane (with a diameter of less than 3 mm, it can heal itself), the external auditory canal and the middle ear can be connected, providing a natural passage for surgical instruments. Through the round window membrane puncture, inner ear targeted drug injection and tissue fluid sampling can be directly performed. This method can effectively avoid traditional high-cost surgery while reducing trauma and improving treatment effects.

[0003] For example: the invention patent with the authorization announcement number CN116098762B and the patent name of an inner ear injection-sampling actuator for an otology surgical robot has broken through the bottleneck of the blood-labyrinth barrier of traditional inner ear drug delivery that hinders the precise treatment of the inner ear, and achieves effective and controllable delivery of drugs directly to the target location, greatly improving the surgical efficiency and efficacy of drug delivery procedures; through the sampling of inner ear tissue fluid to understand the disease and microenvironment changes, to achieve early prevention and accurate diagnosis of inner ear diseases; from the perspective of clinical surgery, the entire surgical process has a low degree of damage to the human body, the operation time is shortened, and the safety of the operation is greatly improved. And for the first time, the flexible segment module was used to realize postoperative non-invasive surgical operations that enter the round window target position of the inner ear through the natural cavity. And the actuator can achieve flexible four-degree-of-freedom bending motion in a micro-size (2mm in diameter), which effectively meets the hard indicators of narrow natural cavity surgical robots.

[0004] However, the actuator does not exist alone during actual use. For example, during inner ear surgery, the doctor needs to pay attention to whether the actuator touches the inner ear cavity and judge the progress of the operation while operating the robot intervention. Therefore, they need to work together to achieve accurate ear sampling and surgery. Although the existing actuator can see the operating environment of the inner ear through the camera, it cannot perceive the feedback during the operation of the flexible segment module, which makes it impossible to more accurately assist the doctor in judging the progress of the operation, making ear surgery still difficult to operate. In addition, the existing actuator achieves overall feed freedom through a linear module, is large in size, and is not easy to integrate with the positioning robot arm, lacking certain practicality.

[0005] In summary, the existing actuators are unable to assist doctors in judging the progress of surgery more accurately, which makes ear surgery still difficult to operate. In addition, the design lacks clinical surgical practicality and does not fully consider issues such as system integration, surgical operations, and disinfection. This also brings certain difficulties to surgical experiments and clinical promotion. Summary of the invention

[0006] The purpose of the present invention is to solve the problem that the existing actuators cannot more accurately assist doctors in judging the progress of surgery, lack clinical surgical practicality in design, and still have certain operational difficulties in ear surgery. Further, a micro actuator for inner ear injection sampling surgery is provided.

[0007] The technical solution of the present invention is:

[0008] A micro-actuator for inner ear injection sampling surgery includes an end operating mechanism module, which also includes a driving and sensing module, a microneedle puncture mechanism module and a high-precision linear driving module. The driving and sensing module is horizontally slidably installed on the high-precision linear driving module and moves horizontally under the drive of the high-precision linear driving module. The microneedle puncture mechanism module is horizontally embedded in the driving and sensing module. The end operating mechanism module is installed at the front end of the driving and sensing module. The microneedle puncture mechanism module passes through the end operating mechanism module and extends out, and an endoscope camera module located in the end operating mechanism module is used to provide real-time images during the operation. The tension sensor in the driving and sensing module monitors the changes in wire tension in real time to ensure safe interaction with the ear canal environment and provide early warning information when necessary.

[0009] Furthermore, the end operating mechanism module includes a plurality of rolling saddle-shaped segments, an endoscopic camera module and a flexible microneedle. The plurality of rolling saddle-shaped segments are connected in series through driving a plurality of steel wires on the sensing module, and can achieve multi-degree-of-freedom arbitrary-angle bending under the action of different tensions of each of the plurality of steel wires. The plurality of rolling saddle-shaped segments form a hollow flexible structure, the endoscopic camera module and the flexible microneedle are embedded inside the flexible structure, and the endoscopic camera module is located at the end of the flexible structure.

[0010] Furthermore, the drive and sensing module includes multiple drive units, and the multiple drive units are installed on the frame in a circular array; each drive unit includes a wire guide mechanism, a tension sensor, a signal transmitter, a micro guide rail, a wire drive motor, a steel wire and an integrated drive board, the wire guide mechanism is installed at the front of the frame, the wire drive motor is installed at the rear of the frame, the integrated drive board is vertically installed at the rear end of the frame, the micro guide rail is installed in the middle of the frame, the tension sensor is fixedly installed on the micro guide rail through a slider, the signal transmitter is installed above the tension sensor, one end of the steel wire is connected to the threaded hole of the tension sensor through a wire puller, and the other end of the steel wire is fixed to the rolling saddle segment after passing around the wire guide mechanism.

[0011] Furthermore, the microneedle puncture mechanism module includes multiple needle delivery modules and a single stepped shaft microneedle unit. The multiple needle delivery mechanisms are axially installed inside the frame, and the microneedle unit is installed in the central hole of the needle delivery mechanism in a coaxial arrangement.

[0012] Furthermore, the needle feeding modules include a head end protection support, a needle feeding support, a microneedle puncture drive motor and a tail end fixing device. The needle feeding support and the microneedle puncture drive motor are installed on the frame and are located at the center position inside the driving and sensing module. The output shaft of the microneedle puncture drive motor drives the nut on the ball screw to perform high-resolution linear motion, and realizes the feeding motion through the needle feeding support fixed thereto. The head end protection support is installed on the wire guide mechanism to limit the maximum displacement of the microneedle feeding.

[0013] Furthermore, the microneedle unit includes a stepped shaft puncture needle and a Luer connector, the Luer connector is connected to the stepped shaft puncture needle, and the stepped shaft puncture needle passes through the head end protection support and is connected to the head end protection support.

[0014] Preferably, the stepped shaft puncture needle is an integrated stepped shaft puncture needle mechanism.

[0015] Furthermore, it also includes a quick-change mounting mechanism, which is installed on the lower end surface of the high-precision linear drive module and can be quickly disassembled and assembled with an external robotic arm.

[0016] Furthermore, it also includes a split protective shell, which is covered on the end operating mechanism module, the driving and sensing module, the microneedle puncture mechanism module and the high-precision linear driving module.

[0017] Preferably, the split protective housing includes an actuator protective cover, an actuator housing and a linear drive housing. The actuator protective cover is mounted on the end operating mechanism module, the actuator housing is mounted on the drive and sensing module and the microneedle puncture mechanism module, and the linear drive housing is mounted on the high-precision linear drive module.

[0018] Compared with the prior art, the present invention has the following effects:

[0019] The present invention is a miniature and smart actuator for inner ear injection and sampling surgery. The actuator can intervene through the natural ear canal to achieve minimally invasive surgery, and flexibly avoid obstacles in the ear under the guidance of endoscopic vision, accurately reach the target area, and complete autonomous puncture injection and sampling operations. It has the following specific advantages:

[0020] 1. The present invention has the advantages of miniaturization and high flexibility: the present invention embeds and integrates the driving and sensing module 2 and the microneedle puncture mechanism module 3, and the length of the high-precision linear driving module 4 is greatly reduced, making the overall design size more compact and more integrated, and can complete complex inner ear surgery operations through the natural ear canal to meet the requirements of minimally invasive surgery.

[0021] 2. The present invention has multifunctional integration: it integrates multiple micro sensors, such as tension sensors and endoscopic cameras. The two work together to provide real-time images and force feedback, assist doctors in judging the progress of surgery, reduce operational difficulty and ensure surgical safety.

[0022] 3. The present invention adopts a modular and lightweight design: with a modular structural design, the quick-change mounting mechanism 5 can be easily replaced with the robotic arm, and the detachable split protective shell 6 can be disinfected in time, fully considering the functional requirements of the operation and the convenience of clinical use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a physical diagram of the present invention; Figure 2 It is a two-dimensional line drawing of the external structure of the present invention; Figure 3 This is a front view of the present invention after removing the split protective housing 6; Figure 4 yes Figure 3 The main view of Figure 5 yes Figure 3 A top view of Figure 6 It is a partial enlarged view of the terminal operating mechanism module 1 of the present invention; Figure 7 is a bottom view of the quick-change mounting mechanism 5; Figure 8 yes Figure 7 A top view of Fig. 9 This is a flowchart of the three forms of sensor feedback information used by the present invention to more accurately assist doctors in judging the progress of surgery; Fig.10 The present invention is an experimental diagram of puncturing human temporal bone and cadaver head specimens through the inner ear round window of the ear canal. DETAILED DESCRIPTION

[0024] Specific implementation method 1: Combination Figures 1 to 9The present embodiment is described. The present embodiment includes an end operating mechanism module 1, which also includes a driving and sensing module 2, a microneedle puncture mechanism module 3 and a high-precision linear driving module 4. The driving and sensing module 2 is horizontally slidably mounted on the high-precision linear driving module 4, and moves horizontally under the drive of the high-precision linear driving module 4. The microneedle puncture mechanism module 3 is horizontally embedded in the driving and sensing module 2. The end operating mechanism module 1 is mounted at the front end of the driving and sensing module 2. The microneedle puncture mechanism module 3 passes through the end operating mechanism module 1 and extends out. In order to provide real-time images during the operation through the endoscope camera module 1-2 located in the end operating mechanism module 1, the tension sensor 2-2 in the driving and sensing module 2 monitors the changes in the wire tension in real time to ensure safe interaction with the ear canal environment and provide early warning information when necessary.

[0025] The end operating mechanism module 1 of this embodiment adopts a hollow design while meeting the size requirements, and integrates surgical tools such as a saddle-shaped rolling joint, an endoscope, a light source, and a puncture microneedle, while meeting the requirements of inner ear surgery for miniaturization, flexibility, and multi-function of the actuator.

[0026] The high-precision linear drive module 4 of this embodiment includes a support base 4-1, a high-precision linear guide slider 4-2 and a linear feed drive motor 4-3. The third integrated drive motor 4-3 is horizontally installed on the linear drive housing 6-3. The third integrated drive motor 4-3 drives the high-precision linear guide slider 4-2 to slide horizontally. The support base 4-1 is installed on the high-precision linear guide slider 4-2, and the drive and sensor module 2 is installed on the support base 4-1.

[0027] Specific implementation method 2: Combination Figures 3 to 6 To illustrate this embodiment, the end operating mechanism module 1 of this embodiment includes a plurality of rolling saddle-shaped segments 1-1, an endoscopic camera module 1-2 and a flexible microneedle 1-3. The plurality of rolling saddle-shaped segments 1-1 are connected in series with a plurality of steel wires on a sensing module 2 through driving, and can achieve multi-degree-of-freedom arbitrary angle bending under the action of different tensions of each of the plurality of steel wires. The plurality of rolling saddle-shaped segments 1-1 form a hollow flexible structure, the endoscopic camera module 1-2 and the flexible microneedle 1-3 are embedded in the flexible structure, and the endoscopic camera module 1-2 is located at the end of the flexible structure.

[0028] In this configuration, the flexible microneedles 1-3 are flexible metal microneedles, which are used for accurate and safe puncture operations, thereby achieving precise drug delivery and sampling of the inner ear. The doctor can adjust the stretching and release of the drive wire through the remote control system to achieve multi-degree-of-freedom bending motion of the multi-segment flexible continuum mechanism composed of rolling segments. The endoscope and light source provide high-definition real-time images for navigation. The other components and connection relationships are the same as those in the first specific embodiment.

[0029] Compared with the existing continuum robot based on saddle-shaped segments, the end operating mechanism module 1 in the present embodiment is smaller in size and more integrated, which is specifically reflected in that the outer diameter of the end operating mechanism module 1 is 2 mm and the inner diameter is only 1.3 mm. At such a small scale, two sections of flexible mechanisms are integrated (specifically referring to the continuum part of the end operating mechanism module 1, which is composed of saddle-shaped segments and is divided into proximal and distal parts, each with independent bending freedom, and can realize overall smooth bending movement of each section) and surgical instruments such as endoscopes and microneedles, and can realize four-degree-of-freedom spatial S-shaped bending at a length of only 7 mm, with a maximum bending angle of up to 150° and a minimum bending radius of only 0.8 mm.

[0030] Specific implementation method three: Combination Figures 3 to 5 To illustrate this embodiment, the drive and sensing module 2 of this embodiment includes a plurality of drive units, and the plurality of drive units are installed on the frame 2-7 in a circular array; each drive unit includes a wire guide mechanism 2-1, a tension sensor 2-2, a signal transmitter 2-3, a micro guide rail 2-4, a wire drive motor 2-5, a steel wire 2-8 and an integrated drive board 2-6, the wire guide mechanism 2-1 is installed at the front of the frame 2-7, the wire drive motor 2-5 is installed at the rear of the frame 2-7, the integrated drive board 2-6 is vertically installed at the rear end of the frame 2-7, the micro guide rail 2-4 is installed in the middle of the frame 2-7, the tension sensor 2-2 is fixedly installed on the micro guide rail 2-4 through a slider, the signal transmitter 2-3 is installed above the tension sensor 2-2, one end of the steel wire 2-8 is connected to the threaded hole of the tension sensor 2-2 through a wire puller, and the other end of the steel wire 2-8 is fixed to the rolling saddle segment 1-1 after passing around the wire guide mechanism 2-1.

[0031] In this way, the setting of tension sensor 2-2 can provide real-time feedback on the tension changes of each steel wire. On the one hand, it can combine the tension transmission information to compensate for the hysteresis error of the flexible segment caused by the deformation of the steel wire due to tension, and further ensure the control accuracy. On the other hand, it can timely feedback the contact with the ear canal environment during the operation, which is convenient for safe and accurate surgery, avoiding secondary injuries to patients and unsuccessful operations caused by the inability to perceive the strength of the operation. Other components and connection relationships are the same as those of specific implementation method one or two.

[0032] In this embodiment, the integrated drive board 2-6 is connected to each motor, and the signal transmission is performed by the controller and the driver sending the control command.

[0033] Specific implementation method four: Combination Figures 3 to 5To illustrate this embodiment, the microneedle puncture mechanism module 3 of this embodiment includes multiple needle delivery modules and a single stepped shaft microneedle unit. The multiple needle delivery mechanisms are axially installed inside the frame 2-7, and the microneedle unit is installed in the center hole of the needle delivery mechanism in a coaxial arrangement.

[0034] The driving and sensing module 2 of this embodiment sends instructions to the motor through the integrated driving board 2-6, and uses transmission mechanisms such as a high reduction ratio gear box, a ball screw and a linear guide to achieve precise control of the displacement of the steel wire.

[0035] During this process, the wire guide mechanism 2-1 is not only connected to the end actuator, but also keeps the movement direction of each wire stable, reducing driving errors.

[0036] The tension sensor 2-2 monitors the changes in wire tension in real time, ensures the safe interaction between the actuator and the ear canal environment, and provides early warning information when necessary. This design effectively solves the limitation that a single endoscope cannot fully reflect the progress of the operation, and provides more complete feedback for the operation process.

[0037] The other components and connection relationships are the same as any one of the specific implementation modes 1 to 3.

[0038] Specific implementation method five: Combination Figures 3 to 5 To illustrate this embodiment, the needle feeding module of this embodiment includes a head end protection support 3-2, a needle feeding support 3-3, a microneedle puncture drive motor 3-4 and a tail end fixing device 3-5. The needle feeding support 3-3 and the microneedle puncture drive motor 3-4 are mounted on the frame 2-7, located at the center position inside the driving and sensing module 2. The output shaft of the microneedle puncture drive motor 3-4 drives the nut on the ball screw to perform high-resolution linear motion, and realizes the feeding motion through the needle feeding support 3-3 fixed thereto. The head end protection support 3-2 is mounted on the wire guide mechanism 2-1 to limit the maximum displacement of the microneedle feeding.

[0039] Such arrangement facilitates accurate delivery of the stepped shaft puncture needle 3-1. Other structures and components are the same as any one of the specific implementation modes 1 to 4.

[0040] Specific implementation method six: Combination Figures 3 to 5 To illustrate this embodiment, the microneedle unit of this embodiment includes a stepped shaft puncture needle 3-1 and a Luer connector 3-6, the Luer connector 3-6 is connected to the stepped shaft puncture needle 3-1, and the stepped shaft puncture needle 3-1 passes through the head end protection support 3-2 and is connected to the head end protection support 3-2.

[0041] In this way, fixing devices are provided on the head and tail ends of the needle feeding module, which can not only provide protection for the stepped shaft puncture needle 3-1, but also maintain the feeding direction of the microneedle and improve the accuracy of the operation. The direct drive solution with an integrated drive motor and a ball screw is adopted to further reduce the transmission error and ensure the high precision of the puncture operation. At the same time, a standard interface is designed at the tail end to be fixed with a Luer connector, which can be connected to a variety of medical injection or suction equipment, accurately control the drug flow rate and speed, and can effectively solve the problem of microneedle inner tube clogging, facilitating disinfection. The other components and connection relationships are the same as any one of the specific implementation methods one to three.

[0042] Specific implementation method seven: Combination Figures 3 to 5 The present embodiment is described. The stepped shaft puncture needle 3 - 1 of the present embodiment is an integrated stepped shaft puncture needle mechanism.

[0043] In this way, the microneedle puncture mechanism adopts an integrated stepped shaft design to ensure high-precision puncture capability even in long-distance operation. Other components and connection relationships are the same as any one of the specific embodiments 1 to 6.

[0044] Specific implementation method eight: Combination Figures 3 to 5 , Figure 7 and Figure 8 To explain this embodiment, this embodiment further comprises a quick-change mounting mechanism 5 , which is mounted on the lower end surface of the high-precision linear drive module 4 and can be quickly assembled and disassembled with an external robotic arm.

[0045] The quick-change installation mechanism 5 of this embodiment includes a base 5-1, an actuator positioning cone pin 5-2, a cover plate 5-3 and a locking plate 5-4. The actuator positioning cone pin 5-2 is installed on the base 5-1, and the locking plate 5-4 is installed on the outer circumference of the cover plate 5-3. The cover plate 5-3 is buckled and connected with the base 5-1. When in use, the actuator can be installed and removed by rotating the quick-connect locking plate clockwise with a wrench.

[0046] The specific implementation principle is as follows: Use a wrench to rotate the quick-connect lock plate 25° clockwise to compress the spring in the mounting hole that is equally divided around the circumference, so that the three actuator positioning cone pins are separated from the long holes and reach the mounting circular hole position, realizing automatic disengagement of the actuator.

[0047] Similarly, during the installation process, use a wrench to rotate the locking plate 25° clockwise so that the lower circular hole is aligned with the positioning cone pin and then embedded, and then tighten the spring to make the positioning cone pin return to the long hole limit.

[0048] The quick-change device is fixed to the end joint of the robot arm through standard distributed screws. The entire process only requires repeated rotation of the lock plate to achieve the installation and removal of the actuator. The mechanical installation accuracy is guaranteed by the cooperation of the actuator positioning cone pin and the cone surface mounting hole of the quick-change base and the machining accuracy of the quick-connect lock plate limit hole. The ball bearing design can play a role in smooth rotation of the lock plate and avoid motion obstruction.

[0049] Specific implementation method nine: Combination Figure 2 To explain this embodiment, this embodiment also includes a split protective shell 6 , which is mounted on the end operating mechanism module 1 , the driving and sensing module 2 , the microneedle puncture mechanism module 3 and the high-precision linear driving module 4 .

[0050] Such a configuration can not only play a role in disinfection, but also protect the internal structure. Other components and connection relationships are the same as any one of the specific embodiments 1 to 7.

[0051] Specific implementation method ten: Combination Figure 2 To illustrate this embodiment, the split protective housing 6 of this embodiment includes an actuator protective cover 6-1, an actuator housing 6-2 and a linear drive housing 6-3. The actuator protective cover 6-1 is mounted on the end operating mechanism module 1, the actuator housing 6-2 is mounted on the driving and sensing module 2 and the microneedle puncture mechanism module 3, and the linear drive housing 6-3 is mounted on the high-precision linear drive module 4.

[0052] Thus configured, the split housing of this embodiment includes three parts. The actuator protection sleeve 6-1 prevents the instrument from being contaminated or damaged after disinfection and use; the actuator housing 6-2 adopts a split design, which reduces the difficulty of processing and assembly. The end is made of metal material to enhance the stability of the housing and facilitate cleaning and disinfection. The tail is designed with a freely openable end cover to facilitate internal wiring and maintenance; the linear drive housing 6-3 protects internal components and facilitates installation and maintenance. This modular design not only simplifies assembly and maintenance, but also improves the overall ease of use and reliability. The other components and connection relationships are the same as any one of the specific implementation methods one to seven.

[0053] In actual use, the present invention adopts multi-modal feedback information fusion:

[0054] In order to solve the problem of insufficient state feedback during robot-assisted surgery, which leads to the inability to ensure surgical safety, the actuator design is proposed to integrate a variety of sensors, mainly including:

[0055] The continuum end endoscope module measures only 0.65x0.65x1mm and provides 400x400 real-time first-person intraoperative images. It minimizes the hardware integration size while meeting the requirements of intraoperative images, and can assist doctors in judging the surgical process, target tissue location, and microneedle puncture status.

[0056] In addition, we have integrated a tension sensor on the nut seat where the ball screw nut is placed to detect the wire tension status information during surgery. On the one hand, it can effectively avoid wire breakage due to excessive tension during use, and compensate for wire deformation based on real-time tension information to improve control accuracy. On the other hand, it can determine whether the end actuator touches the ear canal environment based on the sudden change in tension, effectively ensuring the safety of surgical operations.

[0057] At the same time, the drive device adopts an integrated solution of a motor, a reducer and an encoder. The encoder feedback can effectively ensure that the control signal at the drive input end is accurate and stable, obtain the stretching / release input displacement of each wire and the microneedle puncture feed depth, and feedback the robot's intraoperative status information to improve the success rate of the operation.

[0058] By integrating the above three forms of sensor feedback information, more accurate and reliable intraoperative feedback based on multimodal information can be achieved:

[0059] 1. Combining real-time endoscopic images and tension information, it is possible to determine whether the actuator interferes with the ear canal environment from multiple aspects, such as whether there is spike jitter in the image and force sensor signal.

[0060] 2. Combining the tension information and the motor encoder feedback, compensatory motion control for the deformation of the steel wire can be realized, further ensuring the control accuracy of the robot.

[0061] 3. During the inner ear puncture injection operation, the endoscopic image and motor control feedback can be combined to identify the interaction between the microneedle and the inner ear round window puncture, realize the puncture depth estimation, and improve the success rate of the surgical operation.

[0062] It is worth noting that in order to facilitate system integration and reduce size, the above-mentioned sensors all use the smallest size solutions currently available on the market that can meet the design requirements of the surgical actuators in this article and are easy to disinfect.

[0063] Combination Figures 1 to 10 The working principle of the present invention is described:

[0064] The surgical actuator is installed on a universal collaborative robot arm through a reserved interface of a quick-change mechanism to achieve precise positioning. The internal spring clip device can achieve fast and stable installation and is easy to disassemble. The doctor controls the motors remotely, and each motor receives control instructions to adjust the displacement of the drive wire with micron resolution to achieve multi-degree-of-freedom movement of the end operating mechanism. The endoscope provides real-time image feedback to guide the actuator to avoid obstacles in the inner ear structure. After reaching the target position, the flexible microneedle completes precise puncture, injection and sampling operations. Combined with multi-modal feedback signals such as images and tension, doctors can adjust operating parameters in real time to improve the accuracy and success rate of the operation and reduce potential damage to the inner ear during surgery.

[0065] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A micro-actuator for inner ear injection sampling surgery, comprising an end operating mechanism module (1), characterized in that: It also includes a driving and sensing module (2), a microneedle puncture mechanism module (3) and a high-precision linear driving module (4). The microneedle puncture mechanism module (3) is embedded in the driving and sensing module (2), the driving and sensing module (2) is mounted on the high-precision linear driving module (4), the end operating mechanism module (1) is mounted in front of the driving and sensing module (2), the microneedle puncture mechanism module (3) passes through the end operating mechanism module (1) and extends out, and an endoscope camera module (1-2) located in the end operating mechanism module (1) is used to provide real-time images during the operation. The tension sensor (2-2) in the driving and sensing module (2) monitors the changes in the tension of the steel wire in real time to ensure safe interaction with the ear canal environment and provide early warning information when necessary.

2. A micro-actuator for inner ear injection sampling surgery according to claim 1, characterized in that: The end operation mechanism module (1) comprises a plurality of rolling saddle-shaped segments (1-1), an endoscope camera module (1-2) and a flexible microneedle (1-3). The plurality of rolling saddle-shaped segments (1-1) are connected in series with the plurality of steel wires on the sensor module (2) through driving, and can achieve bending at any angle with multiple degrees of freedom under the action of different tensions of each of the plurality of steel wires. The plurality of rolling saddle-shaped segments (1-1) form a hollow flexible structure, the endoscope camera module (1-2) and the flexible microneedle (1-3) are embedded in the flexible structure, and the endoscope camera module (1-2) is located at the end of the flexible structure.

3. A micro-actuator for inner ear injection sampling surgery according to claim 2, characterized in that: The driving and sensing module (2) comprises a plurality of driving units, and the plurality of driving units are mounted on the frame (2-7) in a circular array; Each driving unit includes a wire guide mechanism (2-1), a tension sensor (2-2), a signal transmitter (2-3), a micro guide rail (2-4), a wire drive motor (2-5), a steel wire (2-8) and an integrated drive board (2-6). The wire guide mechanism (2-1) is installed at the front of the frame (2-7), the wire drive motor (2-5) is installed at the rear of the frame (2-7), the integrated drive plate (2-6) is vertically installed at the rear end of the frame (2-7), and the micro guide rail (2-4) is installed in the middle of the frame (2-7). The tension sensor (2-2) is fixedly mounted on the micro guide rail (2-4) via a slider, the signal transmitter (2-3) is mounted above the tension sensor (2-2), one end of the steel wire (2-8) is connected to the threaded hole of the tension sensor (2-2) via a wire drawer, and the other end of the steel wire (2-8) is fixed to the rolling saddle segment (1-1) after passing around the steel wire guide mechanism (2-1).

4. A micro-actuator for inner ear injection sampling surgery according to claim 3, characterized in that: The microneedle puncture mechanism module (3) comprises a plurality of needle delivery modules and a single stepped shaft type microneedle unit. The plurality of needle delivery mechanisms are axially mounted inside the frame (2-7), and the microneedle unit is coaxially mounted inside the central hole of the needle delivery mechanism.

5. A micro-actuator for inner ear injection sampling surgery according to claim 4, characterized in that: The needle feeding module includes a head end protection support (3-2), a needle feeding support (3-3), a microneedle puncture drive motor (3-4) and a tail end fixing device (3-5). The needle feeding support (3-3) and the microneedle puncture driving motor (3-4) are mounted on the frame (2-7) and located at the center of the driving and sensing module (2). The output shaft of the microneedle puncture driving motor (3-4) drives the nut on the ball screw to perform high-resolution linear motion, and realizes the feeding motion through the needle feeding support (3-3) fixedly connected thereto. The head end protection support (3-2) is mounted on the wire guide mechanism (2-1) to limit the maximum displacement of the microneedle feeding.

6. A micro-actuator for inner ear injection sampling surgery according to claim 5, characterized in that: The microneedle unit comprises a stepped shaft puncture needle (3-1) and a Luer connector (3-6), wherein the Luer connector (3-6) is connected to the stepped shaft puncture needle (3-1), and the stepped shaft puncture needle (3-1) passes through a head end protection support (3-2) and is connected to the head end protection support (3-2).

7. A micro-actuator for inner ear injection sampling surgery according to claim 6, characterized in that: The stepped shaft puncture needle (3-1) is an integrated stepped shaft puncture needle mechanism, which can achieve precise puncture of the terminal microneedle under a longer transmission distance and meet the pressure requirements of injection and sampling operations.

8. The micro-actuator for inner ear injection sampling surgery according to claim 7, characterized in that: It also includes a quick-change installation mechanism (5), which is installed on the lower end surface of the high-precision linear drive module (4) and can be quickly disassembled and assembled with an external mechanical arm.

9. A micro-actuator for inner ear injection sampling surgery according to claim 1 or 8, characterized in that: It also includes a split protective shell (6), which is mounted on the end operating mechanism module (1), the driving and sensing module (2), the microneedle puncture mechanism module (3) and the high-precision linear driving module (4).

10. A micro-actuator for inner ear injection sampling surgery according to claim 9, characterized in that: The split protective housing (6) comprises an actuator protective cover (6-1), an actuator housing (6-2) and a linear drive housing (6-3); the actuator protective cover (6-1) is sleeved on the end operating mechanism module (1); the actuator housing (6-2) is sleeved on the driving and sensing module (2) and the microneedle puncture mechanism module (3); and the linear drive housing (6-3) is sleeved on the high-precision linear drive module (4).

Images