Modular arthroscopic surgical robot structure based on stepped structure

Abstract

The application belongs to the technical field of surgical robot, and particularly relates to a modular arthroscopic surgical robot structure based on a ladder structure, which comprises a center support mechanism arranged in the inside of a modular continuum, the center support mechanism being used for supporting the bending adjustment of the modular continuum; an outer layer adjustment mechanism coaxially movably arranged on the outside of the center support mechanism, the outer layer adjustment mechanism being used for realizing the bending adjustment of the modular continuum; a fixing mechanism detachably installed at both ends of the center support mechanism, the fixing mechanism being used for fixing the outer layer adjustment mechanism on the outside of the center support mechanism; and a driving mechanism arranged in the inside of the outer layer adjustment mechanism and the fixing mechanism, the driving mechanism being used for providing power output for the bending adjustment of the modular continuum. The application can improve the rigidity during the operation of the robot, effectively reduce the bending deformation, and significantly improve the stability of the robot in complex surgeries such as hip arthroscopy.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of surgical robot, and particularly relates to a modular arthroscopic surgical robot structure based on a ladder structure. BACKGROUND

[0002] At present, a continuum surgical robot is widely applied to endoscopic surgery and has achieved certain clinical effect. However, in a complex arthroscopic surgery, especially in a hip arthroscopic surgery, due to a narrow surgery space and a high requirement for operation stability, the existing continuum robot still has some limitations. Many existing designs depend on an integral structure and lack a modular disassembly and assembly design, so that the robot is difficult to maintain and replace during operation, thereby affecting the surgery efficiency; meanwhile, the integral structure has good bending capacity but lacks certain rigidity, especially in the arthroscopic surgery needing grinding, punching and the like, and thus is not powerful enough.

[0003] Therefore, it is necessary to design a modular arthroscopic surgical robot structure based on a ladder structure to solve the above problems. SUMMARY

[0004] The application aims to provide a modular arthroscopic surgical robot structure based on a ladder structure to solve the above problems, improve the rigidity during robot operation, effectively reduce bending deformation, and significantly improve the stability of the robot in a complex hip arthroscopic surgery.

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

[0006] A center support mechanism is arranged inside the modular continuum, and the center support mechanism is used for supporting the bending adjustment of the modular continuum;

[0007] An outer adjustment mechanism is coaxially movably arranged outside the center support mechanism, and the outer adjustment mechanism is used for realizing the bending adjustment of the modular continuum;

[0008] A fixing mechanism is detachably mounted at both ends of the center support mechanism, and the fixing mechanism is used for fixing the outer adjustment mechanism outside the center support mechanism;

[0009] A driving mechanism is arranged inside the outer adjustment mechanism and the fixing mechanism, and the driving mechanism is used for providing power output for the bending adjustment of the modular continuum.

[0010] The outer layer adjusting mechanism comprises a plurality of ring standard parts, the plurality of ring standard parts are stacked outside the center support mechanism, two adjacent ring standard parts are in active contact through concave-convex structures, the ring standard parts at the ends are in active contact with the fixed mechanism, and the driving mechanism is arranged in the ring standard part.

[0011] The concave-convex structure comprises two stepped grooves and two stepped platforms, the stepped grooves and the stepped platforms are matched, two stepped grooves are arranged at one end of the ring standard part, the two stepped grooves are symmetrical about the center of the ring standard part, two stepped platforms are fixedly connected at the other end of the ring standard part, and the two stepped platforms are symmetrical about the center of the ring standard part.

[0012] The angle between the two diameters where the two stepped grooves and the two stepped platforms are located is 45°-75°.

[0013] The large end of the stepped groove is located on the inner side wall of the ring standard part, the small end of the stepped groove is located on the outer side wall of the ring standard part, the large diameter end of the stepped platform is located on the inner side wall of the ring standard part, and the small end of the stepped platform is located on the outer side wall of the ring standard part.

[0014] The ring standard part is provided with a plurality of through holes, the plurality of through holes are arranged at equal intervals in the circumferential direction of the ring standard part, and the through holes are arranged alternately with the stepped grooves and the stepped platforms.

[0015] The center support mechanism comprises a continuum skeleton, the continuum skeleton is a cylinder with open ends, a plurality of notches are arranged on the continuum skeleton, the plurality of notches are arranged at equal intervals in the circumferential direction and the axial direction of the side wall of the continuum skeleton, and the fixed mechanism is detachably installed at the two ends of the continuum skeleton.

[0016] The fixed mechanism comprises sleeve one and sleeve two, the sleeve one and the sleeve two are detachably installed at the ends of the continuum skeleton through screws.

[0017] The sleeve one end is fixedly connected with two ladder platforms, the ladder platform on the sleeve one is in movable contact with the ladder groove on the circular ring standard part, and the sleeve two end is provided with two ladder grooves, and the ladder groove on the sleeve two is in movable contact with the ladder platform on the circular ring standard part.

[0018] The modular arthroscopic surgery robot structure based on the ladder structure based on the application, the driving mechanism includes several driving wires, the driving wire is corresponding with the through hole and is arranged in the through hole.

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

[0020] The double-layer support design not only improves the rigidity, but also absorbs part of the mechanical vibration during operation, prevents operation failure caused by vibration or slight error during critical operation process, and improves the stability of the robot in dynamic surgery.

[0021] The modular design enables the robot to flexibly configure different lengths and bending angles between modules according to the operation requirements, so as to adapt to the arthroscopic surgery requirements of different parts. In addition to hip arthroscopic surgery, it can also be used for knee joint, shoulder joint and other joint surgeries, expanding the application range of the robot.

[0022] The modular disassembly and assembly mode is convenient for flexibly adjusting the load according to the operation process requirements, suitable for long-time and complex operation, and relieving the operation fatigue caused by long-time operation. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor:

[0024] Figure 1 It is a whole schematic diagram of the application;

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

[0026] Figure 3 It is a continuous body skeleton schematic diagram of the application;

[0027] Figure 4 It is a sleeve one and sleeve two schematic diagram of the application;

[0028] Figure 5Figure 2 is a schematic diagram of the assembly of the continuum skeleton and sleeve two of the present application;

[0029] Figure 6 Figure 3 is a schematic diagram of the assembly of the continuum skeleton, sleeve two and ring standard part of the present application.

[0030] Wherein, 1, ring standard part; 2, continuum skeleton; 3, sleeve one; 4, sleeve two; 5, screw; 6, driving wire; 7, stepped groove; 8, stepped platform. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0032] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0033] Reference Figures 1 to 6 The present application provides a modular arthroscopic surgery robot structure based on stepped structure, comprising

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

[0035] An outer layer adjustment mechanism is coaxially movably arranged outside the center support mechanism, and the outer layer adjustment mechanism is used for realizing the bending adjustment of the modular continuum;

[0036] A fixing mechanism is detachably installed at both ends of the center support mechanism, and the fixing mechanism is used for fixing the outer layer adjustment mechanism outside the center support mechanism;

[0037] A driving mechanism is arranged inside the outer layer adjustment mechanism and the fixing mechanism, and the driving mechanism is used for providing power output for the bending adjustment of the modular continuum.

[0038] Further, the outer layer adjustment mechanism comprises a plurality of ring standard parts 1, the plurality of ring standard parts 1 are stacked outside the center support mechanism, two adjacent ring standard parts 1 are movably contacted through concave-convex structures, the ring standard part 1 at the end is movably contacted with the fixing mechanism, and the driving mechanism is arranged in the ring standard part 1.

[0039] Further, the concave-convex structure comprises two stepped grooves 7 and two stepped platforms 8, the stepped grooves 7 and the stepped platforms 8 are matched, the two stepped grooves 7 are arranged at one end of the circular ring standard part 1, the two stepped grooves 7 are symmetrical about the center of the circular ring standard part 1, the two stepped platforms 8 are fixedly connected at the other end of the circular ring standard part 1, and the two stepped platforms 8 are symmetrical about the center of the circular ring standard part 1.

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

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

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

[0043] Further, a plurality of through holes are arranged on the circular ring standard part 1, the plurality of through holes are arranged at equal intervals in the circumferential direction of the circular ring standard part 1, and the through holes are arranged alternately with the stepped grooves 7 and the stepped platforms 8.

[0044] Further, the center support mechanism comprises a continuum skeleton 2, the continuum skeleton 2 is a cylinder with open ends, a plurality of notches are arranged on the continuum skeleton 2, the plurality of notches are arranged at equal intervals in the circumferential direction and the axial direction of the side wall of the continuum skeleton 2, and the fixing mechanism is detachably installed at the two 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 form from top to bottom.

[0046] Further, the fixing mechanism comprises a sleeve one 3 and a sleeve two 4, the sleeve one 3 and the sleeve two 4 are detachably installed at the end of the continuum skeleton 2 through screws 5.

[0047] Further, one end of the sleeve one 3 is fixedly connected with two stepped platforms 8, the stepped platforms 8 on the sleeve one 3 are in movable contact with the stepped grooves 7 on the circular ring standard part 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 movable contact with the stepped platforms 8 on the circular ring standard part 1.

[0048] The stepped platforms 8 of the sleeve one 3 and the stepped grooves 7 of the sleeve two 4 facilitate movable contact with the stepped grooves 7 and the stepped platforms 8 of the circular ring standard part 1.

[0049] During installation, the sleeve one 3 is sleeved into the end of the continuum skeleton 2, two screws 5 are used to pass through the reserved holes on the sleeve one 3 and the continuum skeleton 2 and are tightened, a connection is formed, and the installation process of the sleeve two 4 is the same as that of the sleeve one 3.

[0050] Further, the driving mechanism comprises a plurality of driving wires 6, the driving wires 6 correspond to the through holes one by one and are arranged in the through holes.

[0051] The stepped groove 7 and the stepped platform 8 on the circular ring standard part 1 are high outside and low inside, facilitating the active contact with the adjacent circular ring standard part 1, and the through holes provided on the circular ring standard part 1 facilitate the bending of the overall structure by passing through the driving wires 6.

[0052] After the installation of the sleeve two 4 and one end of the continuum skeleton 2 is completed, the circular ring standard part 1 is continuously sleeved on the outside of the continuum skeleton 2 from the other end of the continuum skeleton 2, and the installation of the modular structure is realized.

[0053] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0054] The above-described embodiments are only descriptions of the preferred modes of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the present application.

Claims

1. Modular arthroscopic surgical robot structure based on stepped structure, characterized in that, The utility model relates to a modular continuum bending adjustment mechanism A center support mechanism is arranged inside the modular continuum, and is used to provide support for the bending adjustment of the modular continuum; An outer layer adjustment mechanism is coaxially movably arranged outside the center support mechanism, and is used to realize the bending adjustment of the modular continuum; A fixing mechanism is detachably mounted at both ends of the center support mechanism, and is used to fix the outer layer adjustment mechanism outside the center support mechanism; A driving mechanism is arranged inside the outer layer adjustment mechanism and the fixing mechanism, and is used to provide power output for the bending adjustment of the modular continuum; The outer layer adjustment mechanism comprises a plurality of ring standard parts (1), the plurality of ring standard parts (1) are stacked outside the center support mechanism, two adjacent ring standard parts (1) are movably contacted through a concave-convex structure, the ring standard part (1) at the end is movably contacted with the fixing mechanism, and the driving mechanism is arranged in the ring standard part (1); The concave-convex structure comprises two stepped grooves (7) and two stepped platforms (8), the stepped grooves (7) and the stepped platforms (8) are matched, two stepped grooves (7) are formed at one end of the ring standard part (1), the two stepped grooves (7) are symmetrical about the center of the ring standard part (1), two stepped platforms (8) are fixedly connected at the other end of the ring standard part (1), and the two stepped platforms (8) are symmetrical about the center of the ring standard part (1); The large-end of the stepped groove (7) is located on the inner side wall of the ring standard part (1), the small-end of the stepped groove (7) is located on the outer side wall of the ring standard part (1), the large-diameter end of the stepped platform (8) is located on the inner side wall of the ring standard part (1), and the small-end of the stepped platform (8) is located on the outer side wall of the ring standard part (1).

2. The modular arthroscopic surgical robot structure based on stepped structures of claim 1, wherein, The included angle between the two diameters where the two stepped grooves (7) and the two stepped platforms (8) are located is 45-75 degrees.

3. The modular arthroscopic surgical robot structure based on stepped structures of claim 1, wherein, A plurality of through holes are formed in the ring standard part (1), the plurality of through holes are equidistantly arranged along the circumference of the ring standard part (1), and the through holes are staggered with the stepped grooves (7) and the stepped platforms (8).

4. The modular arthroscopic surgical robot structure based on stepped structures of claim 3, wherein, The center support mechanism comprises a continuum skeleton (2), the continuum skeleton (2) is a cylinder with open ends, a plurality of notches are formed in the continuum skeleton (2), the plurality of notches are equidistantly arranged along the circumference and the axis of the side wall of the continuum skeleton (2), and the fixing mechanism is detachably mounted at both ends of the continuum skeleton (2).

5. The modular arthroscopic surgical robot structure based on stepped structures of claim 4, wherein, The fixing mechanism comprises sleeve one (3) and sleeve two (4), and the sleeve one (3) and the sleeve two (4) are detachably mounted at the ends of the continuum skeleton (2) through screws (5).

6. The modular arthroscopic surgical robot structure based on stepped structures of claim 5, wherein, One end of the sleeve one (3) is fixedly connected with two stepped platforms (8), the stepped platforms (8) on the sleeve one (3) are in movable contact with the stepped grooves (7) on the circular ring standard part (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 movable contact with the stepped platforms (8) on the circular ring standard part (1).

7. The modular arthroscopic surgical robot structure based on stepped structures of claim 5, wherein, The driving mechanism comprises a plurality of driving wires (6), the driving wires (6) correspond to the through holes one by one and are arranged in the through holes.

Images