A kind of application in continuum surgical robot arthroscope lens connecting structure

Abstract

The application belongs to the technical field of surgical robot, and particularly relates to a connection structure applied to a joint lens of a continuum surgical robot. In use, the installation end of the knife head is first inserted into the first cavity, and the installation end of the knife head is in frictional contact with the inner wall of the first cavity. The installation end of the knife head is located between the plurality of clamping pieces and is higher than the clamping pieces. By rotating the installation end of the knife head, relative rotation between the rotating joint and the fixed joint is caused, and the plurality of clamping pieces are driven to be close to and clamp the knife head, so that the installation of the knife head is realized. The existing knife head can be disassembled by reversely rotating the knife head. The connection is convenient, fast and firm, and the possibility of surgical risk is reduced. Meanwhile, the first cavity is in the shape of an inverted frustum, so that the first cavity can be adapted to knife heads of different shapes and sizes, and the applicability is stronger.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of surgical robot, and particularly relates to a joint lens connecting structure applied to a continuum surgical robot. BACKGROUND

[0002] Arthroscopic surgery is a minimally invasive surgical technique widely used in the field of orthopedics. Compared with traditional open surgery, arthroscopic surgery uses arthroscopic instruments for guided operation to complete complex diagnosis and treatment operations under a small incision, thereby reducing the trauma of patients, reducing the risk of infection, shortening the recovery time, and improving the surgical experience and recovery speed of patients.

[0003] The application of continuum robot technology in arthroscopic surgery has made significant progress. Continuum robots can improve the accuracy of surgery through precise control of the bending of the continuum skeleton, especially in narrow surgical spaces, which can better adapt to the patient's anatomical structure and reduce damage to the surrounding tissues.

[0004] During arthroscopic surgery, different shapes and sizes of tools need to be replaced. However, in actual operation, different shapes and sizes of tools have low adaptability when connected to the continuum robot, and there is a risk of loosening. Moreover, the replacement process is complicated, which increases the possibility of surgical risk. SUMMARY

[0005] The purpose of the present application is to provide a joint lens connecting structure applied to a continuum surgical robot to solve the above problems.

[0006] To achieve the above purpose, the present application provides the following solutions:

[0007] A joint lens connecting structure applied to a continuum surgical robot, comprising: a fixed joint fixed to one end of a continuum skeleton, a second cavity coaxially provided on the fixed joint, a rotating joint coaxially provided in the second cavity, a plurality of clamping pieces provided between the outer side wall of the rotating joint and the inner wall of the second cavity, the plurality of clamping pieces being circumferentially and equally spaced, a first cavity coaxially provided on the rotating joint, the first cavity being provided as an inverted frustum, the mounting end of a tool bit being provided in the first cavity and in frictional contact with the inner wall of the first cavity, and the tool bit being located between the plurality of clamping pieces.

[0008] When the rotating joint and the fixed joint rotate, the plurality of clamping pieces approach and clamp the tool bit / the plurality of clamping pieces move away and loosen the tool bit.

[0009] In the application of the joint connecting structure of the continuum surgical robot arthroscope, the clamping piece comprises a moving rod arranged between the outer side wall of the rotary joint and the inner wall of the second cavity, the top end of the moving rod extends out of the second cavity and is fixed with one end of a clamping head, and the other end of the clamping head is directed towards the axis of the second cavity.

[0010] In the application of the joint connecting structure of the continuum surgical robot arthroscope, the second cavity is arranged in an inverted frustum shape, the rotary joint is arranged in an inverted frustum shape and is matched with the second cavity, a gap is left between the outer side wall of the rotary joint and the inner wall of the second cavity, the moving rod is arranged in the gap, and the axis of the moving rod is arranged in parallel with the generatrix of the second cavity / rotary joint.

[0011] In the application of the joint connecting structure of the continuum surgical robot arthroscope, a first sliding groove is arranged on the outer side wall of the rotary joint, the moving rod is slidingly connected in the first sliding groove, a first external thread is arranged on the side of the moving rod extending out of the first sliding groove, a first internal thread is arranged on the inner side wall of the second cavity, and the first external thread is threadedly connected with the first internal thread.

[0012] In the application of the joint connecting structure of the continuum surgical robot arthroscope, a second sliding groove is arranged on the inner side wall of the second cavity, the moving rod is slidingly connected in the second sliding groove, a second internal thread is arranged on the side of the moving rod extending out of the second sliding groove, a second external thread is arranged on the outer side wall of the rotary joint, and the second internal thread is threadedly connected with the second external thread.

[0013] In the application of the joint connecting structure of the continuum surgical robot arthroscope, the bottom end of the fixed joint is fixed with a connecting frame, the connecting frame is located in the continuum skeleton, the connecting frame does not interfere with the moving rod, a rotating ring is fixed on the connecting frame, a vertical rotating shaft is rotatably connected to the rotating ring, both ends of the rotating shaft extend out of the rotating ring and are fixed with limiting plates, the limiting plates slidingly contact the rotating ring, the top end of the rotating shaft is fixed with the rotary joint, and the rotating shaft is coaxially arranged with the rotary joint.

[0014] In the application of the joint connecting structure of the continuum surgical robot arthroscope, the inner side wall of the first cavity is circumferentially provided with a frosted surface.

[0015] Compared with the prior art, the application has the following advantages and technical effects:

[0016] The connecting structure of the application is used, first, the mounting end of the tool head is inserted into the first cavity, and the mounting end of the tool head is in frictional contact with the inner wall of the first cavity, the mounting end of the tool head is located between the plurality of clamping pieces and the tool head is higher than the clamping pieces, by rotating the mounting end of the tool head, the relative rotation between the rotating joint and the fixed joint is driven, and the plurality of clamping pieces are driven to approach and clamp the tool head, the installation of the tool head is realized, and the existing tool head can be disassembled by reversing the tool head, the connection is convenient, fast and firm, and the possibility of surgical risk is reduced.

[0017] Meanwhile, the first cavity is set as an inverted frustum, so that the first cavity can adapt to tool heads of different shapes and sizes, and the applicability is stronger. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings:

[0019] Fig. 1 It is a whole schematic diagram of the present application;

[0020] Fig. 2 It is a structural schematic diagram of the present application;

[0021] Fig. 3 It is a structural schematic diagram of embodiment 2;

[0022] Among them, 1, continuum skeleton; 2, fixed joint; 3, moving rod; 4, rotating joint; 5, first cavity; 6, connecting frame; 7, rotating ring; 8, limiting plate; 9, rotating shaft; 10, frosted surface; 11, first external thread; 12, first sliding groove; 13, clamping head; 14, tool head; 15, first internal thread; 16, second internal thread; 17, second external thread; 18, second cavity; 19, second sliding groove. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0024] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0025] Embodiment 1

[0026] With reference to Figs. 1-2 The embodiment discloses a joint connecting structure applied to a continuum surgical robot arthroscope, which comprises a fixed joint 2, the fixed joint 2 being fixed to one end of a continuum skeleton 1, a second cavity 18 being coaxially arranged on the fixed joint 2, a rotating joint 4 being coaxially arranged in the second cavity 18, a plurality of clamping pieces being arranged between the outer side wall of the rotating joint 4 and the inner wall of the second cavity 18, the plurality of clamping pieces being circumferentially and equidistantly arranged, a first cavity 5 being coaxially arranged on the rotating joint 4, the first cavity 5 being arranged in an inverted frustum shape, the mounting end of a cutter head 14 being arranged in the first cavity 5 and being in frictional contact with the inner wall of the first cavity 5, the cutter head 14 being located between the plurality of clamping pieces.

[0027] The number of the clamping pieces is preferably three.

[0028] When the rotating joint 4 rotates relative to the fixed joint 2, the plurality of clamping pieces are close to and clamp the cutter head 14 / the plurality of clamping pieces are away from and loosen the cutter head 14.

[0029] In use, first, the mounting end of the cutter head 14 is inserted into the first cavity 5 and is in frictional contact with the inner wall of the first cavity 5, the mounting end of the cutter head 14 is located between the plurality of clamping pieces and the cutter head 14 is higher than the clamping pieces, the mounting end of the cutter head 14 is rotated, the rotating joint 4 and the fixed joint 2 are relatively rotated, the plurality of clamping pieces are close to and clamp the cutter head 14, and the cutter head 14 is mounted, the cutter head 14 is reversely rotated, and the existing cutter head 14 can be dismounted, the connection is convenient, fast and firm, and the possibility of surgical risk is reduced.

[0030] Meanwhile, the first cavity 5 is arranged in an inverted frustum shape, so that the first cavity 5 can be adapted to cutter heads of different shapes and sizes, and the applicability is stronger.

[0031] In a feasible scheme, the clamping piece comprises a moving rod 3 arranged between the outer side wall of the rotating joint 4 and the inner wall of the second cavity 18, the top end of the moving rod 3 extends out of the second cavity 18 and is fixedly connected with one end of a clamping head 13, and the other end of the clamping head 13 faces the axis of the second cavity 18.

[0032] The moving rod 3 moves between the rotating joint 4 and the second cavity 18, the clamping head 13 is close to and clamps the cutter head 14 / away from and loosens the cutter head 14.

[0033] In a feasible scheme, the second cavity 18 is arranged in an inverted frustum shape, the rotating joint 4 is arranged in an inverted frustum shape and is adapted to the second cavity 18, a gap is left between the outer side wall of the rotating joint 4 and the inner wall of the second cavity 18, the moving rod 3 is arranged in the gap, and the axis of the moving rod 3 is parallel to the generatrix of the second cavity 18 / the rotating joint 4.

[0034] In a feasible solution, a first sliding groove 12 is formed on the outer side wall of the rotating joint 4, the moving rod 3 is slidingly connected in the first sliding groove 12, a first external thread 11 is formed on the side of the moving rod 3 extending out of the first sliding groove 12, a first internal thread 15 is formed on the inner side wall of the second cavity 18, and the first external thread 11 is threadedly connected with the first internal thread 15.

[0035] The second cavity 18 is provided in an inverted frustum shape, the rotating joint 4 is provided in an inverted frustum shape and is matched with the second cavity 18, and the axis of the moving rod 3 is provided in parallel with the generatrix of the second cavity 18 / rotating joint 4. When the rotating joint 4 and the second cavity 18 rotate relative to each other, the moving rod 3 slides along the first sliding groove 12 under the action of the first external thread 11 and the first internal thread 15, thereby driving the plurality of clamping heads 13 to move away from or close to each other, so as to loosen or clamp the tool head 14.

[0036] In this process, because the moving rod 3 rotates with the rotating joint 4, the tool head 14 connected and mounted at the end is suitable for a regular polygonal prism, and the number of prisms is preferably a multiple of the moving rod 3. The side of the regular polygonal prism is directed to the moving rod 3, and finally the clamping head 13 clamps the side of the prism, so that the connection is more firm and close.

[0037] In a feasible solution, the bottom end of the fixed joint 2 is fixedly connected with a connecting frame 6, the connecting frame 6 is located in the continuum framework 1, the connecting frame 6 does not interfere with the moving rod 3, the connecting frame 6 is fixedly connected with a rotating ring 7, the rotating ring 7 is rotatably connected with a vertical rotating shaft 9, both ends of the rotating shaft 9 pass through the rotating ring 7 and are fixedly connected with a limiting plate 8, the limiting plate 8 is in sliding contact with the rotating ring 7, the top end of the rotating shaft 9 is fixedly connected with the rotating joint 4, and the rotating shaft 9 is coaxially arranged with the rotating joint 4.

[0038] The rotating shaft 9 is coaxially arranged with the rotating joint 4, both ends of the rotating shaft 9 pass through the rotating ring 7 and are fixedly connected with the limiting plate 8, the rotating ring 7 is fixedly connected with the fixed joint 2 through the connecting frame 6, so that the fixed joint 2 and the rotating joint 4 are always coaxially and rotatably connected.

[0039] In a feasible solution, the inner side wall of the first cavity 5 is circumferentially provided with a frosted surface 10. The frosted surface 10 can effectively increase the friction between the installation end of the tool head 14 and the first cavity 5.

[0040] Embodiment 2

[0041] Reference Fig. 3Different from the embodiment 1, in this embodiment, the second sliding groove 19 is arranged on the inner side wall of the second cavity 18, the moving rod 3 is slidingly connected in the second sliding groove 19, the second inner thread 16 is arranged on the side of the moving rod 3 extending out of the second sliding groove 19, the second outer thread 17 is arranged on the outer side wall of the rotating joint 4, and the second inner thread 16 is threadedly connected with the second outer thread 17.

[0042] The rotating joint 4 rotates with the installation end of the tool head 14, and further drives the moving rod 3 to slide along the second sliding groove 19, in this process, the position of the moving rod 3 relative to the fixed joint 2 is unchanged, and the embodiment is suitable for connecting the tool head 14 with a cylindrical installation end.

[0043] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0044] The above-described embodiments are only preferred modes of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A connection structure applied to a joint lens of a continuum surgical robot, characterized by, The utility model relates to a kind of fixed joints (2), the fixed joint (2) is fixed in the one end of continuum skeleton (1), coaxial second cavity (18) is set on the fixed joint (2), rotating joint (4) is arranged coaxially in the second cavity (18), multiple clamping pieces are arranged between the outer side wall of rotating joint (4) and the inner wall of second cavity (18), multiple clamping pieces are circumferentially equidistantly arranged, coaxial first cavity (5) is set on rotating joint (4), first cavity (5) is set as inverted frustum, the mounting end of tool bit (14) is set in first cavity (5) and with the inner wall of first cavity (5) friction contact, tool bit (14) is located between multiple clamping pieces; When rotating between rotating joint (4) and the fixed joint (2), multiple clamping pieces are close to and clamp tool bit (14) or multiple clamping pieces are far away and loosen tool bit (14); The utility model relates to a kind of fixed joints (2), the fixed joint (2) is fixed in the one end of continuum skeleton (1), coaxial second cavity (18) is set on the fixed joint (2), rotating joint (4) is arranged coaxially in the second cavity (18), multiple clamping pieces are arranged between the outer side wall of rotating joint (4) and the inner wall of second cavity (18), multiple clamping pieces are circumferentially equidistantly arranged, coaxial first cavity (5) is set on rotating joint (4), first cavity (5) is set as inverted frustum, the mounting end of tool bit (14) is set in first cavity (5) and with the inner wall of first cavity (5) friction contact, tool bit (14) is located between multiple clamping pieces; Second cavity (18) is set as inverted frustum, rotating joint (4) is set as inverted frustum and is compatible with second cavity (18), gap is left between the outer side wall of rotating joint (4) and the inner wall of second cavity (18), the moving rod (3) is arranged in the gap, the axis of moving rod (3) is parallel to the generatrix of second cavity (18) or rotating joint (4); First sliding slot (12) is set on the outer side wall of rotating joint (4), the moving rod (3) is slidably connected in first sliding slot (12), first external thread (11) is set on the side of moving rod (3) that extends out of first sliding slot (12), first internal thread (15) is set on the inner side wall of second cavity (18), and first external thread (11) is threadedly connected with first internal thread (15). The utility model relates to a kind of fixed joints (2), the fixed joint (2) is fixed in the one end of continuum skeleton (1), coaxial second cavity (18) is set on the fixed joint (2), rotating joint (4) is arranged coaxially in the second cavity (18), multiple clamping pieces are arranged between the outer side wall of rotating joint (4) and the inner wall of second cavity (18), multiple clamping pieces are circumferentially equidistantly arranged, coaxial first cavity (5) is set on rotating joint (4), first cavity (5) is set as inverted frustum, the mounting end of tool bit (14) is set in first cavity (5) and with the inner wall of first cavity (5) friction contact, tool bit (14) is located between multiple clamping pieces; 2. A connection structure applied to a joint head of a continuum surgical robot arthroscope, characterized in that, ​ ​ When the rotating joint (4) rotates with the fixed joint (2), the plurality of clamping pieces approach and clamp the tool bit (14) or move away and loosen the tool bit (14); The clamping piece comprises a moving rod (3) arranged between the outer side wall of the rotating joint (4) and the inner wall of the second cavity (18), the top end of the moving rod (3) extends out of the second cavity (18) and is fixedly connected to one end of a clamping head (13), the other end of the clamping head (13) faces the axis of the second cavity (18); The second cavity (18) is arranged in an inverted frustum shape, the rotating joint (4) is arranged in an inverted frustum shape and is matched with the second cavity (18), a gap is left between the outer side wall of the rotating joint (4) and the inner wall of the second cavity (18), the moving rod (3) is arranged in the gap, and the axis of the moving rod (3) is parallel to the generatrix of the second cavity (18) or the rotating joint (4); A second sliding groove (19) is formed in the inner side wall of the second cavity (18), the moving rod (3) is slidingly connected in the second sliding groove (19), a second internal thread (16) is formed on the side of the moving rod (3) extending out of the second sliding groove (19), a second external thread (17) is formed on the outer side wall of the rotating joint (4), and the second internal thread (16) is threadedly connected with the second external thread (17).

3. The connection structure applied to the arthroscopic head of a continuum surgical robot according to claim 1 or 2, characterized in that: The bottom end of the fixed joint (2) is fixedly connected with a connecting frame (6), the connecting frame (6) is located in the continuum framework (1), the connecting frame (6) does not interfere with the moving rod (3), the connecting frame (6) is fixedly connected with a rotating ring (7), the rotating ring (7) is rotatably connected with a vertically arranged rotating shaft (9), both ends of the rotating shaft (9) penetrate through the rotating ring (7) and are fixedly connected with a limiting plate (8), the limiting plate (8) is in sliding contact with the rotating ring (7), the top end of the rotating shaft (9) is fixedly connected with the rotating joint (4), and the rotating shaft (9) is coaxially arranged with the rotating joint (4).

4. The connection structure applied to the arthroscope head of a continuum surgical robot according to claim 1 or 2, characterized in that: A frosted surface (10) is circumferentially arranged on the inner side wall of the first cavity (5).

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