Modular arthroscopic surgery robot structure based on stepped structure

Abstract

The invention belongs to the technical field of surgical robots, and particularly relates to a modular arthroscopic surgical robot structure based on a stepped structure, which comprises a central support mechanism arranged in a modular continuum, and the central support mechanism is used for providing support for bending adjustment of the modular continuum; the outer-layer adjusting mechanism is coaxially and movably arranged on the outer side of the central supporting mechanism, and the outer-layer adjusting mechanism is used for achieving bending adjustment of the modular continuum; the fixing mechanisms are detachably installed at the two ends of the center supporting mechanism and used for fixing the outer layer adjusting mechanism to the outer side of the center supporting mechanism; and the driving mechanism is arranged in the outer layer adjusting mechanism and the fixing mechanism, and the driving mechanism is used for providing power output for bending adjustment of the modular continuum. The rigidity of the robot during operation can be improved, bending deformation is effectively reduced, and the stability of the robot in complex surgeries such as hip arthroscopy is remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical robots, and in particular relates to a modular arthroscopic surgical robot structure based on a ladder structure. Background Art

[0002] At present, continuum surgical robots are widely used in endoscopic surgery and have achieved certain clinical results. However, in complex arthroscopic surgery, especially hip arthroscopic surgery, the existing continuum robots still have some limitations due to the small surgical space and high requirements for operational stability. Many existing designs rely on an integral structure and lack modular disassembly and assembly design, making it difficult to maintain and replace the robot during operation, affecting surgical efficiency; at the same time, although the integral structure has good bending ability, it lacks a certain degree of rigidity, especially in arthroscopic surgery that requires grinding, drilling and other operations, it often seems to be unable to cope with the situation.

[0003] Therefore, it is necessary to design a modular arthroscopic surgical robot structure based on a stepped structure to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a modular arthroscopic surgical robot structure based on a stepped structure to solve the above-mentioned problems, thereby increasing the rigidity of the robot during operation, effectively reducing bending deformation, and significantly improving the stability of the robot in complex surgeries such as hip arthroscopy.

[0005] To achieve the above object, the present invention provides the following solution: a modular arthroscopic surgical robot structure based on a ladder structure, comprising:

[0006] A central support mechanism is disposed inside the modular continuum, and the central support mechanism is used to provide support for bending adjustment of the modular continuum;

[0007] An outer adjustment mechanism, coaxially movably arranged outside the central support mechanism, and used to achieve bending adjustment of the modular continuum;

[0008] A fixing mechanism, detachably mounted at both ends of the central supporting mechanism, the fixing mechanism being used to fix the outer layer adjusting mechanism to the outside of the central supporting mechanism;

[0009] The driving mechanism is arranged inside the outer layer adjusting mechanism and the fixing mechanism, and the driving mechanism is used to provide power output for the bending adjustment of the modular continuum.

[0010] Based on the modular arthroscopic surgical robot structure based on a stepped structure of the present invention, the outer adjustment mechanism includes a plurality of circular ring standard parts, and the plurality of circular ring standard parts are stacked and arranged on the outside of the central support mechanism. Two adjacent circular ring standard parts are in movably contact with each other through a concave-convex structure, the circular ring standard part located at the end is in movably contact with the fixing mechanism, and the driving mechanism is arranged inside the circular ring standard part.

[0011] Based on the modular arthroscopic surgical robot structure based on a step structure of the present invention, the concave-convex structure includes two step grooves and two step platforms, the step grooves and the step platforms are adapted to each other, the two step grooves are opened at one end of the circular ring standard part, the two step grooves are symmetrical about the center of the circular ring standard part, the two step platforms are fixedly connected to the other end of the circular ring standard part, and the two step platforms are symmetrical about the center of the circular ring standard part.

[0012] Based on the modular arthroscopic surgical robot structure based on a step structure of the present invention, the angle between the two step grooves and the two diameters where the two step platforms are located is 45°-75°.

[0013] Based on the modular arthroscopic surgical robot structure based on a step structure of the present invention, the large end of the step groove is located on the inner wall of the circular ring standard part, the small end of the step groove is located on the outer wall of the circular ring standard part, the large diameter end of the step platform is located on the inner wall of the circular ring standard part, and the small end of the step platform is located on the outer wall of the circular ring standard part.

[0014] Based on the modular arthroscopic surgical robot structure based on a step structure of the present invention, a plurality of through holes are opened on the circular standard part, and the plurality of through holes are arranged at equal intervals along the circumference of the circular standard part, and the through holes are staggered with the step grooves and the step platforms.

[0015] Based on the modular arthroscopic surgical robot structure with a stepped structure of the present invention, the central support mechanism includes a continuum skeleton, which is a cylinder with openings at both ends. A plurality of notches are provided on the continuum skeleton, and the plurality of notches are arranged at equal intervals along the circumferential and axial directions of the side wall of the continuum skeleton. The fixing mechanism can be detachably mounted on both ends of the continuum skeleton.

[0016] Based on the modular arthroscopic surgical robot structure based on a stepped structure of the present invention, the fixing mechanism includes a sleeve 1 and a sleeve 2, and both the sleeve 1 and the sleeve 2 are detachably mounted on the end of the continuum skeleton by screws.

[0017] Based on the modular arthroscopic surgical robot structure based on a step structure of the present invention, one end of the sleeve one is fixedly connected to two step platforms, and the step platform on the sleeve one is movably contacted with the step groove on the circular ring standard part, and one end of the sleeve two is provided with two step grooves, and the step groove on the sleeve two is movably contacted with the step platform on the circular ring standard part.

[0018] Based on the modular arthroscopic surgical robot structure based on a step structure of the present invention, the driving mechanism includes a plurality of driving wires, and the driving wires correspond to the through holes one by one and are penetrated in the through holes.

[0019] Compared with the prior art, the present invention has the following advantages and technical effects:

[0020] The double-layer support design of the present invention not only improves the rigidity, but also absorbs part of the mechanical vibration during operation, preventing operational errors caused by vibration or minor errors during critical operations, thereby improving the stability of the robot in dynamic surgery.

[0021] The present invention adopts a modular design, which enables the robot to flexibly configure different lengths and bending angles between modules according to surgical requirements, thereby adapting to the needs of arthroscopic surgery in different parts of the body. In addition to hip arthroscopy, it can also be used for various joint surgeries such as knee joints and shoulder joints, expanding the scope of application of the robot.

[0022] The present invention adopts a modular disassembly and assembly method to facilitate flexible adjustment of the load according to the requirements of the surgical process. It is suitable for long-term and complex surgical operations and can alleviate the operator fatigue caused by long-term operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0024] Figure 1 It is an overall schematic diagram of the present invention;

[0025] Figure 2 It is a schematic diagram of a circular ring standard part of the present invention;

[0026] Figure 3 It is a schematic diagram of the continuum skeleton of the present invention;

[0027] Figure 4 It is a schematic diagram of sleeve 1 and sleeve 2 of the present invention;

[0028] Figure 5It is a schematic diagram of the assembly of the continuum frame and the sleeve 2 of the present invention;

[0029] Figure 6 It is a schematic diagram of the assembly of the continuum frame, sleeve 2 and circular ring standard parts of the present invention.

[0030] Among them, 1. standard ring parts; 2. continuum skeleton; 3. sleeve one; 4. sleeve two; 5. screw; 6. drive wire; 7. step groove; 8. step platform. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Reference Figures 1 to 6 The present invention provides a modular arthroscopic surgical robot structure based on a ladder structure, comprising

[0034] A central support mechanism is arranged inside the modular continuum, and the central support mechanism is used to provide support for the bending adjustment of the modular continuum;

[0035] An outer adjustment mechanism is coaxially movably arranged outside the central support mechanism, and the outer adjustment mechanism is used to realize bending adjustment of the modular continuum;

[0036] A fixing mechanism, which is detachably mounted at both ends of the central supporting mechanism, and is used to fix the outer adjustment mechanism on the outside of the central supporting mechanism;

[0037] The driving mechanism is arranged inside the outer adjusting mechanism and the fixing mechanism, and is used to provide power output for the bending adjustment of the modular continuum.

[0038] Furthermore, the outer adjustment mechanism includes a plurality of circular ring standard parts 1, which are stacked and arranged outside the central supporting mechanism, two adjacent circular ring standard parts 1 are in movable contact through a concave-convex structure, the circular ring standard part 1 located at the end is in movably contact with the fixing mechanism, and the driving mechanism is arranged inside the circular ring standard part 1.

[0039] Furthermore, the concave-convex structure includes two step grooves 7 and two step platforms 8, the step grooves 7 and the step platforms 8 are adapted to each other, the two step grooves 7 are opened at one end of the circular ring standard part 1, the two step grooves 7 are symmetrical about the center of the circular ring standard part 1, and the two step platforms 8 are fixedly connected to the other end of the circular ring standard part 1, and the two step platforms 8 are symmetrical about the center of the circular ring standard part 1.

[0040] Furthermore, the angle between the two diameters where the two stepped grooves 7 and the two stepped terraces 8 are located is 45°-75°.

[0041] The angle can be selected as 50°, 60°, or 70°.

[0042] Furthermore, the large end of the stepped groove 7 is located on the inner wall of the circular ring standard part 1, the small end of the stepped groove 7 is located on the outer wall of the circular ring standard part 1, the large diameter end of the stepped platform 8 is located on the inner wall of the circular ring standard part 1, and the small end of the stepped platform 8 is located on the outer wall of the circular ring standard part 1.

[0043] Furthermore, a plurality of through holes are formed on the circular ring standard component 1 , and the plurality of through holes are arranged at equal intervals along the circumference of the circular ring standard component 1 , and the through holes are arranged alternately with the stepped grooves 7 and the stepped platforms 8 .

[0044] Furthermore, the central support mechanism includes a continuum skeleton 2, which is a cylinder with openings at both ends. The continuum skeleton 2 is provided with a plurality of notches, which are arranged at equal intervals along the circumferential and axial directions of the side wall of the continuum skeleton 2. The fixing mechanism can be detachably installed at both ends of the continuum skeleton 2.

[0045] The material of the continuum skeleton 2 is nickel-titanium alloy, and the notches are arranged in a 120° rotation from top to bottom.

[0046] Furthermore, the fixing mechanism includes a sleeve 1 3 and a sleeve 2 4 , and both the sleeve 1 3 and the sleeve 2 4 are detachably mounted on the ends of the continuum skeleton 2 by screws 5 .

[0047] Furthermore, one end of sleeve 1 3 is fixedly connected with two step platforms 8, and the step platforms 8 on sleeve 1 3 are in movable contact with the step groove 7 on the circular ring standard part 1. One end of sleeve 2 4 is provided with two step grooves 7, and the step groove 7 on sleeve 2 4 is in movable contact with the step platforms 8 on the circular ring standard part 1.

[0048] The stepped platform 8 of the sleeve 1 3 and the stepped groove 7 of the sleeve 2 4 are convenient for active contact with the stepped groove 7 and the stepped platform 8 of the circular ring standard part 1 .

[0049] During installation, sleeve 1 3 is inserted into the end of the continuum frame 2, and two screws 5 are passed through the reserved holes on sleeve 1 3 and the continuum frame 2 and tightened to form a connection. The installation process of sleeve 2 4 is the same as that of sleeve 1 3.

[0050] Furthermore, the driving mechanism includes a plurality of driving wires 6, which correspond to the through holes one by one and are passed through the through holes.

[0051] The stepped groove 7 and the stepped platform 8 on the circular ring standard part 1 are both high outside and low inside, which is convenient for active contact with the adjacent circular ring standard part 1. The through hole opened on the circular ring standard part 1 is convenient for passing the driving wire 6 to realize the bending of the overall structure.

[0052] After the installation of the sleeve 2 4 and one end of the continuum frame 2 is completed, the circular ring standard component 1 is continuously sleeved on the outer side of the continuum frame 2 from the other end of the continuum frame 2 to achieve the installation of the modular structure.

[0053] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0054] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. A modular arthroscopic surgical robot structure based on a ladder structure, characterized in that: include A central support mechanism is disposed inside the modular continuum, and the central support mechanism is used to provide support for bending adjustment of the modular continuum; An outer adjustment mechanism, coaxially movably arranged outside the central support mechanism, and used to achieve bending adjustment of the modular continuum; A fixing mechanism, detachably mounted at both ends of the central supporting mechanism, the fixing mechanism being used to fix the outer layer adjusting mechanism to the outside of the central supporting mechanism; The driving mechanism is arranged inside the outer layer adjusting mechanism and the fixing mechanism, and the driving mechanism is used to provide power output for the bending adjustment of the modular continuum.

2. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 1 is characterized in that: The outer adjustment mechanism comprises a plurality of circular ring standard parts (1), wherein the plurality of circular ring standard parts (1) are stacked and arranged outside the central support mechanism, two adjacent circular ring standard parts (1) are in active contact via a concave-convex structure, the circular ring standard parts (1) located at the ends are in active contact with the fixing mechanism, and the driving mechanism is arranged inside the circular ring standard parts (1).

3. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 2 is characterized in that: The concave-convex structure comprises two step grooves (7) and two step terraces (8), the step grooves (7) and the step terraces (8) are matched with each other, the two step grooves (7) are opened at one end of the circular ring standard component (1), the two step grooves (7) are symmetrical about the center of the circular ring standard component (1), and the two step terraces (8) are fixedly connected to the other end of the circular ring standard component (1), and the two step terraces (8) are symmetrical about the center of the circular ring standard component (1).

4. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 3 is characterized in that: The angle between the two diameters where the two stepped grooves (7) and the two stepped platforms (8) are located is 45°-75°.

5. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 3 is characterized in that: The large end of the stepped groove (7) is located on the inner wall of the circular ring standard component (1), and the small end of the stepped groove (7) is located on the outer wall of the circular ring standard component (1). The large diameter end of the stepped platform (8) is located on the inner wall of the circular ring standard component (1), and the small end of the stepped platform (8) is located on the outer wall of the circular ring standard component (1).

6. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 3 is characterized in that: The circular ring standard component (1) is provided with a plurality of through holes, which are arranged at equal intervals along the circumference of the circular ring standard component (1), and the through holes are arranged alternately with the stepped grooves (7) and the stepped platforms (8).

7. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 6 is characterized in that: The central support mechanism comprises a continuum frame (2), the continuum frame (2) is a cylinder with openings at both ends, a plurality of notches are provided on the continuum frame (2), and the plurality of notches are arranged at equal intervals along the circumferential and axial directions of the side wall of the continuum frame (2), and the fixing mechanism can be detachably mounted at both ends of the continuum frame (2).

8. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 7 is characterized in that: The fixing mechanism comprises a sleeve 1 (3) and a sleeve 2 (4), and both the sleeve 1 (3) and the sleeve 2 (4) are detachably mounted on the ends of the continuum frame (2) by means of screws (5).

9. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 8, characterized in that: One end of the sleeve one (3) is fixedly connected to two stepped platforms (8), and the stepped platforms (8) on the sleeve one (3) are in active contact with the stepped grooves (7) on the circular ring standard component (1); one end of the sleeve two (4) is provided with two stepped grooves (7), and the stepped grooves (7) on the sleeve two (4) are in active contact with the stepped platforms (8) on the circular ring standard component (1).

10. The modular arthroscopic surgical robot structure based on a ladder structure according to claim 8, characterized in that: The driving mechanism comprises a plurality of driving wires (6), the driving wires (6) corresponding one to one with the through holes and being passed through the through holes.

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