Medical operation unit and middle ear surgical robot

Abstract

The invention discloses a medical operation unit and a middle ear surgical robot, and belongs to the technical field of medical instruments.The medical operation unit comprises a balloon dilatation assembly, a first driving assembly, a second driving assembly, a third driving assembly and a fourth driving assembly, the balloon dilatation assembly is installed on the first driving assembly, and the second driving assembly is installed on the third driving assembly; the first driving assembly is installed on the second driving assembly, the second driving assembly is rotatably installed on the third driving assembly, and the third driving assembly is rotatably installed on the fourth driving assembly; in the first direction, the first driving assembly is in sliding fit with the second driving assembly; in the second direction, the second driving assembly is in running fit with the third driving assembly; and in the third direction, the third driving assembly is in running fit with the fourth driving assembly. The balloon dilatation device is used for solving the problems that inconvenience is caused during manual operation of an existing Eustachian tube balloon dilatation, operation accuracy is improved, operation wounds are reduced, and fatigue of doctors is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a medical operating unit and a middle ear surgery robot. Background Art

[0002] The Eustachian tube is a tube that connects the middle ear tympanic cavity and the nasopharynx. Blockage or obstruction of the Eustachian tube can lead to a variety of middle ear diseases. Eustachian tube balloon dilation is to dilate the narrow Eustachian tube through the Eustachian tube balloon dilation catheter, so that it can better regulate the pressure in the tympanic cavity and maintain the balance of the tympanic cavity pressure with the outside world.

[0003] During clinical surgery, due to differences in the patient's physiological structure and the severity of the disease, it is difficult and time-consuming to insert the balloon dilatation catheter into the pharyngeal opening of the Eustachian tube. The surgery basically relies on personal experience and condition, which can easily damage the balloon dilatation catheter and the mucosa or soft tissue around the pharyngeal opening. In severe cases, the guide tube enters the Eustachian tube directly from the pharyngeal opening, causing secondary damage to the Eustachian tube at the tympanic membrane end of the middle ear Eustachian tube, leading to surgical failure. Summary of the invention

[0004] The purpose of the present invention is to improve the inconvenience of manual operation of the existing Eustachian tube balloon dilatation, improve surgical accuracy, reduce surgical trauma, and reduce doctor fatigue, and to provide a medical operating unit and a middle ear surgery robot.

[0005] The technical solutions to achieve the above objectives include the following:

[0006] A medical operating unit, comprising: a balloon expansion assembly, a first drive assembly, a second drive assembly, a third drive assembly, and a fourth drive assembly, wherein the balloon expansion assembly is mounted on the first drive assembly, the first drive assembly is mounted on the second drive assembly, the second drive assembly is rotatably mounted on the third drive assembly, and the third drive assembly is rotatably mounted on the fourth drive assembly;

[0007] In a first direction, the first drive assembly is slidably matched with the second drive assembly;

[0008] In the second direction, the second drive assembly is rotationally matched with the third drive assembly;

[0009] In the third direction, the third drive assembly and the fourth drive assembly are rotationally matched;

[0010] The first direction is a linear direction, the second direction and the third direction are clockwise or counterclockwise directions, and a rotation plane of the second direction intersects with a rotation plane of the third direction.

[0011] In one embodiment, the balloon dilation assembly includes a cylinder, a balloon dilation catheter and a balloon, the cylinder having an air cavity and a piston push plate, the piston push plate being connected to the first drive assembly, the outer wall of the piston push plate being slidably connected to the inner wall of the cylinder, the first end of the balloon dilation catheter being mounted on the first end of the cylinder, the balloon being mounted on the second end of the balloon dilation catheter, the balloon dilation catheter being connected to the air cavity, and the first drive assembly pushing the piston push plate to allow a medium to flow into the balloon to expand the balloon or to allow a medium to flow out of the balloon to contract the balloon.

[0012] In one embodiment, the balloon dilatation component also includes a guide tube, and the balloon dilatation catheter is inserted in the guide tube. The medical operation unit also includes an imaging component, and the imaging component includes a camera and an image processing control component. The camera is arranged at the front end of the guide tube, and the image processing control component is installed on one of the first drive component, the second drive component, the third drive component and the fourth drive component, and the camera is electrically connected to the image processing control component.

[0013] The imaging component records in real time or through images the appropriate position of the guide tube through the nasal cavity into the Eustachian tube groove corresponding to the pharyngeal opening, as well as the environmental picture of the balloon dilatation catheter entering the Eustachian tube pharyngeal opening, thereby providing operational guidance for achieving surgical accuracy, reducing surgical trauma, and reducing doctor fatigue.

[0014] In one embodiment, the balloon dilatation assembly further includes a pressure sensor, which is mounted on the balloon dilatation catheter and is used to monitor the air pressure of the balloon.

[0015] In one embodiment, the first driving assembly includes a first driving member, a first supporting member, a first supporting plate, a first screw rod, a push rod and a first moving block.

[0016] The first driving member is mounted on the first end of the first supporting member, the first supporting plate is mounted on the second end of the first supporting member, the first end of the first screw rod is mounted on the output end of the first driving member, and the second end of the first screw rod is rotatably mounted on the first supporting plate;

[0017] The first moving block is sleeved outside the first screw rod and matched with the first screw rod thread. In the first direction, the first moving block is slidably connected to the first support member;

[0018] The first end of the push rod is mounted on the first moving block, and the second end of the push rod is mounted on the piston push plate.

[0019] In one embodiment, the second driving assembly includes a second support member, a second driving member, a second screw rod, and a second moving block. The second support member is rotatably mounted on the third driving assembly. The second driving member is mounted on the second support member. The first end of the second screw rod is mounted on the output end of the second driving member. The second moving block is sleeved outside the second screw rod and is threadedly matched with the second screw rod. In the first direction, the lower end of the second moving block is slidably connected to the second support member. The first driving assembly is mounted on the upper end of the second moving block.

[0020] The second driving assembly also includes a second support plate, a first end of the second support plate is mounted on the second support member, and a second end of the second support plate is fixed to the balloon dilatation catheter.

[0021] The present invention also proposes a middle ear surgery robot, comprising a driving mechanism, a lifting mechanism, and any one of the above-mentioned medical operating units, wherein the medical operating unit is installed on the driving mechanism, the driving mechanism is installed on the lifting mechanism, the driving mechanism changes the angle of the medical operating unit, and the lifting mechanism changes the position of the medical operating unit.

[0022] In one embodiment, the driving mechanism includes a first rotating component, a second rotating component and a bracket; the bracket is installed at the output end of the first rotating component, the second rotating component is installed on the bracket, the first rotating component drives the bracket and the second rotating component to rotate on a first surface, and the second rotating component drives the medical operating unit to rotate on a second surface, and the first surface intersects with the second surface.

[0023] In one embodiment, the first rotating component includes a connecting plate, a motor, a base, a rotating shaft and a rotating plate, the motor is mounted on the base, the base is mounted on the connecting plate, the rotating plate is rotatably mounted on the connecting plate, the connecting plate is mounted on the lifting mechanism, the first end of the rotating shaft is mounted on the rotating plate, the second end of the rotating shaft is mounted on the output end of the motor, and the bracket is mounted on the rotating plate.

[0024] In one embodiment, the middle ear surgery robot further includes an operation control system, and the driving mechanism and the medical operation unit are electrically connected to the operation control system respectively.

[0025] The technical solution provided by the present invention has the following advantages and effects:

[0026] By controlling the first drive component, the second drive component, the third drive component, and the fourth drive component, the guide tube and the balloon dilatation catheter are adjusted or moved to enter the Eustachian tube groove through the nasal cavity to the appropriate position of the pharyngeal opening, and then enter the Eustachian tube. The balloon dilatation component is driven by the first drive component to achieve adjustment of the balloon dilatation component in three-dimensional space, and to adjust the balloon dilatation component to expand or contract in an obstructed Eustachian tube, thereby improving the inconvenience of manual operation of the existing Eustachian tube balloon dilatation, improving surgical accuracy, reducing surgical trauma, and reducing doctor fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings herein show specific examples of the technical solutions described in the present invention, and together with the specific implementation methods, constitute a part of the specification, and are used to explain the technical solutions, principles and effects of the present invention.

[0028] Unless otherwise specified or defined, the same reference numerals in different drawings represent the same or similar technical features, and the same or similar technical features may also be represented by different reference numerals.

[0029] Figure 1 A schematic diagram of a middle ear surgery robot according to an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of a driving mechanism and a lifting mechanism in one embodiment of the present invention;

[0031] Figure 3 An exploded view of a first rotating assembly in one embodiment of the present invention;

[0032] Figure 4 It is a front view of a first rotating assembly in one embodiment of the present invention;

[0033] Figure 5 is a cross section of the first rotating assembly in one embodiment of the present invention Figure 1 ;

[0034] Figure 6 is a cross section of the first rotating assembly in one embodiment of the present invention Figure 2 ;

[0035] Figure 7 Schematic diagram of a medical operating unit in one embodiment of the present invention.

[0036] Description of reference numerals:

[0037] 100. Medical operating unit,

[0038] 110. Balloon dilation assembly, 111. Cylinder, 112. Balloon dilation catheter, 113. Balloon, 114. Pressure sensor, 115. Guide tube,

[0039] 120, first driving assembly, 121, first driving member, 122, first supporting member, 123, first supporting plate, 124, first screw rod, 125, push rod, 126, first moving block, 127, first guide rail,

[0040] 130. second driving assembly, 131. second driving member, 132. second supporting member, 133. second screw rod, 134. second moving block, 135. second guide rail, 136. second supporting plate,

[0041] 140. a third driving assembly, 141. a third driving member, 142. a third supporting member,

[0042] 150, a fourth driving assembly, 151, a fourth driving member, 152, a fourth supporting member,

[0043] 161. Camera,

[0044] 200. Driving mechanism,

[0045] 210, first rotating assembly, 211, connecting plate, 2111, arc groove, 2112, first through hole, 212, motor, 213, base, 214, rotating plate, 2141, rotating shaft, 2142, coupling, 2143, stop pin, 2144, second through hole,

[0046] 220, a second rotating assembly,

[0047] 230, bracket, 231, first support plate, 232, second support plate, 233, third support plate,

[0048] 240, first sensing component, 241, photoelectric sensor, 242, rotating disk, 2421, notch,

[0049] 250, a second sensing component, 251, a transmitter, 252, a receiver,

[0050] 300, lifting mechanism, 310, lifting assembly, 320, moving assembly, 321, bottom plate, 330, housing,

[0051] 400. Operation control system. DETAILED DESCRIPTION

[0052] In order to facilitate the understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0053] Unless otherwise specified or defined, the "first, second..." used in this article is merely used to distinguish names and does not represent a specific quantity or order.

[0054] Unless specifically stated or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0055] It should be noted that when a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there can be a central component; when an component is considered to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time; when an component is considered to be "installed on" another component, it can be directly installed on the other component or there can be a central component at the same time. When an component is considered to be "set on" another component, it can be directly set on the other component or there can be a central component at the same time.

[0056] The present invention proposes a middle ear surgery robot, such as Figure 1 As shown, it includes: a medical operating unit 100, a driving mechanism 200, a lifting mechanism 300 and an operation control system 400. The operation control system 400 has multiple control circuits for respectively controlling the movement of the medical operating unit 100, the driving mechanism 200 and the lifting mechanism 300. The lifting mechanism 300 is mainly used to adjust the height of the medical operating unit 100; the driving mechanism 200 is used to drive the medical operating unit 100 to rotate in different dimensions so that the medical operating unit 100 faces the required direction, and the medical operating unit 100 is used to perform expansion or contraction operations in the obstructed Eustachian tube.

[0057] Specifically, Figure 2 As shown, the lifting mechanism 300 includes a lifting assembly 310, a moving assembly 320 and a shell 330, wherein the shell 330 is mounted on the moving assembly 320, and the lifting assembly 310 is at least partially disposed in the shell 330. The moving assembly 320 includes a bottom plate 321, and four silent casters are disposed at the bottom of the bottom plate 321, which are used to drive the lifting mechanism 300 to move, thereby moving the position of the medical operating unit 100. The lifting assembly 310 is used to adjust the height of the medical operating unit 100. The specific structure of the lifting assembly 310 is not limited, and is a conventional means in the art, such as the Chinese patent publication number: CN115583491 B, which discloses an information self-reading conveying device for processing and feeding medical instruments. The lifting principle and structure of the longitudinal lifting seat in the device can be applied to this embodiment, and will not be repeated here.

[0058] The driving mechanism 200 includes a first rotating assembly 210, a second rotating assembly 220 and a bracket 230; the bracket 230 is mounted on the output end of the first rotating assembly 210, the second rotating assembly 220 is mounted on the bracket 230, and the output end of the second rotating assembly 220 is mounted with a medical operating unit 100. The first rotating assembly 210 drives the second rotating assembly 220, the bracket 230 and the medical operating unit 100 to rotate in one dimension, and the second rotating assembly 220 drives the medical operating unit 100 to rotate in another dimension.

[0059] Specifically, Figure 3 As shown, the first rotating assembly 210 mainly includes a connecting plate 211, a motor 212, a base 213 and a rotating plate 214. The first end of the connecting plate 211 is mounted on the lifting assembly 310, the second end of the connecting plate 211 is mounted with the base 213, and the motor 212 is mounted on the base 213. The rotating plate 214 is mounted on the side of the second end of the connecting plate 211 opposite to the base 213. A rotating shaft 2141 is mounted on the rotating plate 214, and the rotating shaft 2141 is connected to the output end of the motor 212 through a coupling 2142. When the motor 212 is working, the output shaft of the motor 212 drives the rotating shaft 2141 to rotate through the coupling 2142, and the rotating shaft 2141 drives the rotating plate 214 to rotate around the central axis of the rotating shaft 2141. By controlling the rotation angle of the output shaft of the motor 212 (such as a stepping motor) through the operation control system 400, the rotation angle of the rotating plate 214 can be controlled accordingly.

[0060] like Figure 3 and Figure 4 As shown, in this embodiment, a first induction component 240 and a second induction component 250 are also provided. Figure 5As shown, the first sensing component 240 includes a photoelectric sensor 241 and a rotating disk 242. The photoelectric sensor 241 is mounted on the connecting plate 211. The rotating disk 242 is sleeved on the rotating shaft 2141 and rotates with the rotating shaft 2141. The rotating disk 242 has two notches 2421, which are arranged opposite to each other. The notches 2421 are used for sensing and cooperating with the photoelectric sensor 241. Specifically, when the notches 2421 of the rotating disk 242 rotate to deviate from the photoelectric sensor 241, the photoelectric sensor 241 emits light to the outer wall of the rotating disk 242, and the rotating disk 242 receives the light and reflects the light to the photoelectric sensor 241. The photoelectric sensor 241 generates a first electrical signal according to the light reflected by the outer wall of the rotating disk 242. When the slot 2421 of the rotating disk 242 rotates to be consistent with the photoelectric sensor 241, the light generated by the photoelectric sensor 241 enters the slot 2421 and is reflected on the bottom wall of the slot 2421. The photoelectric sensor 241 generates a second electrical signal based on the light reflected by the bottom wall of the slot 2421. Both the first electrical signal and the second electrical signal are transmitted to the operation control system 400, so that the operation control system 400 can conveniently determine whether the rotating plate 214 is rotated to the extreme position based on the first electrical signal and the second electrical signal.

[0061] like Figure 4 As shown, the second sensing component 250 includes a transmitter 251 and a receiver 252. The transmitter 251 is installed at the bottom of the base 213, and the receiver 252 is installed on the rotating plate 214 and rotates with the rotating plate 214. Of course, the transmitter 251 can also be installed on the rotating plate 214, and the receiver 252 can be installed at the bottom of the base 213. Figure 2 and Figure 6 As shown, the connecting plate 211 is provided with a first through hole 2112, the rotating plate 214 is provided with a corresponding second through hole 2144, and the transmitter 251 is used to generate light, which passes through the first through hole 2112 and the second through hole 2144, so that the receiver 252 receives the light emitted by the transmitter 251. That is, when the receiver 252 rotates to a preset position, the light generated by the transmitter 251 is emitted to the receiver 252 through the first through hole 2112 and the second through hole 2144, and the electrical signals generated by the transmitter 251 and the receiver 252 are transmitted to the operation control system 400, so that the operation control system 400 obtains the angle information of the rotating plate 214 according to these electrical signals.

[0062] Preferably, two groups of second sensing components 250 are arranged opposite to each other, and correspondingly, the first through hole 2112 and the second through hole 2144 also have two pairs, one pair of through holes is arranged between the transmitter 251 and the receiver 252 of the first group of second sensing components 250, and the other pair of through holes is arranged between the transmitter 251 and the receiver 252 of the second group of second sensing components 250. By arranging the first sensing component 240 and the two groups of second sensing components 250, the rotating plate 214 generates three different electrical signals when rotating, so as to facilitate monitoring the rotation of the medical operating unit 100 around the rotating shaft 2141 (i.e., around Figure 1 Angle information of Z-axis rotation).

[0063] In some embodiments, in order to limit the angular range of rotation of the rotating plate 214, as shown in FIG. Figure 6 As shown, a stop pin 2143 is provided on the rotating plate 214, and an arc groove 2111 is provided on the connecting plate 211. The stop pin 2143 is at least partially provided in the arc groove 2111. The arc groove 2111 is provided along the circumferential direction of the rotating shaft 2141, and the arc of the arc groove 2111 is 120 degrees to 220 degrees. Since the rotation angle range of the medical operating unit 100 is limited, the medical operating unit 100 generally only needs to rotate within a range of 180 degrees, and therefore, the arc of the arc groove 2111 is correspondingly set to 180 degrees. When the rotating plate 214 rotates to the extreme position, the stop pin 2143 abuts against the inner wall of the arc groove 21111 to prevent the rotating plate 214 from exceeding the specified rotation angle.

[0064] refer to Figure 2 , a bracket 230 is fixed on the rotating plate 214. The bracket 230 is a frame body, including a first support plate 231, a second support plate 232 and a third support plate 233. The first support plate 231 and the second support plate 232 are respectively fixed at the two ends of the rotating plate 214, and the third support plate 233 connects the first support plate 231 and the second support plate 232. The second rotating component 220 and the medical operating unit 100 are respectively installed on both sides of the first support plate 231, and the medical operating unit 100 is connected to the output end of the second rotating component 220. Obviously, the second rotating component 220 and the medical operating unit 100 can also be fixed on the second support plate 232. When the rotating plate 214 rotates, it drives the bracket 230 to rotate, thereby driving the medical operating unit 100 fixed on the bracket 230 to rotate. Figure 1 The second rotating assembly 220 is used to drive the medical operating unit 100 around Figure 1 The medical operating unit 100 can be rotated in two dimensions by the first rotating assembly 210 and the second rotating assembly 220 to adjust the position of the medical operating unit 100. In this embodiment, the structure of the second rotating assembly 220 can be a coupling connecting the motor and the motor output shaft. For details, please refer to the first rotating assembly 210, which will not be described in detail here.

[0065] The output end of the second rotating assembly 220 is equipped with a medical operating unit 100. Figure 7 As shown, the medical operation unit 100 includes a balloon expansion assembly 110, a first drive assembly 120, a second drive assembly 130, a third drive assembly 140 and a fourth drive assembly 150. The balloon expansion assembly 110 is mounted on the first drive assembly 120, the first drive assembly 120 is mounted on the second drive assembly 130, the second drive assembly 130 is rotatably mounted on the third drive assembly 140, and the third drive assembly 140 is rotatably mounted on the fourth drive assembly 150. Figure 1 In the Y-axis direction of the figure, the first driving assembly 120 and the second driving assembly 130 slide together; in the second direction 902 (equivalent to the Y-axis direction of the figure), the first driving assembly 120 and the second driving assembly 130 slide together; Figure 1 In the direction of rotation of the Y-axis in the middle), the second drive assembly 130 and the third drive assembly 140 rotate in cooperation; in the third direction 903 (equivalent to rotating around Figure 1 In the direction of the Z-axis rotation in the middle), the third driving assembly 140 and the fourth driving assembly 150 rotate in cooperation. The first direction 901 is a linear direction, the second direction 902 and the third direction 903 are clockwise or counterclockwise directions, and the rotation plane of the second direction 902 intersects the rotation plane of the third direction 903.

[0066] Specifically, the balloon expansion assembly 110 includes a cylinder 111, a balloon expansion catheter 112, a balloon 113 and a guide tube 115. The cylinder 111 has an air cavity, and the first drive assembly 120 is at least partially disposed in the cylinder 111 and is slidably connected to the inner wall of the cylinder 111. The balloon expansion catheter 112 is inserted in the guide tube 115, the first end of the balloon expansion catheter 112 is installed in the cylinder 111 and communicates with the air cavity, and the second end of the balloon expansion catheter 112 is installed with a balloon 113, and the balloon 113 is communicated with the air cavity through the balloon expansion catheter 112. When the first drive assembly 120 moves toward the balloon 113, the medium in the air cavity is compressed and pushed into the balloon 113, so that the balloon 113 is expanded, and when the first drive assembly 120 moves away from the balloon 113, the air cavity is negatively pressurized, and the medium in the balloon 113 flows into the air cavity, so that the balloon 113 is contracted. By the first driving assembly 120 moving back and forth in the first direction 901, the medium is allowed to enter the balloon 113 or be discharged from the balloon 113 through the balloon dilation catheter 112, thereby achieving treatment of the obstructed Eustachian tube. Preferably, the medium is physiological saline, that is, the balloon 113 is filled with physiological saline. Physiological saline can maintain a relatively stable pressure to ensure the effect of the expansion of the balloon 113. Moreover, physiological saline is one of the main components of human tissue fluid, is relatively safe for human tissue, is not easy to cause adverse reactions such as allergies, and has no side effects on the human body in the event of leakage.

[0067] In some embodiments, the balloon dilation assembly 110 further includes a pressure sensor 114, which is mounted on the balloon dilation catheter 112 and is used to monitor the air pressure of the balloon 113. Specifically, the pressure sensor 114 is electrically connected to the operation control system 400. When the balloon 113 is dilated, the pressure sensor 114 detects the air pressure value of the balloon 113 and transmits the air pressure value to the operation control system 400, so that the operator can timely understand the dilation status of the balloon 113 and perform the dilation operation.

[0068] The balloon expansion assembly 110 moves in the first direction 901 under the action of the first driving assembly 120. Specifically, the first driving assembly 120 includes a first driving member 121, a first supporting member 122, a first supporting plate 123, a first screw rod 124, a push rod 125, and a first moving block 126. The first driving member 121 is mounted on the first end of the first supporting member 122, and the first supporting plate 123 is mounted on the second end of the first supporting member 122. The first end of the first screw rod 124 is mounted on the output end of the first driving member 121, and the second end of the first screw rod 124 is rotatably mounted on the first supporting plate 123; the first moving block 126 is sleeved outside the first screw rod 124 and threadedly matched with the first screw rod 124. In the first direction 901, the first moving block 126 is slidably connected to the first supporting member 122; the first end of the push rod 125 is mounted on the first moving block 126, and the second end of the push rod 125 is mounted on the balloon expansion assembly 110. Preferably, the first support member 122 has a first guide rail 127 extending along the first direction 901 , and the first moving block 126 has a groove matching with the first guide rail 127 , so that the first moving block 126 and the first guide rail 127 can slide and match in the first direction 901 .

[0069] Specifically, the first support member 122 is used to support the first driving member 121, and the first support plate 123 is used to support the cylinder 111. The cylinder 111 is fixed to the first support member 122 through the first support plate 123, so as to improve the stability of the cylinder 111 during operation. The first driving member 121 is used to drive the first screw rod 124 to rotate, and the first moving block 126 is sleeved outside the first screw rod 124 and is threadedly engaged with the first screw rod 124. Since the first moving block 126 is slidably connected to the first support member 122 through the first guide rail 127 in the first direction 901, the first guide rail 127 limits the moving direction of the first moving block 126, so as to prevent the first moving block 126 from rotating with the first screw rod 124, so that the first moving block 126 is driven to move toward the first direction 901 when the first screw rod 124 rotates. At the same time, the first moving block 126 drives the push rod 125 to move in the first direction. Since the first end of the push rod 125 away from the first moving block 126 has a piston push plate, and the piston push plate is slidably connected to the inner wall of the cylinder 111, when the first moving block 126 moves, the push rod 125 drives the piston push plate to move in the cylinder 111, so that the cylinder 111 injects the medium into the balloon 113 or absorbs the medium from the balloon 113, so as to realize the expansion and contraction of the balloon 113.

[0070] The first drive assembly 120 is mounted on the second drive assembly 130. Specifically, the second drive assembly 130 includes a second drive member 131, a second support member 132, a second screw rod 133, and a second moving block 134. The second support member 132 is rotatably mounted on the third drive assembly 140, the second drive member 131 is mounted on the second support member 132, the first end of the second screw rod 133 is mounted on the output end of the second drive member 131, the second moving block 134 is sleeved on the second screw rod 133, and is threadedly matched with the second screw rod 133. In the first direction 901, the lower end of the second moving block 134 is slidably connected to the second support member 132. The first drive assembly 120 is mounted on the upper end of the second moving block 134. When the second moving block 134 moves in the first direction 901, it drives the first drive assembly 120 to move in the first direction 901, and moves the position of the first drive assembly 120.

[0071] Specifically, the second support member 132 supports the second driving member 131, and the second driving member 131 drives the second screw rod 133 to rotate. In the first direction 901, the second moving block 134 slides with the second guide rail 135 on the second support member 132, and the second guide rail 135 limits the moving direction of the second moving block 134 to prevent the second moving block 134 from rotating with the second screw rod 133, so that the second screw rod 133 drives the second moving block 134 to move back and forth in the first direction 901. The first driving assembly 120 is installed on the second moving block 134, thereby driving the balloon expansion assembly 110 to move in the first direction 901.

[0072] Since the cylinder 111 needs to deliver the medium to the balloon 113 through the balloon dilatation catheter 112, and there is medium flowing in the balloon dilatation catheter 112, the balloon 113 will contact the wall of the pharyngeal opening of the Eustachian tube when expanding, and the balloon 113 will generate a reaction force, which will cause the balloon dilatation catheter 112 to shake. Therefore, in order to improve the stability of the balloon 113 during expansion and contraction. The second drive assembly 130 also includes a second support plate 136, the first end of the second support plate 136 is mounted on the second support member 132, and the second end of the second support plate 136 is fixed to the balloon dilatation catheter 112. The second support plate 136 supports the balloon dilatation catheter 112. When the balloon 113 expands and contracts, the force generated by the balloon 113 and the stress generated by the airflow in the balloon dilatation catheter 112 act on the second support plate 136, thereby enhancing the stability of the balloon dilatation catheter 112 during use.

[0073] By fixing the first support plate 123 on the first support member 122 and the second support plate 136 on the second support member 132, the first support plate 123 is used to support the first screw rod 124; the second support plate 136 is used to support the balloon dilatation catheter 112 and the second screw rod 133, which can improve the stability of the balloon dilatation catheter 112; and improve the stability of the first screw rod 124 and the second screw rod 133 during rotation.

[0074] In this embodiment, an imaging component is also provided. The imaging component includes: an image processing control component (not shown in the figure) and a camera 161. The image processing control component can be installed on the second support plate 136 but is not limited to being installed there, and can also be installed on the second drive assembly 130, the third drive assembly 140 or the fourth drive assembly 150. The camera 161 is installed at the front end of the guide tube 115, and the camera 161 is electrically connected to the image processing control component. The image processing control component is used to process and display the data of the camera 161. The camera 161 is used to record in real time or by image the appropriate position of the guide tube 115 entering the pharyngeal opening corresponding to the eustachian tube groove through the nasal cavity, and the environmental picture of the balloon dilatation catheter 112 entering the pharyngeal opening of the eustachian tube, so as to provide operation guidance for achieving surgical accuracy, reducing surgical trauma, and reducing doctor fatigue. The camera 161 is used to guide the guide tube 115 to avoid direct contact between the camera 161 and the mucosal tissue of the pharyngeal opening of the eustachian tube, and to damage the mucosal tissue when moving. Preferably, the guide tube 115 is made of soft material and has a rounded corner structure at the tip end, so that the tissue will not be damaged when it touches the inner wall of the mucosal tissue. Ensure that the camera 161 can capture in real time the image information of the guide tube 115 entering the appropriate position of the pharyngeal opening corresponding to the eustachian tube groove through the nasal cavity, and the surrounding environment of the balloon dilatation catheter 112 entering the pharyngeal opening of the eustachian tube, and then display the image information on the image processing control unit or the operation control system 400.

[0075] The second driving assembly 130 is mounted on the third driving assembly 140. Specifically, the third driving assembly 140 includes a third driving member 141 and a third supporting member 142. The third driving member 141 is mounted in the mounting cavity of the third supporting member 142. The second supporting member 132 is mounted at the output end of the third driving member 141, and the third driving member 141 is used to drive the second supporting member 132 to rotate, thereby driving the balloon expansion assembly 110 to rotate clockwise or counterclockwise in the second direction 902.

[0076] The third driving assembly 140 is mounted on the fourth driving assembly 150. Specifically, the fourth driving assembly 150 includes a fourth driving member 151 and a fourth supporting member 152. The fourth driving member 151 is mounted on the fourth supporting member 152, and the fourth supporting member 152 is mounted on the first supporting plate 231 or the second supporting plate 232. The third supporting member 142 is mounted on the output end of the fourth driving member 151. The fourth driving member 151 is used to drive the third supporting member 142 to rotate in the third direction 903, thereby driving the balloon expansion assembly 110 to rotate clockwise or counterclockwise in the third direction 903.

[0077] In summary, when the first driving assembly 120 moves back and forth in the first direction 901, it compresses and expands the cylinder 111 and acts on the balloon dilation assembly 110 to achieve the expansion and retraction of the balloon dilation catheter 112 in the Eustachian tube. The second driving assembly 130 is used to drive the balloon dilation catheter 112 and the imaging assembly to move in the first direction 901, thereby adjusting the position of the balloon dilation catheter 112 in the Eustachian tube, the third driving assembly 140 is used to drive the balloon dilation catheter 112 to rotate clockwise or counterclockwise in the second direction 902, and the fourth driving assembly 150 is used to drive the balloon dilation catheter 112 to rotate clockwise or counterclockwise in the third direction 903. Through the cooperation of the first rotating assembly 210, the second rotating assembly 220, the second driving assembly 130, the third driving assembly 140, and the fourth driving assembly 150, the balloon dilation catheter 112 is moved to the preset position in the Eustachian tube, and then the balloon dilation catheter 112 is expanded and retracted by the first driving assembly 120, so as to achieve the treatment of the obstructed Eustachian tube.

[0078] In this embodiment, the first screw rod 124 and the first driving member 121, and the second screw rod 133 and the second driving member 131 are connected via a coupling. The coupling can transmit torque and play a role in buffering, shock absorption and overload protection.

[0079] The middle ear surgery robot of this embodiment is used for clinical surgery to perform Eustachian tube dilation treatment, including the following operation steps:

[0080] Step 1: The operation control system 400 drives the lifting mechanism 300 to move the medical operation unit 100 to a preset height; the operation control system 400 drives the first rotating assembly 210 and the second rotating assembly 220 to rotate the medical operation unit 100 to a preset angle.

[0081] Step 2: The operation control system 400 drives the fourth drive assembly 150, the third drive assembly 140, and the second drive assembly 130 to move in coordination with each other. Under the action of the camera 161 at the head end of the guide tube 115, the guide tube 115 is passed through the nasal cavity into the appropriate position of the pharyngeal opening corresponding to the Eustachian tube groove, and the imaging component starts imaging to record the environmental picture of the Eustachian tube pharyngeal opening.

[0082] Step 3: The operator drives the fourth drive assembly 150, the third drive assembly 140, and the second drive assembly 130 to move in coordination with each other through the operation control system 400 according to the environmental image of the pharyngeal opening of the Eustachian tube, and moves the camera 161 and the balloon dilatation catheter 112 to a suitable position of the pharyngeal opening of the Eustachian tube.

[0083] Step 4: The first driving component 120 and the balloon dilation component 110 work together, and the balloon 113 on the balloon dilation catheter 112 expands and contracts in the Eustachian tube to achieve the dilation operation of the Eustachian tube.

[0084] The first rotating component, the second rotating component, and the second driving component, the third driving component, and the fourth driving component in the medical operating unit are controlled by the operating control system to adjust or move the positions of the balloon dilation catheter and the camera in the Eustachian tube. The balloon dilation catheter is driven by the first driving component to dilate the Eustachian tube, thereby achieving adjustment of the balloon dilation catheter in three-dimensional space and automatic adjustment of the balloon dilation catheter to expand or contract in an obstructed Eustachian tube, thereby improving the inconvenience of manual operation of the existing Eustachian tube balloon dilation surgery, improving surgical accuracy, reducing surgical trauma, and reducing doctor fatigue.

[0085] It should be noted that the first driving member 121, the second driving member 131, the third driving member 141, and the fourth driving member 151 can be purchased on the market, and the model thereof can be Panasonic-MSMF012L1U2M. In addition, the movement or rotation of the guide tube 115 / camera 161 or the balloon dilatation catheter 112 can also be achieved by cooperating with other drivers, reducers, and transmission components, which are not particularly limited here.

[0086] When quoting drawing descriptions, new features that appear are described; in order to avoid repeated quotations of drawings resulting in less concise descriptions, features that have been described clearly will not be quoted in the drawings one by one.

[0087] The purpose of the above embodiments is to exemplarily reproduce and deduce the technical solution of the present invention, and to fully describe the technical solution, purpose and effect of the present invention. Its purpose is to make the public understand the disclosed content of the present invention more thoroughly and comprehensively, and it does not limit the scope of protection of the present invention.

[0088] The above embodiments are not exhaustive enumerations of the present invention, and there may be multiple other implementations not listed. Any replacement and improvement made without violating the concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. A medical operating unit, characterized in that: include: A balloon expansion assembly, a first drive assembly, a second drive assembly, a third drive assembly, and a fourth drive assembly, wherein the balloon expansion assembly is mounted on the first drive assembly, the first drive assembly is mounted on the second drive assembly, the second drive assembly is rotatably mounted on the third drive assembly, and the third drive assembly is rotatably mounted on the fourth drive assembly; In a first direction, the first drive assembly is slidably matched with the second drive assembly; In the second direction, the second drive assembly is rotationally matched with the third drive assembly; In the third direction, the third drive assembly and the fourth drive assembly are rotationally matched; The first direction is a linear direction, the second direction and the third direction are clockwise or counterclockwise directions, and a rotation plane of the second direction intersects with a rotation plane of the third direction.

2. The medical operating unit according to claim 1, characterized in that: The balloon dilation assembly includes a cylinder, a balloon dilation catheter and a balloon, the cylinder having an air cavity and a piston push plate, the piston push plate being connected to the first drive assembly, the outer wall of the piston push plate being slidably connected to the inner wall of the cylinder, the first end of the balloon dilation catheter being mounted on the first end of the cylinder, the balloon being mounted on the second end of the balloon dilation catheter, the balloon dilation catheter being connected to the air cavity, and the first drive assembly pushing the piston push plate to allow a medium to flow into the balloon to expand the balloon or to allow a medium to flow out of the balloon to contract the balloon.

3. The medical operating unit according to claim 2, characterized in that: The balloon dilatation component also includes a guide tube, and the balloon dilatation catheter is inserted in the guide tube. The medical operation unit also includes an imaging component, and the imaging component includes a camera and an image processing control component. The camera is arranged at the front end of the guide tube, and the image processing control component is installed on one of the first drive component, the second drive component, the third drive component and the fourth drive component, and the camera is electrically connected to the image processing control component.

4. The medical operating unit according to claim 2, characterized in that: The balloon dilatation assembly also includes a pressure sensor, which is installed on the balloon dilatation catheter and is used to monitor the air pressure of the balloon.

5. The medical operating unit according to claim 2, characterized in that: The first driving assembly includes a first driving member, a first supporting member, a first supporting plate, a first screw rod, a push rod and a first moving block. The first driving member is mounted on the first end of the first supporting member, the first supporting plate is mounted on the second end of the first supporting member, the first end of the first screw rod is mounted on the output end of the first driving member, and the second end of the first screw rod is rotatably mounted on the first supporting plate; The first moving block is sleeved outside the first screw rod and matched with the first screw rod thread. In the first direction, the first moving block is slidably connected to the first support member; The first end of the push rod is mounted on the first moving block, and the second end of the push rod is mounted on the piston push plate.

6. The medical operating unit according to claim 2, characterized in that: The second driving assembly includes a second support member, a second driving member, a second screw rod, and a second moving block. The second support member is rotatably mounted on the third driving assembly. The second driving member is mounted on the second support member. The first end of the second screw rod is mounted on the output end of the second driving member. The second moving block is sleeved outside the second screw rod and is threadedly matched with the second screw rod. In the first direction, the lower end of the second moving block is slidably connected to the second support member. The first driving assembly is mounted on the upper end of the second moving block. The second driving assembly also includes a second support plate, a first end of the second support plate is mounted on the second support member, and a second end of the second support plate is fixed to the balloon dilatation catheter.

7. A middle ear surgery robot, characterized in that: It comprises a driving mechanism, a lifting mechanism, and a medical operating unit as described in any one of claims 1 to 6, wherein the medical operating unit is mounted on the driving mechanism, the driving mechanism is mounted on the lifting mechanism, the driving mechanism changes the angle of the medical operating unit, and the lifting mechanism changes the position of the medical operating unit.

8. The middle ear surgery robot according to claim 7, characterized in that: The driving mechanism includes a first rotating component, a second rotating component and a bracket; the bracket is installed at the output end of the first rotating component, the second rotating component is installed on the bracket, the first rotating component drives the bracket and the second rotating component to rotate on a first surface, and the second rotating component drives the medical operating unit to rotate on a second surface, and the first surface intersects with the second surface.

9. The middle ear surgery robot according to claim 8, characterized in that: The first rotating component includes a connecting plate, a motor, a base, a rotating shaft and a rotating plate, the motor is mounted on the base, the base is mounted on the connecting plate, the rotating plate is rotatably mounted on the connecting plate, the connecting plate is mounted on the lifting mechanism, the first end of the rotating shaft is mounted on the rotating plate, the second end of the rotating shaft is mounted on the output end of the motor, and the bracket is mounted on the rotating plate.

10. The middle ear surgery robot according to claim 7, characterized in that: The middle ear surgery robot also includes an operation control system, and the driving mechanism and the medical operation unit are electrically connected to the operation control system respectively.

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