Modular rapid assembly and disassembly robot structure based on mortise and tenon joints for arthroscopic surgery

Abstract

This invention belongs to the field of surgical robot technology, and particularly relates to a modular, rapid assembly / disassembly robot structure based on mortise and tenon joints for arthroscopic surgery. The structure includes: a continuous skeleton made of flexible material and having a cylindrical structure; a flexible anti-bending shell fitted over the outside of the continuous skeleton, which bends simultaneously with the continuous skeleton to reduce deformation; and a drive structure connected to the continuous skeleton for bending. This invention, through the flexible anti-bending shell, reduces the degree of deformation of the continuous skeleton, thereby preventing bending or excessive deformation under high loads and complex environments, significantly improving surgical accuracy and stability.

Description

Technical Field

[0001] This invention belongs to the field of surgical robot technology, and particularly relates to a modular rapid assembly and disassembly robot structure based on mortise and tenon joints for arthroscopic surgery. Background Technology

[0002] Hip arthroscopy is a minimally invasive surgical technique that has been widely used in recent years to treat hip joint diseases. Compared with traditional open surgery, arthroscopic surgery is less invasive and allows for faster recovery. However, due to the complex anatomy of the hip joint and the narrow surgical space, traditional surgical procedures often cannot achieve the expected precision and flexibility.

[0003] To address these challenges, continuum surgical robots are increasingly being used in arthroscopic surgery. Through their flexibility and multiple degrees of freedom, continuum robots can operate flexibly in confined and complex joint spaces, providing greater surgical precision and less trauma.

[0004] Most existing continuum robot structures are based on flexible tubing or elastic materials such as nickel-titanium alloys, enabling relatively precise manipulation through flexible drive systems. However, current continuum surgical robots are mainly concentrated in the field of endoscopic surgery, with limited application in arthroscopic surgery. Arthroscopic surgery places more complex demands on robot structures, particularly in terms of operational stability, ease of disassembly and maintenance, where current continuum robots still face certain limitations. For example, typical continuum robots usually rely on a continuous skeleton made of elastic materials, which, while allowing for flexible operation, has relatively weak stability, especially during high-load surgical procedures, making them prone to excessive bending or deformation. Furthermore, existing surgical robots typically employ a monolithic structure, making modular operation difficult, which may lead to a series of problems such as the inability to quickly replace or maintain them. Summary of the Invention

[0005] The purpose of this invention is to provide a modular, rapid assembly and disassembly robot structure based on mortise and tenon joints for arthroscopic surgery, in order to solve the above-mentioned problems.

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

[0007] A modular, rapid assembly / disassembly robot structure based on mortise and tenon joints for arthroscopic surgery, comprising:

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

[0009] A flexible anti-bending shell is fitted onto the outside of the continuous skeleton. The flexible anti-bending shell bends simultaneously with the continuous skeleton, and the flexible anti-bending shell is used to reduce the deformation of the continuous skeleton.

[0010] A drive structure is connected to the continuous skeleton in a transmission manner, and the drive structure causes the continuous skeleton to bend.

[0011] Optionally, the flexible anti-bending shell includes a plurality of rings that are hinged in sequence. The rings are sleeved on the outside of the continuous skeleton. The plurality of rings are arranged to rotate in sequence from bottom to top, and two adjacent rings are hinged together. The rings are connected to the continuous skeleton.

[0012] Optionally, several of the rings may be rotated 120° sequentially from bottom to top.

[0013] Optionally, the ring is formed by splicing two semicircular rings. The ends of the semicircular rings are provided with protruding cuboids and recessed cuboids. The splicing point of the two semicircular rings that make up the ring is spliced ​​by the interlacing of the protruding cuboids and the recessed cuboids, and the splicing point of the two semicircular rings forms a semicircular boss. A first circular hole is opened in the semicircular boss.

[0014] The top surface of the semicircular ring has a semicircular recess, which is hinged to the semicircular boss on the corresponding side of the upper ring.

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

[0016] The screw passes through the first circular hole of the ring and is threaded into the second circular hole, which is formed on the side wall of the continuum skeleton.

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

[0018] Optionally, the driving structure includes:

[0019] The distal sleeve is hinged above the top ring and sleeved on the outer side of the top of the continuum skeleton;

[0020] The proximal sleeve is hinged below the bottom ring and sleeved on the outside of the bottom of the continuum skeleton;

[0021] The driving wire has its top end fixed to the distal sleeve and its bottom end passing through the proximal sleeve and each of the rings. There are multiple driving wires, and the multiple driving wires are circumferentially spaced on the distal sleeve.

[0022] Optionally, the drive wire is provided with six wires, and the semicircular ring of the ring is provided with through holes for the drive wires 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°.

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

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

[0025] In use, the continuous skeleton is bent by the driving structure. Because the continuous skeleton is covered and connected to a flexible anti-bending shell, the deformation of the continuous skeleton can be reduced, thereby avoiding bending or excessive deformation of the continuous skeleton under high load and complex environment, which can significantly improve the accuracy and stability of the operation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0029] Figure 3 This 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 This is a schematic diagram of the distal sleeve and proximal sleeve structure of the present invention;

[0032] Figure 6 This invention relates to an integral structure formed by assembling circular rings.

[0033] Figure 7 This is a flowchart of the circular ring assembly process of the present invention;

[0034] Figure 8 This is a flowchart illustrating the installation process of the distal sleeve and proximal sleeve of the present invention.

[0035] Figure 9 This is a flowchart illustrating the modular rapid installation process of this invention;

[0036] Figure 10 This is a flowchart illustrating the disassembly process of the ring at a specified location in this invention.

[0037] Among them, 1. Ring; 2. Continuous skeleton; 3. Distal sleeve; 4. Proximal sleeve; 5. Screw; 6. Drive wire; 7. Protruding cuboid; 8. Recessed cuboid; 9. First circular hole; 10. Second circular hole; 11. Semicircular recess; 12. Semicircular boss. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

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

[0041] Continuous skeleton 2, which is made of flexible material and has a cylindrical structure;

[0042] A flexible anti-bending shell is fitted on the outside of the continuous skeleton 2. The flexible anti-bending shell bends simultaneously with the continuous skeleton 2. The flexible anti-bending shell is used to reduce the deformation of the continuous skeleton 2.

[0043] The drive structure is connected to the continuous skeleton 2 via a transmission, and the drive structure causes the continuous skeleton 2 to bend.

[0044] In use, the continuous skeleton 2 is bent by the driving structure. Since the continuous skeleton 2 is covered and connected to a flexible anti-bending shell, the flexible anti-bending shell can reduce the degree of deformation of the continuous skeleton 2, thereby avoiding bending or excessive deformation of the continuous 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 a monolithic design, it is difficult to modularly disassemble and quickly maintain them. This makes it impossible to quickly replace or adjust specific parts if problems occur during surgery, which increases the difficulty and risk of the surgery. In addition, existing continuum robots lack a quick disassembly mechanism, and the complex assembly method is very disadvantageous for complex arthroscopic surgeries that require frequent adjustments.

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

[0047] As an optional implementation, the flexible anti-bending shell includes several rings 1 that are hinged in sequence. The rings 1 are sleeved on the outside of the continuous frame 2. The rings 1 are arranged in sequence from bottom to top and are hinged to each other. The rings 1 are connected to the continuous frame 2.

[0048] As an alternative implementation, several rings 1 are rotated 120° sequentially from bottom to top.

[0049] As an optional implementation, the ring 1 is composed of two semi-circular rings joined together. The ends of the semi-circular rings are provided with protruding cubes 7 and recessed cubes 8. The joint of the two semi-circular rings that make up the ring 1 is joined together by the protruding cubes 7 and recessed cubes 8, and the joint of the two semi-circular rings forms a semi-circular boss 12. A first circular hole 9 is provided in the semi-circular boss 12.

[0050] The top surface of the semicircular ring has a semicircular recess 11, which is hinged to the semicircular boss 12 on the corresponding side of the upper ring 1.

[0051] As an optional implementation, the ring 1 is rotatably connected to the continuous skeleton 2 by screws 5;

[0052] After passing through the first circular hole 9 of the ring 1, the screw 5 is threaded into the second circular hole 10, which is located on the side wall of the continuous skeleton 2.

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

[0054] A semicircular platform protrudes from the lower end of the semicircular ring to facilitate hinged connection with the next layer of ring 1; a semicircular recess 11 is formed on the upper part of the semicircular ring by rotating 60° to facilitate hinged connection with the previous layer of ring 1; the ends of the two semicircular rings are joined together to form a semicircular boss 12, and a first circular hole 9 is formed in the middle of the semicircular boss 12. A protruding cuboid 7 and a recessed cuboid 8 are formed above and below the first circular hole 9, respectively, so that the two semicircular rings can be joined together while a screw 5, which acts as a tenon, is inserted to achieve mortise and tenon connection.

[0055] The continuous skeleton 2 is made of flexible material. A racetrack-shaped slot is provided between the two second circular holes 10. The racetrack-shaped slot is formed by rotating 120° from top to bottom. The interval between the two racetrack-shaped slots is used to open the second circular holes 10, so that the mortise and tenon structure can be achieved with the semi-circular ring through the screws 5.

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

[0057] The distal sleeve 3 is hinged above the top ring 1 and sleeved on the outer side of the top of the continuous skeleton 2.

[0058] The proximal sleeve 4 is hinged below the bottom ring 1 and sleeved on the outside of the bottom of the continuous skeleton 2;

[0059] The top end of the drive wire 6 is fixed to the distal sleeve 3, and the bottom end passes through the proximal sleeve 4 and each ring 1. There are multiple drive wires 6, and the multiple drive wires 6 are circumferentially and equally spaced on the distal sleeve 3.

[0060] A semi-circular boss is formed below the distal sleeve 3, and a semi-circular recess is formed above the proximal sleeve 4, which respectively achieve a hinged fit with the overall structure formed by assembling the semi-circular ring.

[0061] As an optional implementation, the drive wire 6 is provided with six wires, and the semicircular ring of the ring 1 is provided with through holes 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 punched at 30°, 90° and 150° on the semi-circular ring, from top to bottom, to facilitate the passage of the drive wire 6 to achieve bending of the overall structure.

[0063] As an alternative implementation, the continuum framework 2 is made of nickel-titanium alloy.

[0064] As the continuous framework 2, a flexible material is required. The continuous framework 2 can be made of nickel-titanium alloy. Whether the nickel-titanium alloy is rigid or flexible depends on its operating conditions and temperature. First, the Young's modulus of nickel-titanium alloy is typically between 50 GPa and 75 GPa, making it softer than many metallic materials (such as steel, typically 210 GPa), but harder than flexible materials like rubber (typically 0.01 GPa). Second, the superelastic properties of nickel-titanium alloy allow it to recover its original shape under significant deformation, especially in the temperature range of 35℃-50℃ (i.e., the martensitic to austenitic phase transformation range), where it exhibits high flexibility. At higher temperatures (in the austenitic phase), its rigidity becomes closer to that of traditional metals. This patent primarily utilizes the superelastic properties of nickel-titanium alloy, operating at room temperature, thus exhibiting a large elastic deformation capacity and can be considered a flexible material.

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

[0066] The technical advantages of this invention are:

[0067] 1. Mortise and tenon joint method:

[0068] The mating method between ring 1, screw 5 and continuous skeleton 2 is as follows: Figure 7 As shown.

[0069] (1) Two semicircular rings are spliced ​​together by interlacing the protruding cube 7 and the concave cube 8, and at the same time wrap around the outer side of the continuous skeleton 2.

[0070] (2) The screws 5, which act as tenons, pass through the first round hole 9 formed by the splicing of the semi-circular rings and the second round hole 10 on the continuous skeleton 2 and are tightened at the same time to form a tenon-and-mortise connection.

[0071] 2. Proximal and distal end sleeve mating method:

[0072] The fitting method between the continuous skeleton 2, distal sleeve 3, and proximal sleeve 4 is as follows: Figure 8 As shown.

[0073] Take the distal sleeve as an example.

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

[0075] (2) The screws 5 pass through the pre-drilled holes on the distal sleeve 3 and the continuous skeleton 2 in opposite directions and are tightened simultaneously to form a connection.

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

[0077] like Figure 9 As shown.

[0078] After the complete ring 1 is formed by assembling the semicircular rings, the two adjacent rings 1 are hinged and layered by the cooperation of the semicircular recess 11 and the semicircular protrusion 12.

[0079] 4. Disassembly steps for specific parts:

[0080] Disassembly methods for specific parts, such as Figure 10 As shown.

[0081] (1) Five screws for counter-rotating tenon-and-mortise joints;

[0082] (2) Remove the opposing semicircular rings to complete the disassembly of the designated part of the ring 1.

[0083] Based on the above features, this invention utilizes a mortise and tenon joint design to enable rapid modular assembly and disassembly of the robot. This not only simplifies component replacement and adjustment but also improves the maintenance efficiency of the surgical robot. In the event of unforeseen circumstances during surgery, this design can significantly reduce equipment downtime and surgical interruption, thus contributing to improved surgical efficiency. By combining the mortise and tenon structure with a flexible continuous skeleton, this invention enhances the stability of the robot structure, particularly in complex environments such as hip arthroscopy, maintaining high operational precision and stability. This design helps reduce deformation of flexible materials under high-load conditions, thereby improving surgical success rates. The modular design simplifies component assembly and replacement, reducing the frequency of complete machine replacement and thus lowering energy consumption during manufacturing and maintenance.

[0084] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to 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 invention.

[0085] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A modular, rapid assembly / disassembly robot structure based on mortise and tenon joints for arthroscopic surgery, characterized in that, include: A continuous skeleton (2) is made of a flexible material and has a cylindrical structure. A flexible anti-bending shell is fitted on the outside of the continuous skeleton (2). The flexible anti-bending shell bends simultaneously with the continuous skeleton (2). The flexible anti-bending shell is used to reduce the deformation of the continuous skeleton (2). A driving structure is connected to the continuous skeleton (2) in a transmission manner, and the driving structure causes the continuous skeleton (2) to bend; The flexible anti-bending shell includes a number of rings (1) that are hinged together in sequence. The rings (1) are sleeved on the outside of the continuous skeleton (2). The rings (1) are arranged to rotate from bottom to top in sequence, and two adjacent rings (1) are hinged together. The rings (1) are connected to the continuous skeleton (2). The ring (1) is composed of two semi-circular rings joined together. The ends of the semi-circular rings are provided with a protruding cuboid (7) and a recessed cuboid (8). The joint of the two semi-circular rings that make up the ring (1) is connected by the protruding cuboid (7) and the recessed cuboid (8), and the joint of the two semi-circular rings forms a semi-circular boss (12). A first circular hole (9) is provided in the semi-circular boss (12). The top surface of the semicircular ring is provided with a semicircular recess (11), and the semicircular recess (11) is hinged to the semicircular boss (12) on the corresponding side of the upper ring (1). The ring (1) is rotatably connected to the continuous skeleton (2) by screws (5); The screw (5) passes through the first circular hole (9) of the ring (1) and is threaded into the second circular hole (10), which is opened on the side wall of the continuous skeleton (2). A racetrack-shaped slot is provided between the two second circular holes (10) at the same horizontal height for bending of the continuous skeleton (2).

2. The modular rapid assembly / disassembly robot structure for arthroscopic surgery based on mortise and tenon joints as described in claim 1, characterized in that: Several of the aforementioned rings (1) are rotated 120° sequentially from bottom to top.

3. The modular rapid assembly / disassembly robot structure for arthroscopic surgery based on mortise and tenon joints as described in claim 1, characterized in that, The driving structure includes: The distal sleeve (3) is hinged above the top ring (1) and sleeved on the outside of the top of the continuum skeleton (2); The proximal sleeve (4) is hinged below the ring (1) located at the bottom and sleeved on the outside of the bottom of the continuum skeleton (2); The top end of the drive wire (6) is fixed to the distal sleeve (3), and the bottom end passes through the proximal sleeve (4) and each of the rings (1). There are multiple drive wires (6), and the multiple drive wires (6) are circumferentially and equally spaced on the distal sleeve (3).

4. The modular rapid assembly / disassembly robot structure for arthroscopic surgery based on mortise and tenon joints as described in claim 3, characterized in that: The drive wire (6) is provided with six wires. 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°.

5. The modular rapid assembly / disassembly robot structure for arthroscopic surgery based on mortise and tenon joints as described in claim 1, characterized in that: The continuum skeleton (2) is made of nickel-titanium alloy.

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