Arthroscopic modulation device, system and control method

Abstract

The application discloses an arthroscope adjusting device, system and control method. The arthroscope adjusting device comprises a box assembly, a base assembly and a connecting piece. The box assembly is connected with the base assembly, and the connecting piece is connected with the base assembly. The box assembly is used for being connected with an arthroscope, and the connecting piece is used for being connected on the end of a mechanical arm. The box assembly comprises a first driving piece and a connecting structure. The connecting structure is connected with the arthroscope, and the first driving piece is connected with the connecting structure. The base assembly comprises a second driving piece and a moving structure. The second driving piece is connected with the moving structure. The arthroscope adjusting device is used in the scene of robot-assisted surgery, can realize flexible movement of the arthroscope in the joint cavity in various different postures through feeding and rotation while reducing the volume, and improves the flexibility of operation using the arthroscope.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of arthroscopic assistance, and in particular to an arthroscopic adjusting device, system and control method. BACKGROUND

[0002] In the field of modern medicine, the introduction of medical endoscopes has brought surgical procedures into the era of minimally invasive surgery. As a kind of endoscope, arthroscopy is currently widely used in minimally invasive surgery for diagnosing or treating joint diseases. In minimally invasive arthroscopic surgery, doctors usually rely on the cooperation of arthroscopes and surgical instruments to perform surgery. The doctor holds the endoscope with one hand and makes fine adjustments to obtain a clear surgical field. Due to the limited stability of the hand, it is often difficult to continuously and stably obtain a stable field of view through traditional manual operation of the endoscope. In minimally invasive surgery, the field of view of the arthroscope is limited, and the rotation of the angle arthroscope needs to be frequently operated in order to observe the surrounding tissues. The shaking of the hand during operation affects the surgical field of view and the surgical efficiency. It is also a great consumption of physical and mental energy for the doctor to manually operate the endoscope to maintain the stability of the visual angle for a long time. Therefore, in order to improve the stability of operation and the efficiency of surgery, in recent years, more and more operating rooms have introduced mechanical arms to assist in operating the arthroscope.

[0003] However, the current mechanical arms applied to arthroscopic operation have several major problems. First, most mechanical arms can only fix the arthroscope through the end gripping device, control the movement of the endoscope by changing the overall pose of the mechanical arm, however, in the process of realizing the feeding and rotation of the endoscope, even a small displacement and angle change may cause a significant movement of the overall spatial position of the mechanical arm. Such movement not only occupies the surgical space, affecting the operation of other equipment and medical staff, but also may cause potential risks to the patient. In particular, in arthroscopic surgery, the arthroscope needs to be inserted into the joint cavity, and the mechanical arm is very close to the patient's body surface. Any slight spatial deviation may cause accidental touch, increasing the risk during the operation.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] The main purpose of the present application is to provide an arthroscopic adjusting device, system and control method, which can improve the stability and safety of the small pose adjustment of the arthroscope, and solve the problems of large volume, large adjustment space and high risk of the arthroscopic adjusting device in the prior art.

[0006] A first aspect of this application provides an arthroscopy adjustment device, wherein the arthroscopy adjustment device includes a housing assembly, a base assembly, and a connector. The housing assembly is connected to the base assembly, and the connector is connected to the base assembly. The housing assembly is used to connect to the arthroscope, and the connector is used to connect to the end effector of a robotic arm. The housing assembly includes a first drive member and a connecting structure. The connecting structure is connected to the arthroscope, and the first drive member is connected to the connecting structure. The first drive member drives the arthroscope to rotate, and the connecting structure is used to lock or unlock the arthroscope. The base assembly includes a second drive member and a moving structure. The second drive member is connected to the moving structure, and the second drive member drives the moving structure to move, such that the moving structure drives the arthroscope to perform a feed motion.

[0007] In one possible implementation, the housing assembly further includes a rotating base plate; the connecting structure includes a fixed plate, a locking lever, and a rotating drive component, the rotating drive component being mounted on the rotating base plate, the fixed plate being fixedly connected to the rotating drive component, and the locking lever being rotatably connected between the fixed plate and the rotating drive component.

[0008] In one possible implementation, the base assembly further includes a feed base plate; the moving structure includes a lead screw, a lead screw nut, an optical shaft, and a connecting flange, the lead screw nut being fixedly connected to the connecting flange, the optical shaft being disposed on the feed base plate and rotatably connected to the connecting flange via a linear bearing, the lead screw being rotatably connected to the feed base plate, the lead screw nut being rotatably connected to the lead screw, and the connecting flange being fixedly connected to the rotating base plate.

[0009] In one possible implementation, the locking lever includes a disc and a paddle connected to the disc, the disc having a groove; the head of the arthroscope has a protrusion, the protrusion being connected to the rotary drive via the groove, and the paddle being moved to separate the protrusion from the groove, thereby preventing the arthroscope from detaching from the connecting structure.

[0010] In one possible implementation, the first driving member includes a first motor, a first pulley, and a second pulley connected to the rotating base plate. The first motor is connected to the first pulley, the first pulley is connected to the second pulley, and the second pulley is fixedly connected to the rotating driving member.

[0011] In one possible implementation, there are two optical axes, which are located on both sides of the lead screw. Each optical axis is connected to the connecting flange via a linear bearing. The moving structure also includes two baffles connected to the feed base plate, with each baffle corresponding to one of the two optical axes.

[0012] In one possible implementation, the second drive component includes a second motor, a third pulley, and a fourth pulley connected to the feed base plate. The second motor is connected to the third pulley, the third pulley is connected to the fourth pulley, and the fourth pulley is fixedly connected to the lead screw.

[0013] In one possible implementation, the housing assembly further includes a sensor plate and a first dust cover mounted on the rotating base plate; the base assembly further includes two proximity switches and a second dust cover mounted on the feed base plate, the two proximity switches being arranged along the moving direction of the arthroscope, and the sensor plate being arranged opposite to the two proximity switches.

[0014] A second aspect of this application also provides an arthroscopic adjustment system, wherein the arthroscopic adjustment system includes an arthroscopic adjustment device, an arthroscope, and a robotic arm as described in any of the above embodiments, the arthroscope is connected to the housing assembly, and the connector is connected to the connecting flange of the robotic arm.

[0015] A third aspect of this application also provides a control method for an arthroscopic adjustment device based on any one of the above solutions, wherein the control method includes:

[0016] When the arthroscope needs to be rotated, the first drive unit drives the arthroscope to rotate, and the connecting structure locks the arthroscope to prevent it from disengaging, so that the arthroscope can rotate at any set angle.

[0017] When the arthroscope needs to be fed, the second driving member drives the moving structure to move, so that the moving structure drives the arthroscope to perform feeding motion.

[0018] Beneficial effects: This application provides an arthroscopic adjustment device, system and control method. In the arthroscopic adjustment device, in the scenario of robot-assisted surgery, the arthroscope is driven to rotate by a first driving member, and the connecting structure locks or unlocks the arthroscope. The moving structure is driven to move by a second driving member, so that the moving structure drives the arthroscope to perform feed motion. This reduces the volume and allows the arthroscope to move flexibly in various postures in the joint cavity through feed and rotation, improving the flexibility of arthroscopic operation.

[0019] In addition to the technical problems solved by this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions as described above, other technical problems that can be solved by the arthroscopic adjustment device, system, and control method provided by this application, other technical features contained in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is an overall structural diagram of a preferred embodiment of the arthroscopic adjustment device of this application;

[0022] Figure 2 This is a structural diagram of the housing assembly of a preferred embodiment of the arthroscopic adjustment device of this application;

[0023] Figure 3 This is a structural diagram of the base assembly of a preferred embodiment of the arthroscopic adjustment device of this application;

[0024] Figure 4 This is an assembly diagram of the housing assembly of a preferred embodiment of the arthroscopic adjustment device of this application;

[0025] Figure 5 This is a structural diagram of the locking lever, fixing plate, and rotary drive component of a preferred embodiment of the arthroscopic adjustment device of this application.

[0026] Figure 6 This is an assembly diagram of the base assembly of a preferred embodiment of the arthroscopic adjustment device of this application;

[0027] Figure 7 This is a structural diagram of the connector of a preferred embodiment of the arthroscopic adjustment device of this application;

[0028] Figure 8 This is a flowchart of a preferred embodiment of the arthroscopic adjustment device of this application.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100. Housing assembly; 200. Base assembly; 3. Connecting parts;

[0031] 101. Arthroscopy; 102. Locking lever; 103. Fixation plate; 104. Rotation drive component; 105. Rotating base plate; 106. Rotating synchronous pulley; 107. First motor; 108. Induction plate; 109. Motor cover; 110. First dust cover;

[0032] 201. Feed base plate; 202. Second dust cover; 203. Pad block; 204. Optical shaft; 205. Lead screw; 206. Connecting flange; 207. Feed timing pulley; 208. Second motor; 209. Shielding plate; 210. Proximity switch; 211. Lead screw nut; 212. Linear bearing.

[0033] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0034] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In related technologies, arthroscopic surgery employs a two-handed approach, with one hand operating the endoscope and the other operating the instruments. However, manual operation of the endoscope is currently unstable, and robotic arm operation of the endoscope mostly involves the robotic arm holding it. The rotational fine-tuning of the endoscope can cause a large range of spatial changes in the robotic arm, occupying space and creating risks. The device of this application is used for fine-tuning the rotation and feed of the endoscope at the end of the robotic arm. When adjusting these two degrees of freedom of the arthroscope, the robotic arm remains stationary, ensuring high safety and flexible adjustment.

[0036] To address the issue of low flexibility and precision in arthroscopic surgery where the movement of the endoscope is controlled by a robotic arm due to changes in the robotic arm's position, this application provides an arthroscopic adjustment device, system, and control method. In this arthroscopic adjustment device, used in robot-assisted surgery scenarios, a first drive unit drives the arthroscope to rotate, and a connecting structure locks or unlocks the arthroscope. A second drive unit drives a moving structure to move, causing the moving structure to perform a feed motion on the arthroscope. This allows the arthroscope to move flexibly within the joint cavity in various postures through feed and rotation, improving the flexibility of arthroscopic operations. Therefore, this solves the technical problem in related arthroscopic surgeries where the movement of the endoscope is controlled by a robotic arm due to changes in the robotic arm's position, resulting in low precision in endoscope control.

[0037] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0038] like Figure 1 , Figure 2 and Figure 3 As shown in the figure, this application provides an arthroscopy adjustment device, which includes a housing assembly 100, a base assembly 200, and a connector 3. The housing assembly 100 is connected to the base assembly 200, and the connector 3 is connected to the base assembly 200. The housing assembly 100 is used to connect to the arthroscope 101, and the connector 3 is used to connect to the end of a robotic arm. The housing assembly 100 includes a first driving member and a connecting structure. The connecting structure is connected to the arthroscope 101, and the first driving member is connected to the connecting structure. The first driving member drives the arthroscope 101 to rotate, and the connecting structure is used to lock or unlock the arthroscope 101. The base assembly 200 includes a second driving member and a moving structure. The second driving member is connected to the moving structure, and the second driving member drives the moving structure to move, so that the moving structure drives the arthroscope 101 to perform a feed motion.

[0039] The arthroscopic adjustment device of this application includes a housing assembly 100, a base assembly 200, and a connector 3. The housing assembly 100 is connected to the base assembly 200 by bolts and shims to form a moving body. The moving body can be connected as a whole to the end flange of the robotic arm by the connector 3. The two degrees of freedom of the arthroscopic 101, rotation and feed, are realized through the transmission mechanisms in the housing assembly 100 and the base assembly 200, respectively.

[0040] This application achieves both feeding and rotation of the arthroscope 101 while maintaining a compact design, facilitating rapid intraoperative adjustment by the surgeon. The application employs motor control and incorporates sensors to meet the precise control requirements of the arthroscope 101 during clinical surgery.

[0041] like Figure 1As shown, the arthroscope 101 is installed inside the housing assembly 100. Four small holes are opened on the back of the rotating base plate 105 of the housing assembly 100. The same four small holes are opened on the flat plate of the triaxial connecting flange 206 of the base assembly 200 to match it. Four bolts are used to pass through these four corresponding small holes to connect the housing assembly 100 and the base assembly 200 together. Four small holes are opened on the feed base plate 201 of the base assembly 200 to correspond to the four small holes in the connector 3 (i.e., the robotic arm connecting flange) and are connected together by bolts. The four evenly distributed large holes of the connector 3 are connected to the end effector of the robot by bolts. An additional large hole is added for the wiring of the motor and sensor in the module to pass through.

[0042] In one embodiment of this application, the housing assembly 100 further includes a rotating base plate 105; the connecting structure includes a fixed plate 103, a locking lever 102, and a rotating drive component 104. The rotating drive component 104 is rotatably mounted on the rotating base plate 105 via bearings. The fixed plate 103 is fixedly connected to the rotating drive component 104, and the locking lever 102 is rotatably connected inside the rotating drive component 104.

[0043] Specifically, the fixing plate 103 of the connecting structure is fixedly connected to the rotating drive member 104, and the locking lever 102 is rotatably connected between the fixing plate 103 and the rotating drive member 104. The two positions of the locking lever 102 between the fixing plate 103 and the rotating drive member 104 correspond to the two states (locked or unlocked) of the arthroscope 101. Specifically, when the locking lever 102 locks the arthroscope 101, it prevents the arthroscope 101 from disengaging from the connecting structure (preventing the arthroscope from being pulled out), allowing the arthroscope 101 to rotate arbitrarily at a 360-degree angle via the first drive member. When the locking lever 102 unlocks the arthroscope 101, it releases the arthroscope 101, allowing the arthroscope 101 to be detached from or installed on the connecting structure. It can be understood that the fixing plate 103 is used to fix the arthroscope 101, and the arthroscope 101 is not related to the rotating base plate 105.

[0044] In one embodiment of this application, as Figure 3 As shown, the base assembly 200 further includes a feed base plate 201; the moving structure includes a lead screw 205, an optical axis 204, a connecting flange 206, a lead screw nut 211, and a linear bearing 212. The optical axis 204 is mounted on the feed base plate 201. The two ends of the lead screw 205 are rotatably connected to the feed base plate 201. The lead screw nut 211 is rotatably connected to the lead screw 205. The connecting flange 206 is fixedly connected to the lead screw nut 211 and the rotating base plate 105.

[0045] Specifically, the structure of the housing assembly 100 is as follows:Figure 2 and Figure 4 As shown, the housing assembly 100 includes a locking lever 102, a fixing plate 103, a rotary drive component 104, a rotating base plate 105, rotating synchronous pulleys 106 (first pulley and second pulley), a first motor 107, a sensing plate 108, a motor cover 109, and a first dust cover 110. The rotating base plate 105 serves as the load-bearing carrier for all components of the housing assembly 100. To securely connect the base plate to other components, an appropriate number of holes need to be designed and opened on the base plate. These holes serve two main purposes: one is to provide a channel for bolts to pass through, enabling mechanical connection between the base plate and other components; the other is to accommodate the passage and fixation of shafts. The arthroscope 101 is mounted on its upper side via the shaft hole of the rotating base plate 105. The position of the arthroscope 101 requires the cooperation of the locking lever 102, the fixing plate 103, and the rotary drive component 104.

[0046] It should be noted that the optical axis 201 serves as a guide and restricts the rotation of the connecting flange 206.

[0047] Specifically, four small holes are made on the flat plate of the three-axis connecting flange 206, which correspond one-to-one with the four small holes made on the back of the rotating base plate 105 in the housing assembly 100. The base assembly 200 and the housing assembly 100 can be connected by bolts.

[0048] In one embodiment of this application, the locking lever 102 includes a disc and a paddle connected to the disc, the disc having a groove; the head of the arthroscope 101 has a protrusion, the protrusion being connected to the rotary drive 104 through the groove, and the paddle being moved to separate the protrusion from the groove to prevent the arthroscope 101 from disengaging from the connecting structure.

[0049] Specifically, the locking lever 102 is a grooved circular piece that is clamped between the fixing plate 103 and the rotary drive 104, ensuring that the position of the locking lever 102 is fixed, while also allowing the locking lever 102 to rotate at a certain angle. When installing the arthroscope 101, there are two protrusions on the head of the arthroscope 101 on the image transmission side. These need to be aligned with the grooved part of the circular piece of the locking lever 102 and inserted. Then, the locking lever 102 is rotated at a certain angle to separate the protrusions of the arthroscope 101 from the groove of the circular piece of the locking lever 102.

[0050] In one embodiment of this application, the first driving member includes a first motor 107, a first pulley, and a second pulley connected to the rotating base plate 105. The first motor 107 is connected to the first pulley, the first pulley is connected to the second pulley, and the second pulley is fixedly connected to the rotating driving member 104.

[0051] It should be noted that the rotary drive 104 has a sleeve and a connecting plate. The connecting plate locks the arthroscope 101 with the fixed plate 103. The arthroscope 101 is inserted into the sleeve. The second pulley is directly connected to the sleeve. Thus, when the second pulley rotates, it drives the arthroscope 101 to rotate through the rotary drive 104.

[0052] See Figure 2 and Figure 5 One end of the arthroscope 101 passes through the rotating base plate 105 and engages with the fixed plate 103. The slender end of the arthroscope 101 passes through the rotating drive member 104, which is connected to the upper small pulley (i.e., the second pulley) of the rotating synchronous pulley 106. The first motor 107 is mounted on the lower part of the rotating base plate 105 through the shaft hole. One end of the first motor 107 passes through the rotating base plate 105 and is connected to the lower small pulley (i.e., the first pulley) of the rotating synchronous pulley 106.

[0053] Specifically, the structure of the base assembly 200 is as follows: Figure 3 and Figure 6 As shown, the base assembly 200 includes a feed base plate 201, a second dust cover 202, a pad 203, optical shafts 204, a ball screw 205, a screw nut 211, a linear bearing 212, a three-axis connecting flange 206, feed synchronous pulleys 207 (a third pulley and a fourth pulley), a second motor 208, a shielding plate 209, and a proximity switch 210. The second dust cover 202 is bolted to the left side of the feed base plate 201, mainly to protect the internal structure from damage. The two optical shafts 204 are connected to the three-axis connecting flange 206 via the linear bearings 212, and both ends of the optical shafts 204 are connected to the feed base plate 201 through shaft holes; the ball screw 205 is connected to the three-axis connecting flange 206 via the screw nut 211, and both ends of the ball screw 205 are connected to the feed base plate 201 via bearings.

[0054] In one embodiment of this application, there are two optical axes 204, which are respectively located on both sides of the lead screw 205. The moving structure also includes two baffles 209 connected to the feed base plate 201.

[0055] In one embodiment of this application, the second driving member includes a second motor 208 connected to the feed base plate 201 and a feed synchronous pulley 207 (a third pulley and a fourth pulley). The second motor 208 is connected to the third pulley, the third pulley is connected to the fourth pulley, and the fourth pulley is fixedly connected to the lead screw 205.

[0056] For details, see Figure 3 The feed timing pulley 207 is positioned higher ( Figure 3The small pulley (fourth pulley) of the feed synchronous pulley 207 (direction) is connected to the left end of the ball screw 205. The small pulley (third pulley) below the feed synchronous pulley 207 is connected to the output shaft of the second motor 208. Because the rotation of the feed synchronous pulley 207 will drive the rotation of the ball screw 205, thereby driving the displacement movement of the screw nut 211 and the three-axis connecting flange 206, the two optical shafts 204 guide the linear movement of the three-axis connecting flange 206 through the linear bearing 212 and restrict the rotation of the three-axis connecting flange 206. Two shielding plates 209 are bolted to the feed base plate 201. They can cover the two optical shafts 204 to prevent the optical shafts 204 and the ball screw 205 from being exposed to dust and structural damage.

[0057] It should be noted that the arthroscopic adjustment device achieves two degrees of freedom for the arthroscope 101: feed and rotation. Figure 2 In the housing assembly 100 shown, the first motor 107 is connected to the lower small pulley (first pulley) of the rotating synchronous pulley 106, and the arthroscope 101 is not connected to the upper small pulley (second pulley) of the rotating synchronous pulley 106. When the second pulley rotates, it can drive the arthroscope 101 to rotate through the rotary drive 104. When the drive motor is running, the rotation of the first motor 107 will drive the rotation of the small pulley (first pulley) connected to it, and the small pulley will drive the upper small pulley (second pulley) to rotate through the transmission belt. Thus, the arthroscope 101 is driven to rotate through the rotary drive 104 connected to the upper small pulley (second pulley), realizing the rotational freedom of the arthroscope 101. The locking lever 102 can prevent the arthroscope 101 from disengaging and realize the locking state of the arthroscope 101.

[0058] exist Figure 3In the base assembly 200 shown, the second motor 208 is connected to the lower small pulley (third pulley) of the feed synchronous pulley 207, and the ball screw 205 is connected to the upper small pulley (fourth pulley) of the feed synchronous pulley 207. The ball screw 205 is fitted into the three-axis connecting flange 206. The arthroscope 101 housing is bolted to the four small holes of the three-axis connecting flange 206. The arthroscope 101 is placed inside the arthroscope 101 housing. When the second motor 208 is driven, its rotation drives the rotation of the connected small pulley (third pulley), which in turn... The transmission belt drives the upper small pulley (fourth pulley) to rotate, which in turn drives the ball screw 205 to rotate. When the ball screw 205 rotates, it causes the screw nut 211 to produce displacement along the axial direction of the ball screw 205 and rotation around the axis. The connecting flange 206 is guided and its rotation is restricted by two optical shafts 204. Therefore, at this time, the three-axis connecting flange 206 will only produce displacement along the axial direction of the ball screw 205. When the three-axis connecting flange 206 has a back-and-forth displacement movement, the arthroscope 101 housing connected to it will also have a back-and-forth displacement movement, thereby realizing the degree of freedom of the arthroscope 101 feed.

[0059] In one embodiment of this application, the housing assembly 100 further includes a sensing plate 108 and a first dust cover 110 mounted on the rotating base plate 105; the base assembly 200 further includes two proximity switches 210 and a second dust cover 202 mounted on the feed base plate 201, the two proximity switches 210 being arranged along the moving direction of the arthroscope 101, and the sensing plate 108 being arranged opposite to the two proximity switches 210.

[0060] Specifically, the sensor 108 is screwed to the front of the rotating base plate 105 and works in conjunction with the proximity switch 210 in the base assembly 200. The motor cover 109 and the first dust cover 110 are bolted to the rotating base plate 105, mainly to protect the internal structure and prevent damage. The pad 203 is screwed to the feed base plate 201 to achieve redundant cooperation with the upper optical axis 204. The proximity switch 210 is divided into a positive limit switch and a negative limit switch, which are screwed to the feed base plate 201 and work in conjunction with the sensor 108 in the housing assembly 100. It is mainly used to limit the displacement of the arthroscope 101 and prevent it from exceeding its travel range and causing structural damage.

[0061] Figure 7 The diagram shows the structure of connector 3. The four small holes on it correspond to the small holes in the feed base plate 201 in the base assembly 200. The flange and arthroscope 101 module are connected as a whole by bolts. The four large holes are used to connect with the robot end flange. An additional large hole is added to allow the wiring of the motor and sensor to pass through.

[0062] Based on the above embodiments, this application also provides an arthroscopic adjustment system, wherein the arthroscopic adjustment system includes an arthroscopic adjustment device as described in any of the above solutions, an arthroscope 101, and a robotic arm, the arthroscope 101 is connected to the housing assembly 100, and the connector 3 is connected to the connecting flange of the robotic arm.

[0063] The arthroscopic adjustment system provided in this application has all the above-mentioned beneficial effects because it is equipped with the arthroscopic adjustment device described in any of the above technical solutions, which will not be repeated here.

[0064] Based on the above embodiments, this application also provides a control method for the arthroscopic adjustment device based on any one of the above solutions, such as... Figure 8 As shown, the control method includes:

[0065] Step S101: When the arthroscope needs to be rotated, the first driving member drives the arthroscope to rotate, and the connecting structure locks the arthroscope to prevent it from disengaging, so that the arthroscope can rotate at any set angle.

[0066] In step S102, when the arthroscope needs to be fed, the second driving member drives the moving structure to move, so that the moving structure drives the arthroscope to perform feeding motion.

[0067] The control method for the arthroscopic adjustment device provided in this application is applied to the aforementioned arthroscopic adjustment device, thereby possessing all the beneficial effects of the aforementioned arthroscopic adjustment device, which will not be elaborated further here.

[0068] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0069] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0071] It should be noted that, in this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0072] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An arthroscopic adjustment device, characterized in that, The arthroscopic adjustment device includes a housing assembly, a base assembly, and a connector. The housing assembly is connected to the base assembly, and the connector is connected to the base assembly. The housing assembly is used to connect to the arthroscope, and the connector is used to connect to the end of a robotic arm. The housing assembly includes a first driving member and a connecting structure. The connecting structure is connected to the arthroscope. The first driving member is connected to the connecting structure. The first driving member drives the arthroscope to rotate, and the connecting structure is used to lock or unlock the arthroscope. The base assembly includes a second driving member and a moving structure. The second driving member is connected to the moving structure, and the second driving member drives the moving structure to move, so that the moving structure drives the arthroscope to perform a feed motion. The enclosure assembly also includes a rotating base plate; The connecting structure includes a fixed disk, a locking lever, and a rotary drive component. The rotary drive component is mounted on the rotating base plate. The fixed disk is fixedly connected to the rotary drive component. The locking lever is rotatably connected between the fixed disk and the rotary drive component. The base assembly also includes a feed base plate; The moving structure includes a lead screw, a lead screw nut, an optical shaft, and a connecting flange. The lead screw nut is fixedly connected to the connecting flange. The optical shaft is disposed on the feed base plate and is rotatably connected to the connecting flange via a linear bearing. The lead screw is rotatably connected to the feed base plate. The lead screw nut is rotatably connected to the lead screw. The connecting flange is fixedly connected to the rotating base plate. The locking lever includes a disc and a paddle connected to the disc, the disc having a groove; The arthroscope has a protrusion at its head, which is connected to the rotary drive via a groove. Moving the protrusion causes the protrusion to separate from the groove, thus preventing the arthroscope from detaching from the connecting structure. The head of the arthroscope has two protrusions. When the arthroscope is installed, the two protrusions are aligned with the groove of the locking lever and engaged in the groove. The locking lever is then rotated to separate the two protrusions of the arthroscope from the groove of the locking lever. The first driving component includes a first motor, a first pulley, and a second pulley connected to the rotating base plate. The first motor is connected to the first pulley, the first pulley is connected to the second pulley, and the second pulley is fixedly connected to the rotating driving component. One end of the arthroscope passes through the rotating base plate and engages with the fixed plate; the slender end of the arthroscope passes through the rotating drive component, which is connected to the second pulley; the first motor passes through one end of the rotating base plate and is connected to the first pulley.

2. The arthroscopic adjustment device according to claim 1, characterized in that, The optical axis is provided in two parts, which are located on both sides of the lead screw. Each optical axis is connected to the connecting flange through a linear bearing. The moving structure also includes two baffles connected to the feed base plate, and the two baffles correspond one-to-one with the two optical axes.

3. The arthroscopic adjustment device according to claim 1, characterized in that, The second driving component includes a second motor, a third pulley, and a fourth pulley connected to the feed base plate. The second motor is connected to the third pulley, the third pulley is connected to the fourth pulley, and the fourth pulley is fixedly connected to the lead screw.

4. The arthroscopic adjustment device according to claim 1, characterized in that, The housing assembly also includes a sensor plate and a first dust cover mounted on the rotating base plate; The base assembly also includes two proximity switches and a second dust cover mounted on the feed base plate. The two proximity switches are arranged along the moving direction of the arthroscope, and the sensing plate is arranged opposite to the two proximity switches.

5. An arthroscopic adjustment system, characterized in that, The arthroscopic adjustment system includes an arthroscopic adjustment device, an arthroscope, and a robotic arm as described in any one of claims 1 to 4, wherein the arthroscope is connected to the housing assembly, and the connector is connected to the connecting flange of the robotic arm.

6. A control method for the arthroscopic adjustment device according to any one of claims 1 to 4, characterized in that, The control method includes: When the arthroscope needs to be rotated, the first drive unit drives the arthroscope to rotate, and the connecting structure locks the arthroscope to prevent it from disengaging, so that the arthroscope can rotate at any set angle. When the arthroscope needs to be fed, the second driving member drives the moving structure to move, so that the moving structure drives the arthroscope to perform feeding motion.

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