A continuum robot for minimally invasive neurosurgery

Abstract

The present invention relates to a continuum robot for minimally invasive neurosurgery, comprising a reaming assembly comprising a first reaming disc, a second reaming disc positioned behind the first reaming disc, a plurality of first tendons for driving the first reaming disc, and a plurality of second tendons for driving the second reaming disc; a support assembly for supporting the subsequent space after the first and second reaming discs have been reamed into place, comprising multiple sets of first intervertebral discs and multiple sets of second intervertebral discs having the same structure as the first intervertebral discs but arranged in opposite directions, the first and second intervertebral discs being interlaced and interwoven along the first and second tendons in an anterior-posterior direction; and a drive assembly for synchronously driving the first or second intervertebral disc to unlock or lock the first or second tendon, thereby enabling the first or second intervertebral disc to be alternately advanced along the first and second tendons. The continuum robot of the present invention has a compact spatial design and FTL characteristics, which can reduce trauma and damage to the human body.

Description

Technical Field

[0001] The present invention relates to the technical field of continuum robots, and in particular to a continuum robot for minimally invasive neurosurgery. Background Art

[0002] In the field of neurosurgery, conditions such as epilepsy and Parkinson's disease require surgical procedures deep within the brain, placing stringent demands on instrument size, operational precision, and safety. Traditional rigid medical devices struggle with precision manipulation. While existing continuum surgical robots offer advantages such as minimal trauma, active bending, and improved operational precision, they struggle with the ability to follow distal trajectory deployment and precisely adjust rigidity during specific surgical procedures.

[0003] FTL (Follow-The-Leader) is a motion in which a subject follows a deployed distal trajectory. Existing methods for implementing FTL characteristics have inevitable limitations, such as the need for existing track-constrained forms for wall constraints; the need for pre-bending concentric tube configurations, resulting in weak loads and complex control; and multi-drive control systems with numerous drive elements, large size, and complex control.

[0004] The reaction force during surgical operations is a key factor affecting manipulation accuracy. Therefore, maintaining high stiffness during surgical operations helps reduce manipulation errors. Current variable stiffness adjustment methods for continuum robots have unavoidable limitations, such as large fluid drive diameters, complex manipulation, and the risk of leakage; SMA drive systems use temperature control and are incompatible with the brain environment; magnetic drive has low driving force and very limited variable stiffness effects; and while conventional tendon traction control can avoid these drawbacks, it cannot achieve FTL characteristics.

[0005] Therefore, there is an urgent need to invent a tendon stretching stiffness mechanism based on a discrete joint configuration and capable of being combined with an FTL characteristic robot. Summary of the Invention

[0006] In response to the above problems, a continuum robot for minimally invasive neurosurgery is provided, which aims to effectively solve the problems existing in the background technology.

[0007] The specific technical solutions are as follows:

[0008] A continuum robot for minimally invasive neurosurgery, comprising:

[0009] A reaming assembly comprising a first reaming plate, a second reaming plate positioned behind the first reaming plate, a plurality of first tendons for driving the first reaming plate, and a plurality of second tendons for driving the second reaming plate;

[0010] A support assembly, used to support the subsequent space after the first and second reaming discs are reamed in place, comprising multiple sets of first intervertebral discs and multiple sets of second intervertebral discs with the same structure as the first intervertebral discs and arranged in the opposite direction, wherein the first and second intervertebral discs are alternately arranged on the first tendon and the second tendon in the anterior-posterior direction; and

[0011] The driving assembly is used for synchronously driving the first intervertebral disc or the second intervertebral disc to unlock or lock the first tendon or the second tendon, so that the first intervertebral disc or the second intervertebral disc is fed alternately along the first tendon or the second tendon.

[0012] Furthermore, the first tendon and the second tendon are staggered in the circumferential direction, the top of the first tendon passes through the second reaming disk upward and is pivotally connected to the first reaming disk, and the second tendon is pivotally connected to the second reaming disk.

[0013] Furthermore, the first intervertebral disc and the second intervertebral disc have the same structure and both include an upper end cover and a lower end cover installed on the upper end cover, and the upper end cover and the lower end cover are passed through the first tendon and the second tendon.

[0014] Furthermore, a plurality of claws are installed at intervals along the circumferential direction on the upper end cover, a plurality of clamping grooves matching the claws are installed at intervals along the circumferential direction on the lower end cover, and the lower end cover is installed on the claws through the clamping grooves.

[0015] Furthermore, the drive assembly includes:

[0016] A plurality of limiting plates are installed on the upper end cover at intervals along the circumferential direction, and the first tendon or the second tendon is correspondingly passed through the limiting plates; and

[0017] A plurality of limiting pressure rings are rotatably mounted on the upper end cover, and limiting flanges are installed on the limiting pressure rings at intervals along the circumferential direction;

[0018] Among them, when the limiting pressure ring rotates and causes the limiting flange to squeeze the limiting plate, the limiting plate locks the first tendon or the second tendon; when the limiting pressure ring rotates and causes the limiting flange to disengage from the limiting plate, the limiting plate unlocks the first tendon or the second tendon.

[0019] Furthermore, part of the limiting piece is installed in the limiting groove of the lower end cover, and the remaining part of the limiting piece passes through the limiting groove.

[0020] Furthermore, the drive component also includes:

[0021] A plurality of limiting sleeves are correspondingly installed on the lower end cover;

[0022] A plurality of ejector rods, the tops of the ejector rods correspondingly passing through the lower end cover and then being slidably mounted on the limiting sleeve; and

[0023] A plurality of return springs are correspondingly provided on the limiting sleeve, a limiting pressure ring is correspondingly provided on the limiting sleeve, and the bottom of the return spring abuts against the limiting pressure ring;

[0024] Among them, when the push rod slides and pushes the limiting pressure ring to move a certain distance, the limiting pressure ring rotates and gets stuck in the limiting claw in the limiting sleeve, and the limiting flange squeezes the limiting plate, and the limiting plate locks the first tendon or the second tendon; when the push rod slides and pushes the limiting pressure ring to move a certain distance, the limiting pressure ring rotates and resets, the limiting flange disengages from the limiting plate, and the limiting plate unlocks the first tendon or the second tendon.

[0025] Furthermore, a plurality of guide sliders are installed on the inner wall of the push rod at intervals along the circumferential direction, a plurality of guide slots are installed on the limiting sleeve, and the guide sliders are installed in the guide slots.

[0026] Furthermore, the drive assembly also includes a center rod and a drive sleeve installed on the periphery of the center rod. The center rod passes through the first intervertebral disc, the second intervertebral disc, and the second reaming disc and is then installed on the first reaming disc. The drive sleeve is installed on the periphery of the center rod. The first intervertebral disc and the second intervertebral disc are passed through the drive sleeve, and a locking joint is installed on the drive sleeve at the top of each first intervertebral disc or the bottom of the second intervertebral disc, and the spacing between adjacent locking joints is equal.

[0027] Furthermore, the support assembly also includes a plurality of first connecting lines and second connecting lines spaced apart in the circumferential direction, the first connecting line is passed through the first reaming disc, the second reaming disc, the first intervertebral disc and the second intervertebral disc, the second connecting line is passed through the second reaming disc, the first intervertebral disc and the second intervertebral disc, and the first connecting line is also connected to the first reaming disc and the first intervertebral disc, and the second connecting line is also connected to the second reaming disc and the second intervertebral disc.

[0028] The beneficial effects of the above scheme are:

[0029] 1) The locking joints in the continuous robot provided by the present invention are driven by a drive sleeve, which has a compact space design and FTL characteristics, can reduce trauma and damage to the human body, thereby alleviating patient pain, accelerating the recovery process, and reducing the risk of complications;

[0030] 2) The continuous robotic variable stiffness characteristic provided by the present invention can be achieved by manually adjusting the drive sleeve 120, which is simple and convenient to operate, further reducing the difficulty and risk of operation, improving the reliability of the system, and effectively reducing the cost of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the main structure of a continuum robot provided in an embodiment of the present invention;

[0032] Figure 2A schematic diagram of the exploded structure of a support assembly and a drive assembly provided in an embodiment of the present invention;

[0033] Figure 3 Schematic diagram of the assembly of the support assembly and the drive assembly provided in an embodiment of the present invention;

[0034] Figure 4 Schematic diagram of the top view of the continuum robot provided in an embodiment of the present invention.

[0035] In the accompanying drawings: 10, first reaming disk; 20, second reaming disk; 30, first tendon; 40, second tendon; 50, first intervertebral disc; 501, upper end cover; 5011, clamping claw; 502, lower end cover; 60, second intervertebral disc; 70, limiting plate; 80, limiting pressure ring; 801, limiting flange; 802, wedge block; 90, limiting sleeve; 901, limiting claw; 902, guide groove; 100, push rod; 110, return spring; 120, drive sleeve; 121, locking joint; 130, first connecting line; 140, second connecting line. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0039] like Figures 1 to 4As shown, the continuum robot provided in the embodiment of the present invention includes a reaming assembly, a support assembly and a driving assembly; the reaming assembly includes a first reaming disc 10, a second reaming disc 20 located behind the first reaming disc 10, three first tendons 30 for driving the first reaming disc 10, and three second tendons 40 for driving the second reaming disc 20; the support assembly is used to support the subsequent space after the first reaming disc 10 and the second reaming disc 20 are reamed in place, and includes three groups of first intervertebral discs 50, three groups of intervertebral discs 51 and 52. The first and second intervertebral discs 50 and 60 are disposed in opposite directions and are interlaced and passed through the first tendon 30 (which may be made of 0.6 mm nickel-titanium alloy wire) and the second tendon 40 (which may be made of 0.6 mm nickel-titanium alloy wire) in an anterior-posterior direction. The drive assembly is used to synchronously drive the first intervertebral disc 50 or the second intervertebral disc 60 to unlock or lock the first tendon 30 or the second tendon 40, so that the first intervertebral disc 50 or the second intervertebral disc 60 is alternately fed along the first tendon 30 and the second tendon 40.

[0040] like Figure 1 、 Figure 3 、 Figure 4 As shown, in the present invention, three first tendons 30 and three second tendons 40 are staggered in the circumferential direction. The top of the first tendon 30 passes through the intervertebral disc and the second reaming disc 20 upward and is pivotally connected to the first reaming disc 10. The second tendon 40 passes through the intervertebral disc upward and is pivotally connected to the second reaming disc 20. A first connecting line 130 is passed through the first reaming disc 10, the second reaming disc 20 and each intervertebral disc. A second connecting line 140 is passed through the second reaming disc 20 and each intervertebral disc. The first connecting line 130 is also connected to the first reaming disc 10 and the three first intervertebral discs 50. The second connecting line 140 is also connected to the second reaming disc 20 and the three second intervertebral discs 60. Under the structure, the first intervertebral disc 50 can be moved forward by the first reaming disc 10 through the first connecting line 130, and the second intervertebral disc 60 can be moved forward by the second reaming disc 20 through the second connecting line 140; when in use, the first intervertebral disc 50 unlocks the tendon, and then the first reaming disc 10 can be pushed forward to an appropriate position through the three first tendons 30 (the first intervertebral disc 50 is synchronously moved forward under the drive of the first reaming disc 10 and the first connecting line 130 thereon), the first intervertebral disc 50 then locks the tendon, and then the second intervertebral disc 60 unlocks the tendon, and at this time the second reaming disc 20 is pushed forward through the three second tendons 40, so that the second reaming disc 20 slides along the first tendon 30 to an appropriate position.

[0041] It is easy to understand that, in the present invention, the respective forward pushing distances of each group of three tendons can be adjusted according to the bending requirements, so as to adjust the reaming disk so that it deflects around the center position of the reaming disk, thereby realizing the bending of the robot head.

[0042] In the present invention, the first intervertebral disc 50 and the second intervertebral disc 60 have the same structure and both include an upper end cover 501 and a lower end cover 502 installed on the upper end cover 501. A plurality of claws 5011 are installed at intervals along the circumferential direction on the upper end cover 501, and a plurality of engaging grooves matching the engaging claws 5011 are installed at intervals along the circumferential direction on the lower end cover 502. The lower end cover 502 is engaged with the engaging claws 5011 through the engaging grooves.

[0043] To alternately drive the first intervertebral disc 50 and the second intervertebral disc 60 to feed, Figure 1 、 Figure 2 、 Figure 3 As shown, the above-mentioned driving assembly includes eighteen limiting plates 70 and six limiting pressure rings 80; three limiting plates 70 are installed on each lower end cover 502 in the circumferential spacing direction, and three first tendons 30 or three second tendons 40 are correspondingly inserted into the limiting plates 70; each limiting pressure ring 80 is rotatably installed on the lower end cover 502, and six limiting flanges 801 are installed on the limiting pressure ring 80 in the circumferential direction; under the above-mentioned structure, when the limiting pressure ring 80 rotates 30° and makes the limiting flange 801 correspondingly squeeze the limiting plate 70, the limiting plate 70 locks the first tendon 30 or the second tendon 40 (such as Figure 3 When the limiting pressure ring 80 rotates 30° again and the limiting flange 801 is disengaged from the limiting plate 70, the limiting plate 70 unlocks the first tendon 30 or the second tendon 40. Figure 2 、 Figure 3 For example, a portion of the "U"-shaped limiting plate 70 is installed in the limiting groove of the lower end cover 502, and the remaining portion of the limiting plate 70 extends out of the limiting groove. Six tendons are inserted through the lower end cover 502 of the second intervertebral disc 60, namely, three first tendons 30 and three second tendons 40. In practice, when the limiting pressure ring 80 rotates 30° and the limiting flange 801 presses against the limiting plate 70, the contact area between the limiting plate 70 and the second tendons 40 increases, thereby locking the second tendons 40 with the increased friction. When the limiting pressure ring 80 rotates another 30°, disengaging the limiting flange 801 from the limiting plate 70, the limiting plate 70 unlocks the second tendons 40. Similarly, the unlocking or locking principle of the first tendons 30 on the lower end cover 502 of the first intervertebral disc 50 is the same as above.

[0044] To achieve FTL characteristics, the robot uses an alternating feed pattern between joint group A (three sets of first intervertebral discs 50) and joint group B (three sets of second intervertebral discs 60). During forward feed, each segment of the robot's feed motion involves the first intervertebral disc 50 advancing along the track formed by the second intervertebral disc 60. Subsequently, the second intervertebral disc 60 then advances the same distance along the track formed by the first intervertebral disc 50. When the first intervertebral disc 50 is advanced, the first intervertebral disc 50 is in an unlocked state, and the second intervertebral disc 60 is in a locked state. At this time, the lengths of the second intervertebral disc tendons (i.e., the second tendons 40) between the second intervertebral discs 60 are locked. Since each tendon is constrained to each other, the second intervertebral disc 60 and the second intervertebral disc tendons have greater rigidity and can maintain their current shape. Thus, the second intervertebral disc 60 and the second intervertebral disc tendons serve as a track for the advancement of the first intervertebral disc 50, allowing the first intervertebral disc 50 to be advanced a certain distance along the track. Similarly, when the second intervertebral disc 60 is advanced, the second intervertebral disc 60 and the second intervertebral disc tendons are locked. The intervertebral disc 60 is in an unlocked state, and the first intervertebral disc 50 is in a locked state. At this point, the lengths of the first intervertebral disc tendons (i.e., the first tendons 30) between the first intervertebral discs 50 are locked. Due to the mutual restraint between the tendons, the first intervertebral disc 50 and the first intervertebral disc tendons have greater rigidity and are able to maintain their current shape. Consequently, the first intervertebral disc 50 and the first intervertebral disc tendons act as a track for feeding the second intervertebral disc 60, allowing the second intervertebral disc 60 to advance the same distance along this track, bringing the first intervertebral disc 50 and the second intervertebral disc 60 into contact with each other, thereby completing a feeding motion. By repeating this motion process, the robot's distal end can ultimately be controlled to move to the surgical target location. Similarly, when the robot reverses direction, each feeding motion involves the second intervertebral disc advancing along the track formed by the first intervertebral disc, followed by the first intervertebral disc advancing the same distance along the track formed by the second intervertebral disc, until the robot returns to its initial state.

[0045] In order to synchronously drive the first intervertebral disc 50 and the second intervertebral disc 60, the present invention provides a driving structure with reference to the principle of pressing a button in a pen-like article in the prior art. Figure 1 、 Figure 2 、 Figure 3As shown, the driving assembly of the present invention also includes six limiting sleeves 90, which are correspondingly installed on the lower end cover 502; six ejector rods 100, the tops of the ejector rods 100 correspondingly pass through the upper end cover 501 and are slidably installed on the limiting sleeves 90; and six return springs 110, which are correspondingly passed through the limiting sleeves 90, and the limiting pressure rings 80 are correspondingly passed through the limiting sleeves 90, and the bottoms of the return springs 110 abut against the limiting pressure rings 80; under the above structure, when the ejector rods 100 slide After the limiting pressure ring 80 is moved and pushed to move a certain distance, the limiting pressure ring 80 rotates and engages with the limiting claw 901 in the limiting sleeve 90. When the limiting flange 801 squeezes the limiting plate 70, the limiting plate 70 locks the first tendon 30 or the second tendon 40. When the push rod 100 slides and pushes the limiting pressure ring 80 to move a certain distance, the limiting pressure ring 80 rotates and resets, the limiting flange 801 disengages from the limiting plate 70, and the limiting plate 70 unlocks the first tendon 30 or the second tendon 40. To facilitate the operation of the push rod 100, in the present invention, a plurality of guide sliders 1001 are installed at intervals along the circumferential direction on the inner wall of the push rod 100, and a plurality of guide grooves 902 are installed on the limiting sleeve 90, and the guide sliders 1001 are installed in the guide grooves 902.

[0046] Furthermore, in order to synchronously drive the first intervertebral disc 50 and the second intervertebral disc 60, as shown in FIG. Figure 1 、 Figure 3 As shown, the drive assembly in the present invention also includes a center rod and a drive sleeve 120 installed on the periphery of the center rod. The center rod passes through the first intervertebral disc 50, the second intervertebral disc 60, and the second reaming disc 20 and is then installed on the first reaming disc 10. The drive sleeve 120 is installed on the periphery of the center rod. The first intervertebral disc 50 and the second intervertebral disc 60 are passed through the drive sleeve 120, and a locking joint 121 is installed on the drive sleeve 120 at the top of each first intervertebral disc 50 or the bottom of the second intervertebral disc 60, and the spacing between adjacent locking joints 121 is equal; under the above structure, by pushing or pulling back the drive sleeve 120, the top rod 100 is pushed with the help of the locking joint 121 on the drive sleeve 120, so as to synchronously drive the three limiting pressure rings 80 on the intervertebral disc, so that the three limiting pressure rings 80 synchronously lock the first tendon 30 (or the second tendon 40).

[0047] like Figure 4 As shown, in order to ensure that the first intervertebral disc 50 and the second intervertebral disc 60 can move forward synchronously with the reaming disc, the support assembly can also include four connecting lines arranged at intervals along the circumferential direction, and the connecting lines are passed through the first reaming disc 10, the second reaming disc 20, the first intervertebral disc 50 and the second intervertebral disc 60.

[0048] The above are only preferred embodiments of the present invention and do not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A continuum robot for minimally invasive neurosurgery, characterized by: include: A reaming assembly comprising a first reaming disc, a second reaming disc located behind the first reaming disc, a plurality of first tendons for driving the first reaming disc, and a plurality of second tendons for driving the second reaming disc; A support assembly for supporting subsequent space after the first reaming disc and the second reaming disc are reamed into place, comprising a plurality of first intervertebral discs, a plurality of second intervertebral discs arranged in the opposite direction to the first intervertebral discs, and a plurality of first connecting lines and second connecting lines spaced apart along the circumferential direction, wherein the first intervertebral discs and the second intervertebral discs are staggered and passed through the first tendon and the second tendon along the anterior-posterior direction, the first tendon and the second tendon are staggered and passed through the circumferential direction, the top of the first tendon passes upward through the second reaming disc and is pivotally connected to the first reaming disc, the second tendon is pivotally connected to the second reaming disc, the first connecting line is passed through the first reaming disc, the second reaming disc, the first intervertebral disc and the second intervertebral disc, the second connecting line is passed through the second reaming disc, the first intervertebral disc and the second intervertebral disc, and the first connecting line is also connected to the first reaming disc and the first intervertebral disc, and the second connecting line is also connected to the second reaming disc and the second intervertebral disc; as well as A driving assembly is used to synchronously drive the first intervertebral disc or the second intervertebral disc to unlock or lock the first tendon or the second tendon, so that the first intervertebral disc or the second intervertebral disc is alternately fed along the first tendon or the second tendon.

2. The continuum robot for minimally invasive neurosurgery according to claim 1, characterized in that: The first intervertebral disc and the second intervertebral disc have the same structure and both include an upper end cover and a lower end cover installed on the upper end cover. The upper end cover and the lower end cover are inserted into the first tendon and the second tendon.

3. The continuum robot for minimally invasive neurosurgery according to claim 2, characterized in that: The upper end cover is provided with a plurality of claws at intervals along the circumferential direction, and the lower end cover is provided with a plurality of clamping grooves matching the claws at intervals along the circumferential direction. The lower end cover is installed on the claws through the clamping grooves.

4. The continuum robot for minimally invasive neurosurgery according to claim 2, characterized in that: The drive assembly includes: a plurality of limiting plates, installed on the lower end cover at intervals along the circumferential direction, wherein the first tendon or the second tendon is correspondingly passed through the limiting plates; and A plurality of limiting pressure rings are rotatably mounted on the lower end cover, and limiting flanges are installed on the limiting pressure rings at intervals along the circumferential direction; Among them, when the limiting pressure ring rotates and causes the limiting flange to squeeze the limiting plate, the limiting plate locks the first tendon or the second tendon; when the limiting pressure ring rotates and causes the limiting flange to disengage from the limiting plate, the limiting plate unlocks the first tendon or the second tendon.

5. The continuum robot for minimally invasive neurosurgery according to claim 4, characterized in that: Part of the limiting piece is installed in the limiting groove of the lower end cover, and the remaining part of the limiting piece passes through the limiting groove.

6. The continuum robot for minimally invasive neurosurgery according to claim 4, characterized in that: The drive assembly further includes: A plurality of limiting sleeves are correspondingly installed on the lower end cover; a plurality of push rods, the tops of the push rods correspondingly passing through the upper end cover and then being slidably mounted on the limiting sleeve; and A plurality of return springs are correspondingly provided on the limiting sleeve, the limiting pressure ring is correspondingly provided on the limiting sleeve, and the bottom of the return spring abuts against the limiting pressure ring; Among them, when the push rod slides and pushes the limiting pressure ring to move a certain distance, the limiting pressure ring rotates and gets stuck in the limiting groove in the limiting sleeve, and when the limiting flange squeezes the limiting plate, the limiting plate locks the first tendon or the second tendon; when the push rod slides and pushes the limiting pressure ring to move a certain distance, the limiting pressure ring rotates and resets, the limiting flange disengages from the limiting plate, and the limiting plate unlocks the first tendon or the second tendon.

7. The continuum robot for minimally invasive neurosurgery according to claim 6, characterized in that: A plurality of guide sliding blocks are installed on the inner wall of the push rod at intervals along the circumferential direction, a plurality of guide sliding grooves are installed on the limiting sleeve, and the guide sliding blocks are installed in the guide sliding grooves.

8. The continuum robot for minimally invasive neurosurgery according to claim 6 or 7, characterized in that: The drive assembly also includes a center rod and a drive sleeve installed on the periphery of the center rod. The center rod passes through the first intervertebral disc, the second intervertebral disc, and the second reaming disc and is then installed on the first reaming disc. The drive sleeve is installed on the periphery of the center rod. The first intervertebral disc and the second intervertebral disc are passed through the drive sleeve. A drive locking joint is installed on the drive sleeve at the top of each first intervertebral disc or the bottom of the second intervertebral disc, and the spacing between adjacent drive locking joints is equal.

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