Continuous arthroscope for hip arthroscopic surgery

Abstract

The invention discloses a continuum arthroscope for hip arthroscopic surgery, which comprises a continuum skeleton arranged between a first sleeve and a second sleeve and between the second sleeve and a third sleeve through a mounting mechanism, incision grooves are symmetrically distributed on the continuum skeleton, and a near-end driving wire is arranged between the first sleeve and the second sleeve through a penetrating wire cylinder and a plugging wire cylinder. A far-end driving wire is arranged among the first sleeve, the second sleeve and the third sleeve through a penetrating wire cylinder and a plugging wire cylinder; the continuum skeleton has reusability, different joint lenses or cutters can be installed at the far end, the unique connecting mode of the driving wire and the sleeve achieves high flexibility and freedom degree of the continuum skeleton under the condition that the driving wire is small in force, the movement posture of the continuum skeleton can be accurately controlled, the operation view field is more comprehensive, and the operation efficiency is improved. The flexibility and the multifunctionality of the surgical tool are greatly improved, the surgical tool can be rapidly replaced and adapt to different operations according to surgical requirements, and the surgical efficiency and the surgical effect are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a continuum arthroscope for hip arthroscopy. Background Art

[0002] Hip arthroscopy is a minimally invasive surgery that involves inserting an arthroscope and surgical tools through a small incision around the hip joint. This surgical method can be used to diagnose and treat a variety of hip diseases, such as femoroacetabular impingement syndrome and hip labrum injury. With the aging of the population and the increase in sports injuries, the incidence of hip diseases continues to rise. According to statistics, hip problems are more common among adults, especially athletes and the elderly. The application of hip arthroscopy effectively reduces the trauma and recovery time caused by traditional surgery, and has gradually become an important means of treating hip diseases.

[0003] The arthroscope is mainly composed of an arthroscope lens, a camera, a camera host, a light source, a light source line, a display, an image storage device, etc.; the lens is mainly composed of an objective system, a lens, a light guide fiber, a light guide beam connection part, and an eyepiece system.

[0004] Currently, hip arthroscopy mainly relies on rigid straight arthroscopes and rigid straight surgical tools. Although these tools can meet surgical needs in most cases, they also have some significant defects. Due to the limitations of the rigid structure, blind spots are easily generated in the surgical field of view, making it difficult for physicians to fully observe the situation inside the joint. At the same time, rigid tools have low accuracy during operation, especially when dealing with complex lesions.

[0005] At present, the structural design of the continuum surgical robot is mainly used for the endoscopic part of surgical operations, and there is less research on arthroscopic surgery. Due to the differences between endoscopes and arthroscopy in the design process, it is necessary to develop a special continuum surgical robot for arthroscopic surgery. Arthroscopic surgery is usually performed in a saline environment, which places higher requirements on the corrosion resistance of the material. In addition, the complex structure of the hip joint and the narrow surgical space also pose higher challenges to robot design. Compared with endoscopes, arthroscopy requires higher flexibility and precision in operation. Therefore, the present invention proposes a continuum arthroscope for hip arthroscopy to solve the problems existing in the prior art. Summary of the invention

[0006] In view of the above problems, the purpose of the present invention is to propose a continuum arthroscope for hip arthroscopy surgery, the continuum skeleton of the continuum arthroscope for hip arthroscopy surgery is reusable, different articular lenses or cutters can be installed at the distal end, and the unique connection method between the drive wire and the sleeve enables the drive wire to achieve high flexibility and freedom of the continuum skeleton under less force, and its movement posture can be precisely controlled, making the surgical field of view more comprehensive, greatly improving the flexibility and versatility of surgical tools, enabling them to be quickly replaced and adapted to different operations according to surgical requirements, thereby improving the efficiency and effectiveness of the surgery.

[0007] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a continuum arthroscope for hip arthroscopy surgery, comprising a first sleeve, a second sleeve, a third sleeve, a mounting mechanism and a continuum frame, a continuum frame is arranged between the first sleeve and the second sleeve and between the second sleeve and the third sleeve through the mounting mechanism, the continuum frame is symmetrically distributed with incision grooves, a penetrating wire tube is fixedly arranged on the inner walls of the first sleeve and the second sleeve, a blocking wire tube is fixedly arranged on the inner walls of the second sleeve and the third sleeve, a proximal driving wire is penetrated between the penetrating wire tube in the first sleeve and the blocking wire tube in the second sleeve, a distal driving wire is penetrated between the penetrating wire tube in the first sleeve and the second sleeve and the blocking wire tube in the third sleeve, and the tail ends of the proximal driving wire and the distal driving wire are driven by a DC brushless motor.

[0008] A further improvement is that the proximal driving wire and the distal driving wire are symmetrically distributed in three groups, the proximal driving wire and the distal driving wire are distributed at an angular interval of 60°, a through hole is provided on the side of the blocking wire tube, the ends of the proximal driving wire and the distal driving wire are locked through the through hole, and the locking method is knotting locking or welding fixation.

[0009] Further improvements are: the continuum skeleton is a hollow cylindrical structure with an outer diameter of 4.6mm, an inner diameter of 4.4mm and a length of 44mm, the cuts are distributed in a circular pattern in the four directions of front, right, rear and left with an interval of 0.2mm, the width of the cut is also 0.2mm, and the two ends are rounded by 0.02mm.

[0010] A further improvement is that the installation mechanism includes an insert slot, an insert sleeve, a through screw hole and a mounting screw, the first sleeve, the second sleeve and the third sleeve are provided with insert slots at both ends, the continuum skeleton is provided with insert sleeves at both ends, the insert slots and the insert sleeves are symmetrically provided with through screw holes on the sides, and mounting screws are provided between the through screw holes.

[0011] A further improvement is that a sleeve head mechanism is provided at the end of the third sleeve through a plug-in groove, and the sleeve head mechanism includes a conical outer sleeve, a mounting inner sleeve, a conical rubber sleeve, an adapting thread section and an articulated lens. A mounting inner sleeve is provided inside the conical outer sleeve, a conical rubber sleeve is fixedly provided at the tail end of the mounting inner sleeve, an adapting thread section is provided at the outer middle section of the mounting inner sleeve and an inner middle section of the conical outer sleeve, and the two are installed through the adapting thread section, and an articulated lens is provided inside the mounting inner sleeve.

[0012] A further improvement is that a plug-in sleeve is also provided at the tail end of the conical outer cylinder, and the plug-in sleeve is installed and adapted to the plug-in groove at the end of the third sleeve through a through screw hole and a mounting screw.

[0013] The beneficial effects of the present invention are as follows: the continuum skeleton of the present invention is reusable, and different articular lenses or cutters can be installed at the distal end. The unique connection method between the drive wire and the sleeve enables the drive wire to achieve high flexibility and freedom of the continuum skeleton under less force, and its movement posture can be accurately controlled, making the surgical field of view more comprehensive, greatly improving the flexibility and versatility of surgical tools, enabling them to be quickly replaced and adapted to different operations according to surgical requirements, thereby improving the efficiency and effectiveness of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is the main structural diagram of the present invention.

[0015] Figure 2 This is a structural diagram of the first sleeve of the present invention.

[0016] Figure 3 This is a structural diagram of the second sleeve of the present invention.

[0017] Figure 4 This is the third set of structural diagrams of the present invention.

[0018] Figure 5 This is a structural diagram of the joint lens installation of the present invention.

[0019] Figure 6 This is a diagram of the continuum skeleton structure of the present invention.

[0020] Among them: 1. First sleeve; 2. Second sleeve; 3. Third sleeve; 4. Continuum skeleton; 5. Incision groove; 6. Through-wire tube; 7. Blocking wire tube; 8. Proximal drive wire; 9. Distal drive wire; 10. Through hole; 11. Plug-in groove; 12. Plug-in sleeve; 13. Through screw hole; 14. Mounting screw; 15. Conical outer tube; 16. Mounting inner tube; 17. Conical rubber sleeve; 18. Adaptive threaded section; 19. Joint lens. DETAILED DESCRIPTION

[0021] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0022] according to Figure 1-Figure 6 As shown, the present embodiment provides a continuum arthroscope for hip arthroscopy surgery, comprising a first sleeve 1, a second sleeve 2, a third sleeve 3, a mounting mechanism and a continuum skeleton 4, a continuum skeleton 4 is arranged between the first sleeve 1 and the second sleeve 2 and between the second sleeve 2 and the third sleeve 3 through the mounting mechanism, and incision grooves 5 are symmetrically distributed on the continuum skeleton 4, a penetrating wire tube 6 is fixedly arranged on the inner walls of the first sleeve 1 and the second sleeve 2, a blocking wire tube 7 is fixedly arranged on the inner walls of the second sleeve 2 and the third sleeve 3, a proximal driving wire 8 is penetrated between the penetrating wire tube 6 in the first sleeve 1 and the blocking wire tube 7 in the second sleeve 2, and a distal driving wire 9 is penetrated between the penetrating wire tube 6 in the first sleeve 1 and the second sleeve 2 and the blocking wire tube 7 in the third sleeve 3.

[0023] The tail ends of the proximal driving wire and the distal driving wire are driven by brushless DC motors.

[0024] The proximal driving wires 8 and the distal driving wires 9 are symmetrically distributed in three groups, and the proximal driving wires 8 and the distal driving wires 9 are distributed at an angle of 60°. A through hole 10 is provided on the side of the blocking wire tube 7. The ends of the proximal driving wires 8 and the distal driving wires 9 are locked by passing through the through hole 10, and the locking method is knotting locking or welding fixing.

[0025] The continuum skeleton 4 is a hollow cylindrical structure with an outer diameter of 4.6mm, an inner diameter of 4.4mm and a length of 44mm. The cutout grooves 5 are distributed in a circular pattern in four directions, front, right, rear and left, with an interval of 0.2mm. The width of the cutout grooves 5 is also 0.2mm, and the two ends thereof are rounded by 0.02mm.

[0026] The mounting mechanism includes an inserting groove 11, an inserting sleeve 12, a through screw hole 13 and a mounting screw 14. Inserting grooves 11 are provided at both ends of the first sleeve 1, the second sleeve 2 and the third sleeve 3. Inserting sleeves 12 are provided at both ends of the continuum skeleton 4. Through screw holes 13 are symmetrically provided on the sides of the inserting groove 11 and the inserting sleeve 12, and mounting screws 14 are provided between the through screw holes 13.

[0027] The mounting screws are M0.5 bolts, which are mature industrial products that meet national standards. There are 4 through-screw holes and mounting screws, which are arranged at 90° intervals. To ensure that the mounting screws do not interfere with the proximal drive wire and the distal drive wire, the through-screw holes will be offset by 15° as a whole to meet the needs.

[0028] A sleeve head mechanism is provided at the end of the third sleeve 3 through the plug-in slot 11, and the sleeve head mechanism includes a conical outer cylinder 15, an installation inner cylinder 16, a conical rubber sleeve 17, an adapting thread segment 18 and an articulated lens 19. The installation inner cylinder 16 is provided in the conical outer cylinder 15, and a conical rubber sleeve 17 is fixedly provided at the tail end of the installation inner cylinder 16. An adapting thread segment 18 is provided in the outer middle section of the installation inner cylinder 16 and the inner middle section of the conical outer cylinder 15, and the two are installed through the adapting thread segment, and an articulated lens 19 is provided in the installation inner cylinder 16.

[0029] During installation, the inner cylinder is rotated to extend outward, and the conical rubber sleeve at the rear end is squeezed inward and closed, thereby clamping and fixing the rear end of the articular lens.

[0030] The tail end of the conical outer cylinder 15 is also provided with a plug sleeve 12 , and the plug sleeve 12 is installed and adapted with the plug groove 11 at the end of the third sleeve 3 through a through screw hole 13 and a mounting screw 14 .

[0031] As for the material, when doctors perform hip surgery, surgical tools and arthroscopes need to be immersed in saline for a long time, so corrosion-resistant materials should be selected. After investigation, nickel-titanium alloy and stainless steel 316 model (this model is mainly used in high-chloride environments such as seawater and meets the requirements) meet the surgical needs, so the continuum skeleton uses nickel-titanium alloy with better bending performance, and the proximal and distal drive wires use 316 stainless steel with a diameter of 0.1mm. The three sets of sleeves are customized by 3D printing.

[0032] The present invention has the following effects:

[0033] Improve surgical accuracy and safety: The present invention adopts the unique design of the continuum skeleton and the drive wire, so that the surgical tools can be operated more flexibly in the narrow hip joint space, reducing the blind spot, improving the surgical accuracy and reducing the surgical risk;

[0034] Improve surgical efficiency: The continuum robot design of the present invention enables surgical tools to reach the target position more quickly and accurately, reducing surgical time and improving surgical efficiency;

[0035] Improved surgical quality: Since the invention improves the accuracy and flexibility of surgical tools, the treatment of lesions during surgery is more precise, reducing damage to surrounding tissues and significantly improving surgical quality;

[0036] Prolonging the service life of tools: The corrosion-resistant material selected by the present invention ensures the long-term use of surgical tools in a physiological saline environment, prolonging the service life of the tools and reducing the equipment maintenance and replacement costs of the hospital.

[0037] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A continuum arthroscopy for hip arthroscopy, characterized in that: The invention comprises a first sleeve (1), a second sleeve (2), a third sleeve (3), a mounting mechanism and a continuous frame (4); a continuous frame (4) is arranged between the first sleeve (1) and the second sleeve (2) and between the second sleeve (2) and the third sleeve (3) via the mounting mechanism; the continuous frame (4) is symmetrically provided with cutout grooves (5); a penetrating wire tube (6) is arranged on the inner wall of the first sleeve (1) and the second sleeve (2); a blocking wire tube (7) is arranged on the inner wall of the second sleeve (2) and the third sleeve (3); a proximal driving wire (8) is arranged between the penetrating wire tube (6) in the first sleeve (1) and the blocking wire tube (7) in the second sleeve (2); and a distal driving wire (9) is arranged between the penetrating wire tube (6) in the first sleeve (1) and the second sleeve (2) and the blocking wire tube (7) in the third sleeve (3).

2. The continuous arthroscopy for hip arthroscopy according to claim 1, characterized in that: The proximal drive wires (8) and the distal drive wires (9) are symmetrically distributed in three groups, and the proximal drive wires (8) and the distal drive wires (9) are distributed at an angle of 60°. A through hole (10) is provided on the side of the blocking wire tube (7), and the ends of the proximal drive wires (8) and the distal drive wires (9) pass through the through hole (10) and are locked.

3. The continuous body arthroscopy for hip arthroscopy according to claim 1, characterized in that: The continuum skeleton (4) is a hollow cylindrical structure with an outer diameter of 4.6 mm, an inner diameter of 4.4 mm, and a length of 44 mm. The cutouts (5) are distributed in a circular pattern in four directions, front, right, rear, and left, with an interval of 0.2 mm. The width of the cutouts (5) is also 0.2 mm, and the two ends thereof have 0.02 mm rounded corners.

4. The continuous body arthroscopy for hip arthroscopy according to claim 1, characterized in that: The installation mechanism comprises an inserting groove (11), an inserting sleeve (12), a through screw hole (13) and a mounting screw (14); the first sleeve (1), the second sleeve (2) and the third sleeve (3) are each provided with an inserting groove (11) at both ends; the continuous body frame (4) is provided with an inserting sleeve (12) at both ends; the inserting groove (11) and the inserting sleeve (12) are symmetrically provided with through screw holes (13) on the side surfaces; and the mounting screws (14) are provided between the through screw holes (13).

5. The continuous arthroscope for hip arthroscopy according to claim 4, characterized in that: The end of the third sleeve (3) is provided with a sleeve head mechanism through a plug-in slot (11), and the sleeve head mechanism comprises a conical outer sleeve (15), a mounting inner sleeve (16), a conical rubber sleeve (17), an adapting thread section (18) and an articulated lens (19). The mounting inner sleeve (16) is provided inside the conical outer sleeve (15), a conical rubber sleeve (17) is provided at the tail end of the mounting inner sleeve (16), an adapting thread section (18) is provided at the outer middle section of the mounting inner sleeve (16) and the inner middle section of the conical outer sleeve (15), and an articulated lens (19) is provided inside the mounting inner sleeve (16).

6. The continuous body arthroscopy for hip arthroscopy according to claim 5, characterized in that: The tail end of the conical outer cylinder (15) is also provided with a plug sleeve (12), and the plug sleeve (12) is installed and adapted with the plug groove (11) at the end of the third sleeve (3) through a through screw hole (13) and a mounting screw (14).

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