Modularized quick assembly and disassembly robot structure based on tenon-and-mortise connection for arthroscopic surgery

Abstract

The invention belongs to the technical field of surgical robots, and particularly relates to a tenon-and-mortise connection-based modular quick assembly and disassembly robot structure for arthroscopic surgery, which comprises a continuum skeleton made of a flexible material and of a cylindrical structure; the flexible body anti-turning shell is arranged on the outer side of the continuum framework in a sleeving mode, the flexible body anti-turning shell and the continuum framework are bent at the same time, and the flexible body anti-turning shell is used for reducing deformation of the continuum framework; and the driving structure is in transmission connection with the continuum framework, and the driving structure enables the continuum framework to be bent. According to the invention, the deformation degree of the continuum skeleton can be reduced through the flexible body anti-turning shell, so that the situation of bending or excessive deformation of the continuum skeleton in a high-load and complex environment is avoided, and the accuracy and stability of the surgery can be remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of surgical robots, and in particular relates to a modular quick assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery. Background Art

[0002] Hip arthroscopy is a minimally invasive surgical technique widely used in recent years to treat hip joint diseases. Compared with traditional open surgery, arthroscopy is less invasive and has a faster recovery. However, due to the complex anatomical structure of the hip joint and the narrow surgical operating space, it is often difficult to achieve the expected precision and flexibility during traditional surgery.

[0003] In order to solve the above problems, continuum surgical robots are gradually being used in arthroscopic surgery. With its flexibility and multi-degree-of-freedom characteristics, continuum robots can flexibly operate in narrow and complex joint spaces, providing higher surgical precision and less trauma.

[0004] Most of the existing continuum robot structures are based on flexible pipes or elastic materials such as nickel-titanium alloys, and can achieve relatively precise operations through flexible drive systems; however, existing continuum surgical robots are mainly concentrated in the field of endoscopic surgery, and their application in arthroscopic surgery is relatively limited. Arthroscopic surgery has more complex requirements for robot structure, especially in terms of operational stability, portability of disassembly and maintenance, and current continuum robots still have certain limitations. For example, typical continuum robots usually rely on a continuum skeleton made of elastic materials. Although they can be operated flexibly, their stability is weak, especially in high-load surgical operations, and they are prone to excessive bending or deformation. In addition, existing surgical robots usually adopt an integral structure, which makes it difficult to achieve modular operation, which may lead to a series of problems such as inability to quickly replace or maintain. Summary of the invention

[0005] The purpose of the present invention is to provide a modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery to solve the above problems.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] Modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery, including:

[0008] A continuum skeleton, wherein the continuum skeleton is made of a flexible material and is a cylindrical structure;

[0009] A flexible anti-bending shell is sleeved on the outside of the continuum frame, the flexible anti-bending shell and the continuum frame are bent simultaneously, and the flexible anti-bending shell is used to reduce the deformation of the continuum frame;

[0010] A driving structure is drivingly connected to the continuum skeleton, and the driving structure causes the continuum skeleton to bend.

[0011] Optionally, the flexible anti-bending shell includes a plurality of circular rings hinged in sequence, wherein the circular rings are sleeved on the outside of the continuum skeleton, and the plurality of circular rings are rotated in sequence from bottom to top, and two adjacent circular rings are hinged; the circular rings are connected to the continuum skeleton.

[0012] Optionally, the plurality of rings are rotated 120° sequentially from bottom to top.

[0013] Optionally, the circular ring is formed by splicing two semicircular rings, the ends of the semicircular rings are provided with a protruding cube and a recessed cube, the splicing part of the two semicircular rings constituting the circular ring is spliced ​​by the protruding cube and the recessed cube, and the splicing part of the two semicircular rings forming the circular ring forms a semicircular boss; a first circular hole is opened in the semicircular boss;

[0014] A semicircular recess is formed on the top surface of the semicircular ring, and the semicircular recess is hinged to the semicircular boss on the corresponding side of the circular ring above.

[0015] Optionally, the ring is rotatably connected to the continuum skeleton via screws;

[0016] The screw passes through the first circular hole of the circular ring and is threadedly connected with the second circular hole, and the second circular hole is opened on the side wall of the continuum skeleton;

[0017] A racetrack-shaped slot for bending the continuum skeleton is provided between two of the second circular holes at the same level.

[0018] Optionally, the driving structure includes:

[0019] A distal sleeve, hinged above the circular ring at the top and sleeved on the outside of the top of the continuum skeleton;

[0020] A proximal sleeve, hinged below the circular ring at the bottom and sleeved on the outer side of the bottom of the continuum skeleton;

[0021] The driving wire has a top end fixed to the distal sleeve and a bottom end penetrating the proximal sleeve and each of the circular rings. A plurality of the driving wires are provided, and the plurality of driving wires are circumferentially and evenly spaced on the distal sleeve.

[0022] Optionally, six driving wires are provided, and the semicircular ring of the circular ring is provided with through holes for the driving wires to pass through, the angle between the through holes located at the edge and the end face of the semicircular ring is 30°, and the angle between two adjacent through holes is 60°.

[0023] Optionally, the continuum skeleton is made of nickel-titanium alloy.

[0024] Compared with the prior art, the present invention has the following advantages and technical effects:

[0025] When in use, the continuum skeleton is bent through the driving structure. Since the continuum skeleton is externally mounted and connected with a flexible anti-bending shell, the flexible anti-bending shell can reduce the deformation of the continuum skeleton, thereby avoiding bending or excessive deformation of the continuum skeleton under high load and complex environments, which can significantly improve the accuracy and stability of the technique. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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:

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 It is an exploded view of the structure of the present invention;

[0029] Figure 3 It is a schematic diagram of the ring structure of the present invention;

[0030] Figure 4 This is a schematic diagram of the continuum skeleton structure of the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the distal sleeve and the proximal sleeve of the present invention;

[0032] Figure 6 The whole structure is formed by assembling the circular rings of the present invention;

[0033] Figure 7 It is the flow chart of the ring assembly of the present invention;

[0034] Figure 8 The present invention is a flowchart for installing the distal sleeve and the proximal sleeve;

[0035] Fig. 9 This is a modular quick installation flow chart of the present invention;

[0036] Fig.10 This is a flow chart for disassembling the circular ring at the designated position of the present invention;

[0037] Among them, 1. ring; 2. continuum skeleton; 3. distal sleeve; 4. proximal sleeve; 5. screw; 6. drive wire; 7. protruding cube; 8. recessed cube; 9. first circular hole; 10. second circular hole; 11. semicircular recess; 12. semicircular boss. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] Reference Figures 1 to 10 The present invention discloses a modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery, comprising:

[0041] The continuum frame 2 is made of a flexible material and is a cylindrical structure;

[0042] The flexible anti-bending shell is sleeved on the outside of the continuum frame 2. The flexible anti-bending shell and the continuum frame 2 are bent simultaneously. The flexible anti-bending shell is used to reduce the deformation of the continuum frame 2.

[0043] The driving structure is drivingly connected to the continuum frame 2 , and the driving structure causes the continuum frame 2 to bend.

[0044] When in use, the continuum skeleton 2 is bent through the driving structure. Since the continuum skeleton 2 is externally mounted and connected with a flexible anti-bending shell, the flexible anti-bending shell can reduce the deformation degree of the continuum skeleton 2, thereby avoiding bending or excessive deformation of the continuum skeleton 2 under high load and complex environment, which can significantly improve the accuracy and stability of the operation.

[0045] Since most existing continuum robots adopt an integral design, they are difficult to disassemble and assemble in a modular manner and to quickly maintain. As a result, if a problem occurs during the operation, specific components cannot be quickly replaced or adjusted, which increases the difficulty and risk of the operation. In addition, existing continuum robots lack a quick disassembly mechanism, and the complex assembly method is very unfavorable for complex arthroscopic surgeries that require frequent adjustments.

[0046] Therefore, we propose an assembly structure and method based on mortise and tenon connection structure.

[0047] As an optional embodiment, the flexible anti-bending shell includes a plurality of circular rings 1 hinged in sequence, wherein the circular rings 1 are sleeved on the outside of the continuum skeleton 2, and the plurality of circular rings 1 are rotated in sequence from bottom to top, and two adjacent circular rings 1 are hinged; the circular rings 1 are connected to the continuum skeleton 2.

[0048] As an optional implementation, a plurality of rings 1 are rotated 120° sequentially from bottom to top.

[0049] As an optional embodiment, the ring 1 is formed by splicing two semicircular rings, and the ends of the semicircular rings are provided with a protruding cube 7 and a recessed cube 8. The splicing of the two semicircular rings constituting the ring 1 is spliced ​​by interlacing the protruding cube 7 and the recessed cube 8, and the splicing of the two semicircular rings forms a semicircular boss 12; the semicircular boss 12 is provided with a first circular hole 9;

[0050] A semicircular recess 11 is formed on the top surface of the semicircular ring, and the semicircular recess 11 is hinged to a semicircular boss 12 on the corresponding side of the circular ring 1 above.

[0051] As an optional embodiment, the ring 1 is rotatably connected to the continuum skeleton 2 via a screw 5;

[0052] The screw 5 passes through the first circular hole 9 of the ring 1 and is threadedly connected with the second circular hole 10. The second circular hole 10 is opened on the side wall of the continuum frame 2.

[0053] A racetrack-shaped slot for bending the continuum skeleton 2 is provided between the two second circular holes 10 at the same level.

[0054] A semicircular cone protrudes below the end of the semicircular ring, which is convenient for hinge connection with the next layer of circular ring 1; a semicircular recess 11 is opened above the semicircular ring in a direction rotated 60°, which is convenient for hinge connection with the upper layer of circular ring 1; the ends of the two semicircular rings are spliced ​​to form a semicircular boss 12, and a first circular hole 9 is opened in the middle of the semicircular boss 12. The upper and lower parts of the first circular hole 9 are respectively made into a protruding cube 7 and a recessed cube 8, so that the two semicircular rings can be spliced ​​together and the screw 5 acting as a dowel can be inserted to realize the mortise and tenon connection.

[0055] The continuum skeleton 2 is made of a flexible material, and a runway-shaped slot is provided between the two second circular holes 10. The runway-shaped slot is formed by rotating 120° from top to bottom. The interval between the two runway-shaped slots is used to provide a second circular hole 10, so as to realize the mortise and tenon structure cooperation with the semicircular ring through screws 5.

[0056] As an optional implementation, the driving structure includes:

[0057] The distal sleeve 3 is hinged above the circular ring 1 at the top and sleeved on the outer side of the top of the continuum frame 2;

[0058] The proximal sleeve 4 is hinged below the circular ring 1 at the bottom and sleeved on the outer side of the bottom of the continuum frame 2;

[0059] The driving wire 6 has a top end fixed to the distal sleeve 3 and a bottom end penetrating the proximal sleeve 4 and each ring 1 . A plurality of driving wires 6 are provided, and the plurality of driving wires 6 are circumferentially and evenly spaced on the distal sleeve 3 .

[0060] A semicircular boss is formed below the distal sleeve 3, and a semicircular depression is formed above the proximal sleeve 4, which are respectively hingedly matched with the overall structure formed by assembling the semicircular rings.

[0061] As an optional embodiment, six drive wires 6 are provided, and the semicircular ring of the ring 1 is provided with a through hole for the drive wire 6 to pass through. The angle between the through hole located at the edge and the end face of the semicircular ring is 30°, and the angle between two adjacent through holes is 60°.

[0062] Three through holes are drilled on the semicircular ring at angles of 30°, 90° and 150° from top to bottom, so as to facilitate the passing of the driving wire 6 to realize the bending of the overall structure.

[0063] As an optional embodiment, the continuum skeleton 2 is made of nickel-titanium alloy.

[0064] As the continuum skeleton 2, a flexible material is required; the continuum skeleton 2 can be made of nickel-titanium alloy. Whether the nickel-titanium alloy is a rigid body or a flexible body depends on its working state and working temperature. First, the Young's modulus of nickel-titanium alloy is usually between 50GPa-75GPa, which makes it softer than many metal materials (such as steel, usually 210GPa), but harder than flexible materials such as rubber (usually 0.01GPa). Secondly, the superelastic properties of nickel-titanium alloy enable nickel-titanium alloy to return to its original state under large deformation, especially in the temperature range of 35℃-50℃ (i.e., the martensite to austenite phase transition interval). Nickel-titanium alloy has high flexibility in this temperature range. When it is at a higher temperature (austenite phase), its rigidity performance will be closer to that of traditional metals. This patent mainly uses the superelastic characteristics of nickel-titanium alloy, and the working temperature is at room temperature, so it will show a large elastic deformation ability and can be considered as a flexible body.

[0065] However, it should be noted that the continuum skeleton of this patent does not have to be made of nickel-titanium alloy. Other materials with higher flexibility can still be used, such as aluminum alloy.

[0066] The technical advantages of the present invention are:

[0067] 1. Mortise and tenon connection method:

[0068] The coordination between the ring 1, the screw 5 and the continuum skeleton 2 is as follows: Figure 7 shown.

[0069] (1) The two semicircular rings are interlaced and spliced ​​through the protruding cube 7 and the concave cube 8, and are wrapped around the periphery of the continuous body skeleton 2;

[0070] (2) The screw 5 acting as a dowel is passed through the first circular hole 9 formed by the splicing of the semicircular rings and the second circular hole 10 on the continuum skeleton 2 and tightened simultaneously to form a mortise and tenon connection.

[0071] 2. The matching mode of the distal and proximal sleeves:

[0072] The cooperation between the continuum frame 2, the distal sleeve 3, and the proximal sleeve 4 is as follows: Figure 8 shown.

[0073] Take the distal sleeve as an example.

[0074] (1) The distal sleeve 3 is inserted into the continuum skeleton 2;

[0075] (2) The screws 5 are passed through the reserved holes on the distal sleeve 3 and the continuum frame 2 and tightened simultaneously to form a connection.

[0076] 3.Modular quick assembly and disassembly structure installation steps:

[0077] like Fig. 9 shown.

[0078] After the semicircular rings are assembled to form a complete circular ring 1, two adjacent circular rings 1 are hinged and spliced ​​layer by layer through the cooperation of the semicircular recesses 11 and the semicircular bosses 12.

[0079] 4. Disassembly steps for specific parts:

[0080] Disassembly methods for specific parts such as Fig.10 shown.

[0081] (1) Unscrew the mortise and tenon connection screws 5 in opposite directions;

[0082] (2) Remove the semicircular rings that are spliced ​​opposite to each other to complete the disassembly of the circular ring 1 at the designated position.

[0083] Based on the above features, the present invention enables the robot to achieve rapid modular disassembly and assembly through the mortise and tenon connection design. This not only simplifies the replacement and adjustment of components, but also improves the maintenance efficiency of the surgical robot. If an accident occurs during the operation, this design can greatly reduce the failure time of the surgical equipment, reduce the operation interruption time, and help improve the efficiency of the operation. By combining the mortise and tenon structure with the flexible continuum skeleton, the present invention enhances the stability of the robot structure, especially in complex environments such as hip arthroscopy, it can maintain high operating accuracy and stability. This design helps to reduce the deformation of flexible materials during high-load operations, thereby improving the success rate of the operation. By adopting a modular design, the assembly and replacement of components are simplified, the replacement frequency of the entire machine is reduced, and thus the energy consumption during the manufacturing and maintenance process is reduced.

[0084] 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.

[0085] The embodiments described above are only descriptions of the preferred modes 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 all fall within the protection scope determined by the claims of the present invention.

Claims

1. A modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery, characterized in that: include: A continuum skeleton (2), wherein the continuum skeleton (2) is made of a flexible material and is a cylindrical structure; A flexible anti-bending shell is sleeved on the outside of the continuum frame (2), the flexible anti-bending shell and the continuum frame (2) are bent simultaneously, and the flexible anti-bending shell is used to reduce the deformation of the continuum frame (2); A driving structure is drivingly connected to the continuum skeleton (2), and the driving structure causes the continuum skeleton (2) to bend.

2. The modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery according to claim 1, characterized in that: The flexible anti-bending shell comprises a plurality of circular rings (1) which are hinged in sequence. The circular rings (1) are sleeved on the outside of the continuous body frame (2). The plurality of circular rings (1) are rotated in sequence from bottom to top, and two adjacent circular rings (1) are hinged. The circular rings (1) are connected to the continuous body frame (2).

3. The modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery according to claim 2, characterized in that: The plurality of circular rings (1) are rotated 120 degrees from bottom to top in sequence.

4. The modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery according to claim 2, characterized in that: The circular ring (1) is formed by splicing two semicircular rings, and the ends of the semicircular rings are provided with a protruding cube (7) and a recessed cube (8). The splicing part of the two semicircular rings constituting the circular ring (1) is spliced ​​by the protruding cube (7) and the recessed cube (8), and the splicing part of the two semicircular rings forms a semicircular boss (12); the semicircular boss (12) is provided with a first circular hole (9); A semicircular recess (11) is provided on the top surface of the semicircular ring, and the semicircular recess (11) is hingedly connected to the semicircular boss (12) on the corresponding side of the circular ring (1) located above.

5. The modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery according to claim 4, characterized in that: The circular ring (1) is rotatably connected to the continuum skeleton (2) via a screw (5); The screw (5) passes through the first circular hole (9) of the circular ring (1) and is threadedly connected to the second circular hole (10), and the second circular hole (10) is opened on the side wall of the continuum skeleton (2); A racetrack-shaped slot for bending the continuum skeleton (2) is provided between two of the second circular holes (10) at the same level.

6. The modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery according to claim 4, characterized in that: The driving structure comprises: A distal sleeve (3) is hinged above the circular ring (1) at the top and sleeved on the outside of the top of the continuum frame (2); A proximal sleeve (4) is hingedly connected below the circular ring (1) at the bottom and sleeved on the outer side of the bottom of the continuum frame (2); The driving wire (6) has a top end fixed to the distal sleeve (3) and a bottom end passing through the proximal sleeve (4) and each of the circular rings (1). A plurality of the driving wires (6) are provided, and the plurality of driving wires (6) are circumferentially and evenly spaced on the distal sleeve (3).

7. The modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery according to claim 6, characterized in that: Six drive wires (6) are provided, and a through hole for the drive wire (6) to pass through is provided on the semicircular ring of the ring (1), the angle between the through hole located at the edge and the end face of the semicircular ring is 30°, and the angle between two adjacent through holes is 60°.

8. The modular rapid assembly and disassembly robot structure based on mortise and tenon connection for arthroscopic surgery according to claim 1, characterized in that: The continuum skeleton (2) is made of nickel-titanium alloy.

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