Spinal cord electrode interventional surgical robot based on double-arm cooperation
By designing a spinal cord electrode interventional surgical robot based on two-arm collaboration, the health risks faced by doctors in the prior art due to long-term exposure to X-rays is solved, and more efficient and safer surgical operations are achieved.
Patent Information
- Application Number
- CN202411796929.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-03-04
AI Technical Summary
Existing spinal cord electrical stimulation therapy surgery needs to be performed under the guidance of X-ray imaging. Long-term X-ray radiation will pose a threat to doctor's health and affect occupational life.
A spinal cord electrode interventional surgical robot based on two-arm collaboration is designed, including a first robot arm, a second robot arm, an electrode clamping module and an electrode torsion module. The clamping, propulsion, retraction and torsion operations of the electrode are realized through two six-degree of freedom robot arms and the electrode clamping module and the electrode torsion module.
The robot performs surgery to avoid X-ray exposure, improves surgical accuracy and safety, reduces the doctor's work intensity, and reduces the risks during the operation.
Smart Images
Figure CN119548249A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of surgical robots, and in particular relates to a spinal cord electrode interventional surgical robot based on dual-arm collaboration. Background Art
[0002] Spinal cord stimulation (SCS) is an interventional procedure in which doctors, guided by X-ray imaging equipment, deliver electrodes along the space between the patient's dura mater and the spinal canal to the target location. The electrodes then stimulate specific segments of the spinal cord with pulsed current, effectively alleviating or even eliminating various chronic, intractable pain conditions. SCS offers advantages such as minimal trauma, no damage to nerve tissue, rapid postoperative recovery, and few complications. However, this procedure requires X-ray imaging, and long-term X-ray exposure significantly increases a doctor's risk of leukemia, cancer, and acute cataracts, severely impacting their health and professional lifespan. This has become a significant constraint on the development of interventional surgery.
[0003] By using spinal electrode interventional surgical robots, doctors can perform surgery remotely without being affected by X-rays, and can improve the accuracy and safety of surgery by precisely positioning and operating the robot. Summary of the Invention
[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a spinal electrode interventional surgery robot based on dual-arm collaboration.
[0005] The present invention solves the technical problem by adopting the following technical solutions: A spinal cord electrode interventional surgery robot based on dual-arm collaboration, characterized by comprising a first robotic arm, a second robotic arm, an electrode clamping module and an electrode twisting module, wherein the electrode clamping module is located at the end of the first robotic arm and the electrode twisting module is located at the end of the second robotic arm; The electrode clamping module includes a clamping module base and a clamping hand, the clamping module base includes a clamping module base housing, a clamping drive motor and a drive connector, and the clamping hand includes a clamping hand housing, a transmission flange, a spiral drive disk and a clamping finger; the clamping finger is mounted on the clamping module housing through a card slot, the clamping drive motor is mounted on the clamping module base, the output shaft of the clamping drive motor is connected to the spiral drive disk through a drive connector, and a clamping block is provided at the bottom of the clamping finger, which extends into the spiral groove of the spiral drive disk; The clamping hand is installed on the clamping module base. When the clamping drive motor rotates, the driving connector and the spiral drive disk drive the clamping fingers to move toward or away from each other to achieve clamping and loosening of the electrode.
[0006] Furthermore, the clamping finger includes a clamping finger base, a clamping finger support beam, and a clamping member; the clamping finger support beam is fixedly installed on the clamping finger base, and the clamping member is fixedly installed on the clamping finger support beam.
[0007] Furthermore, the clamping finger support beam is a cross-beam structure, and a strain gauge is attached to the surface of the clamping finger support beam. Based on the principle of resistance strain, when the clamping finger support beam is strained due to the clamping force or pushing force, the clamping force and pushing force during the operation can be detected respectively by detecting the resistance change of the strain gauge.
[0008] Furthermore, the electrode torsion module includes a torsion module housing, a torsion module base, a torsion drive motor, a torsion drive connector, a torsion drive shaft, a torque sensor and an electrode fixing module; the torsion drive motor is fixed on the torsion module base, and the torsion drive motor drives the torsion drive shaft to rotate around its axis through the torsion drive connector. One side of the torque sensor is fixedly mounted on the end face of the torque transmission shaft, and the other side is connected to the electrode fixing module.
[0009] Furthermore, when the electrode advancement / withdrawal operation is performed, the electrode clamping module at the end of the first robotic arm clamps the electrode, and the end of the first robotic arm and the end of the second robotic arm move at the same speed and in the same direction along the axis of the electrode, thereby advancing the electrode to move along the first axis; when the end of the robotic arm moves to the limit position of the stroke, the clamping mechanism at the end of the first robotic arm releases the electrode, and the end of the first robotic arm moves in the opposite direction along the first axis to its initial position, and the second robotic arm remains stationary during this process; repeat the above steps to realize continuous advancement / withdrawal of the electrode; when the electrode needs to be twisted, the torsion drive motor in the electrode torsion module is controlled to rotate, driving the electrode to rotate around its axis.
[0010] Compared with the prior art, the present invention has the following beneficial effects: Through two six-degree-of-freedom robotic arms and an electrode clamping module and an electrode twisting module mounted at the ends of each arm, the robot can accurately simulate the doctor's electrode clamping, pushing, retracting, and twisting operations during interventional surgery. The clamping module has a clamping force detection function, which can clamp the electrode with a specific clamping force, preventing both slipping caused by insufficient clamping force and damage to the electrode caused by excessive clamping force. The electrode clamping module also has a push force detection function, and the electrode twisting module has a torque detection function, which can prevent harm to the patient due to excessive push force or torque during surgery. In addition, this robot can replace the doctor in surgical operations, reducing the doctor's workload and protecting the doctor from X-ray damage. It can also make the surgical process safer and more efficient through precise control of the robot's position and operating force. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is the overall structure diagram; Figure 2 It is the structural diagram of the electrode clamping module; Figure 3 This is an exploded view of the electrode holding module base; Figure 4 It is an exploded view of the electrode holding hand; Figure 5 It is an exploded view of the clamping finger; Figure 6 This is an exploded view of the electrode torsion module; Figure 7 is a schematic diagram of the positions of the first magnet group and the second magnet group; In the figure, 1, first robotic arm; 2, second robotic arm; 3, electrode clamping module; 4, electrode twisting module; 5, spinal cord electrode; 3-1. Electrode clamping module base; 3-2. Electrode clamping hand; 3-1-1. Base fixing plate; 3-1-2. Clamping drive motor; 3-1-3. Drive connecting flange; 3-1-4. Drive connecting shaft; 3-1-5. Spring; 3-1-6. Drive connecting shaft housing; 3-1-7. Clamping module base housing; 3-2-1. Drive flange; 3-2-2. First bearing; 3-2-3. Fixing frame; 3-2-4. Screw drive disk; 3-2-5. Clamping hand fixing clamp; 3-2-6. Electrode clamping hand housing; 3-2-7. Electrode clamping finger; 4-1. Module Block housing; 4-2, module base; 4-3, torsional drive motor; 4-4, motor base; 4-5, torsional transmission assembly; 4-6, torsional transmission shaft; 4-7, second bearing; 4-8, third bearing; 4-9, first transmission shaft fixing seat; 4-10, second transmission shaft fixing seat; 4-11, torque sensor; 4-12, amplifier; 4-13, conductive slip ring; 4-14, torsional transmission flange; 4-15, torsional coupling; 4-16, electrode tail end fixing module; 4-17, electrode catheter fixing module; 4-18, first magnet group; 4-19, second magnet group. DETAILED DESCRIPTION
[0012] The following specific embodiments are given in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solutions of the present invention and are not intended to limit the scope of protection of this application. like Figure 1 As shown, the present invention provides a spinal electrode interventional surgical robot based on dual-arm collaboration, comprising a first robotic arm 1, a second robotic arm 2, an electrode clamping module 3 and an electrode twisting module 4; the first robotic arm 1 and the second robotic arm 2 both have 6 rotating joints, and the ends can flexibly perform translational and rotational movements in the workspace; the electrode clamping module 3 is located at the end of the first robotic arm 1, and the electrode twisting module 4 is located at the end of the second robotic arm 2.
[0013] like Figure 2 As shown, the electrode clamping module 3 includes an electrode clamping module base 3-1 and an electrode clamping hand 3-2; the electrode clamping module base 3-1 is fixedly installed at the end of the first robotic arm 1, and the electrode clamping hand 3-2 is installed on the electrode clamping module base 3-1.
[0014] like Figure 3 As shown, the electrode clamping module base 3-1 includes a base fixing plate 3-1-1, a clamping drive motor 3-1-2, a drive connection flange 3-1-3, a drive connection shaft 3-1-4, a spring 3-1-5, a drive connection shaft housing 3-1-6 and a clamping module base housing 3-1-7; wherein the clamping drive motor 3-1-2 and the clamping module base housing 3-1-7 are fixedly mounted on the base fixing plate 3-1-1, and the drive connection flange 3-1-3 is fixedly mounted on the output of the clamping drive motor 3-1-2. On the output shaft, a cylindrical boss with external threads is provided at one end of the driving connecting flange 3-1-3, and a square hole is provided on the boss; both ends of the driving connecting shaft 3-1-4 are square shafts, and a cylindrical shoulder is provided in the middle, and the driving connecting shaft 3-1-4 and the spring 3-1-5 are installed in the square hole; one end of the driving connecting shaft housing 3-1-6 is provided with an internal thread, and the other end is provided with a square hole. The driving connecting shaft housing 3-1-6 is connected to the external thread of the driving connecting flange 3-1-3 to realize the limiting effect on the driving connecting shaft 3-1-4.
[0015] like Figure 4As shown, the electrode clamping hand 3-2 includes a transmission flange 3-2-1, a first bearing 3-2-2, a fixing frame 3-2-3, a spiral drive disk 3-2-4, a clamping hand fixing clamp 3-2-5, an electrode clamping hand shell 3-2-6 and an electrode clamping finger 3-2-7; wherein, a circular boss is provided at one end of the spiral drive disk 3-2-4 and is fixedly mounted together with the inner ring of the first deep groove ball bearing 3-2-2, the transmission flange 3-2-1 is mounted on the end face of the circular boss, and the outer ring of the first bearing 3-2-2 is fixedly mounted on the inner side of the electrode clamping hand shell 3-2-6 through the fixing frame 3-2-3; a guide groove is provided on the electrode clamping hand shell 3-2-6, and the electrode clamping finger 3-2-7 is provided. The base of the finger 3-2-7 can slide in the guide groove; a spiral groove is provided on one end face of the spiral drive disk 3-2-4, and a cylindrical protrusion is provided on the bottom of the electrode clamping finger 3-2-7 to fit into the groove of the spiral drive disk 3-2-4; the clamping hand fixing clamp 3-2-5 is installed on both sides of the electrode clamping hand housing 3-2-6, and is used to fix the electrode clamping hand 3-2 on the electrode clamping module base 3-1; a square hole is provided on one side of the transmission flange 3-2-1. After the electrode clamping hand 3-2 is fixed on the electrode clamping module base 3-1, the square shaft on one side of the drive connecting shaft 3-1-4 will be inserted into the square hole of the transmission flange 3-2-1 to realize the transmission function. At this time, by controlling the rotation of the clamping drive motor 3-1-2, the centering movement of the electrode clamping fingers 3-2-7 toward or away from each other can be achieved by controlling the rotation of the spiral drive disk 3-2-4, thereby achieving the clamping or loosening of the electrode; the support beam of the electrode clamping fingers 3-2-7 is a cross beam structure with strain gauges on the surface, which can detect the clamping force and the pushing force in two directions based on the resistance strain principle. A wire hole is provided on the base of the electrode clamping fingers 3-2-7 for arranging wires; in order to facilitate disinfection and reduce the risk of cross infection, the electrode clamping hand 3-2 is disposable.
[0016] like Figure 6-Figure 7As shown, the electrode torsion module 4 includes a module housing 4-1, a module base 4-2, a torsion drive motor 4-3, a motor base 4-4, a torsion transmission assembly 4-5, a torsion transmission shaft 4-6, a second bearing 4-7, a third bearing 4-8, a first transmission shaft fixing seat 4-9, a second transmission shaft fixing seat 4-10, a torque sensor 4-11, an amplifier 4-12, a conductive slip ring 4-13, a torsion transmission flange 4-14, a torsion coupling 4-15, an electrode tail end fixing module 4-16, an electrode catheter fixing module 4-17, a first magnet group 4-18 and a second magnet group 4-19; wherein, the torsion drive motor 4-3 is fixedly mounted on the module base 4-2 through the motor base 4-4, and the torsion transmission shaft 4-6 is fixed on the module base through the second bearing 4-7, the third bearing 4-8, the first transmission shaft fixing seat 4-9 and the second transmission shaft fixing seat 4-10, and the output shaft of the torsion drive motor 4-3 is parallel to the axis of the torsion transmission shaft 4-6. The torsion transmission assembly 4-5 includes two synchronous pulleys and a synchronous belt. A synchronous pulley is mounted on each of the output shaft of the torsion drive motor 4-3 and the torsion transmission shaft 4-6. The synchronous belt is mounted on the two synchronous pulleys and is responsible for transmitting the rotational motion of the output shaft of the torsion drive motor 4-3 to the torsion transmission shaft 4-6. One end of the torque sensor 4-11 is fixedly mounted on the torsion transmission shaft 4-6, and the other end is fixedly mounted with a torsion transmission flange 4-14. The amplifier 4-12 and the conductive slip ring 4-13 are fixedly mounted on the torque transmission shaft 4-6 and can rotate with the torque transmission shaft 4-6. They are responsible for processing and transmitting the electrical signals from the torque sensor 4-11. A circular hole is provided on one end face of the torsion coupling 4-15, which can be fixedly mounted on the circular shaft of the torsion transmission flange 4-14. A D-shaped hole is provided on the other end face of the torsion coupling 4-15, and a D-shaped shaft is provided on one end of the electrode tail end fixing module 4-16. The D-shaped shaft of the electrode tail end fixing module 4-16 can be inserted into the D-shaped hole of the torsion coupling 4-15 to realize the transmission of rotational motion. A first magnet group 4-18 is also installed around the D-shaped hole of the torsion coupling 4-15, and a second magnet group 4-19 is also installed at a corresponding position around the D-shaped shaft of the electrode tail end fixing module 4-16. The two groups of magnets attract each other and are used to fix the electrode tail end fixing module 4-16 to the torsion coupling 4-15. The electrode tail end fixing module 4-16 is also provided with a buckle for fixing the tail end of the spinal cord electrode 5. The electrode catheter fixing module 4-17 is internally provided with an internal thread and can be fixed to the electrode torsion module including the module housing 4-1 through a threaded connection. The electrode catheter fixing module 4-17 is also provided with a groove structure, and the spinal cord electrode 5 will pass through the groove. In order to facilitate disinfection and reduce the risk of cross infection, the electrode tail fixing module 4-16 and the electrode catheter fixing module 4-17 are both disposable.
[0017] The working principle and workflow of the present invention are: After fixing the spinal cord electrode 5 on the electrode torsion module 4 and adjusting the relative positions of the ends of the first manipulator 1 and the second manipulator 2, the spinal cord electrode 5 can be clamped and released by controlling the clamping drive motor 3-1-2. After clamping the electrode, the advancement / withdrawal operation of the spinal cord electrode 5 can be achieved by controlling the ends of the first manipulator 1 and the second manipulator 2 to move at the same speed along the axis of the spinal cord electrode 5, and the rotational movement of the spinal cord electrode 5 around its axis can be achieved by controlling the movement of the torsion drive motor 4-3. The structure described in the present application can also detect the clamping force, pushing force and torsional torque of the spinal cord electrode, thereby improving the safety of the operation. In addition, the structural parts that are in direct contact with the spinal cord electrode are all disposable, reducing the risk of cross infection.
[0018] Any matters not described in the present invention are applicable to the prior art.
Claims
1. A spinal electrode interventional surgery robot based on dual-arm collaboration, characterized in that: It includes a first mechanical arm, a second mechanical arm, an electrode clamping module and an electrode twisting module, wherein the electrode clamping module is located at the end of the first mechanical arm, and the electrode twisting module is located at the end of the second mechanical arm; The electrode clamping module comprises a clamping module base and a clamping hand, wherein the clamping module base comprises a clamping module base housing, a clamping drive motor and a drive connector, and the clamping hand comprises a clamping hand housing, a transmission flange, a spiral drive disk and a clamping finger; the clamping finger is mounted on the clamping module housing through a card slot, the clamping drive motor is mounted on the clamping module base, the output shaft of the clamping drive motor is connected to the spiral drive disk through a drive connector, and a card block is provided at the bottom of the clamping finger, and the card block extends into the spiral groove of the spiral drive disk; The clamping hand is installed on the clamping module base. When the clamping drive motor rotates, the clamping fingers are driven to move toward or away from each other through the driving connector and the spiral drive disk, thereby clamping and releasing the electrode.
2. The spinal cord electrode interventional surgery robot based on dual-arm collaboration according to claim 1 is characterized in that: The clamping finger comprises a clamping finger base, a clamping finger support beam, and a clamping member; the clamping finger support beam is fixedly installed on the clamping finger base, and the clamping member is fixedly installed on the clamping finger support beam.
3. The spinal cord electrode interventional surgery robot based on dual-arm collaboration according to claim 2 is characterized in that: The clamping finger support beam is a cross-beam structure, and a strain gauge is affixed to the surface of the clamping finger support beam. Based on the resistance strain principle, when the clamping finger support beam is strained due to the clamping force or the pushing force, the clamping force and the pushing force during the operation can be detected by detecting the resistance change of the strain gauge.
4. The spinal cord electrode interventional surgery robot based on dual-arm collaboration according to claim 1 is characterized in that: The electrode torsion module includes a torsion module housing, a torsion module base, a torsion drive motor, a torsion drive connector, a torsion drive shaft, a torque sensor and an electrode fixing module; the torsion drive motor is fixed on the torsion module base, and the torsion drive motor drives the torsion drive shaft to rotate around its axis through the torsion drive connector. One side of the torque sensor is fixedly mounted on the end face of the torque transmission shaft, and the other side is connected to the electrode fixing module.
5. The spinal cord electrode interventional surgery robot based on dual-arm collaboration according to claim 1 or 4, characterized in that: When the electrode advancement / withdrawal operation is performed, the electrode clamping module at the end of the first robotic arm clamps the electrode, and the end of the first robotic arm and the end of the second robotic arm move at the same speed and in the same direction along the axis of the electrode, thereby advancing the electrode to move along the first axis; when the end of the robotic arm moves to the limit position of the stroke, the clamping mechanism at the end of the first robotic arm releases the electrode, and the end of the first robotic arm moves in the opposite direction along the first axis to its initial position, and the second robotic arm remains stationary during this process; the aforementioned steps are repeated to realize continuous advancement / withdrawal of the electrode; when the electrode needs to be twisted, the twisting drive motor in the electrode twisting module is controlled to rotate, and the electrode is driven to rotate around its axis.