Medical operating unit, middle ear surgery robot

Abstract

The application discloses a medical operation unit and a middle ear operation robot and belongs to the technical field of medical devices. The medical operation unit comprises a balloon expansion assembly, a first driving assembly, a second driving assembly, a third driving assembly and a fourth driving assembly. The balloon expansion assembly is installed on the first 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 a first direction, the first driving assembly and the second driving assembly are in sliding fit; in a second direction, the second driving assembly and the third driving assembly are in rotary fit; and in a third direction, the third driving assembly and the fourth driving assembly are in rotary fit. The application is used for improving the inconvenience of manual operation in existing Eustachian tube balloon dilation, improving the operation accuracy, reducing the operation trauma and reducing the fatigue of doctors.

Description

Technical Field

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

[0002] The Eustachian tube connects the middle ear's tympanic cavity with the nasopharynx. Blockage or obstruction of the Eustachian tube can lead to various middle ear diseases. Eustachian tube balloon dilation involves dilating the narrowed Eustachian tube with a balloon catheter, allowing it to better regulate intratympanic pressure and maintain equilibrium with the external environment.

[0003] During clinical surgery, due to differences in patients' physiological structures and the severity of their illness, 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 engaged with the second drive assembly;

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

[0009] In the third direction, the third drive assembly and the fourth drive assembly rotate in conjunction with each other;

[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 expansion component includes a cylinder, a balloon expansion catheter and a balloon, the cylinder has an air cavity and a piston push plate, the piston push plate is connected to the first drive component, the outer wall of the piston push plate is slidably connected to the inner wall of the cylinder, the first end of the balloon expansion catheter is installed on the first end of the cylinder, the balloon is installed on the second end of the balloon expansion catheter, the balloon expansion catheter is connected to the air cavity, and the first drive component pushes the piston push plate to allow the medium to flow into the balloon to expand the balloon or to allow the medium to flow out of the balloon to contract.

[0012] In one embodiment, the balloon dilatation component further includes a guide tube, and the balloon dilatation catheter is inserted into the guide tube. The medical operating unit further 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 passing through the nasal cavity into the pharyngeal opening corresponding to the Eustachian tube groove, as well as the environmental picture of the balloon dilatation catheter entering the pharyngeal opening of the Eustachian tube, 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 on the outside of the first screw rod and is threadably engaged with the first screw rod. 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 engaged 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 further 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 surgical 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 on 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 the first surface, and the second rotating component drives the medical operating unit to rotate on the second surface, and the first surface and the second surface intersect.

[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 dilation catheter are adjusted or moved, enter the Eustachian tube groove through the nasal cavity to the appropriate position of the pharyngeal opening, and then enter the Eustachian tube, and the balloon dilation component is driven by the first drive component to achieve adjustment of the balloon dilation component in three-dimensional space, and adjustment of the balloon dilation component 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings herein illustrate 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 is 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 according to an embodiment of the present invention;

[0032] Figure 4 is a front view of a first rotating assembly according to an embodiment of the present invention;

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

[0034] Figure 6 This 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 drive assembly, 121. First drive member, 122. First support member, 123. First support plate, 124. First screw rod, 125. Push rod, 126. First moving block, 127. First guide rail,

[0040] 130. Second drive assembly, 131. Second drive member, 132. Second support member, 133. Second screw rod, 134. Second moving block, 135. Second guide rail, 136. Second support plate,

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

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

[0043] 161. Camera,

[0044] 200, driving mechanism,

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

[0046] 220, 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, second sensing component, 251, transmitter, 252, receiver,

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

[0051] 400. Operation control system. DETAILED DESCRIPTION

[0052] To facilitate 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 only used to distinguish names and does not represent a specific quantity or order.

[0054] Unless stated otherwise 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 an element is considered to be "fixed to" another element, it can be directly fixed to the other element or there can be an intermediate element; when an element is considered to be "connected to" another element, it can be directly connected to the other element or there can be an intermediate element; when an element is considered to be "mounted on" another element, it can be directly mounted on the other element or there can be an intermediate element. When an element is considered to be "located on" another element, it can be directly located on the other element or there can be an intermediate element.

[0056] The present invention proposes a middle ear surgery robot, such as Figure 1 As shown, the medical operating unit 100 includes a driving mechanism 200, a lifting mechanism 300, and an operation control system 400. The operation control system 400 has multiple control circuits for controlling the movement of the medical operating unit 100, the driving mechanism 200, and the lifting mechanism 300. The lifting mechanism 300 is primarily used to adjust the height of the medical operating unit 100; the driving mechanism 200 is used to rotate the medical operating unit 100 in different dimensions, so that the medical operating unit 100 faces the desired orientation. The medical operating unit 100 is used to expand or contract the Eustachian tube within an obstructed area.

[0057] Specifically, if Figure 2 As shown, the lifting mechanism 300 includes a lifting assembly 310, a moving assembly 320 and a housing 330. The housing 330 is mounted on the moving assembly 320, and the lifting assembly 310 is at least partially disposed within the housing 330. The moving assembly 320 includes a base plate 321. Four silent casters are provided at the bottom of the base plate 321 for driving 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 this field. For example, Chinese Patent Publication No.: CN115583491 B discloses an information self-reading conveying device for processing and loading 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 drive 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, and the second rotating assembly 220 is mounted on the bracket 230. The output end of the second rotating assembly 220 is mounted with the medical operating unit 100. The first rotating assembly 210 drives the second rotating assembly 220, bracket 230, and medical operating unit 100 to rotate in one dimension, while the second rotating assembly 220 drives the medical operating unit 100 to rotate in another dimension.

[0059] Specifically, if Figure 3 As shown, the first rotating assembly 210 primarily 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 to the lifting assembly 310, the second end of the connecting plate 211 is mounted to the base 213, and the motor 212 is mounted on the base 213. The rotating plate 214 is mounted on the second end of the connecting plate 211, on the side opposite the base 213. A rotating shaft 2141 is mounted on the rotating plate 214, which is connected to the output end of the motor 212 via a coupling 2142. When the motor 212 is in operation, the output shaft of the motor 212 drives the rotating shaft 2141 to rotate via the coupling 2142, which in turn drives the rotating plate 214 to rotate about the central axis of the rotating shaft 2141. By controlling the rotation angle of the output shaft of the motor 212 (e.g., a stepper motor) through the 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 sensing component 240 and a second sensing component 250 are also provided. Figure 5As shown, the first sensing assembly 240 comprises a photoelectric sensor 241 and a rotating disc 242, the photoelectric sensor 241 is mounted on the connecting plate 211, and the rotating disc 242 is sleeved on the rotating shaft 2141 and rotates with the rotating shaft 2141, the rotating disc 242 has two notches 2421, the two notches 2421 are oppositely arranged, and the notches 2421 are used for sensing cooperation with the photoelectric sensor 241. Specifically, when the notch 2421 of the rotating disc 242 rotates to deviate from the photoelectric sensor 241, the photoelectric sensor 241 emits light to the outer wall of the rotating disc 242, the rotating disc 242 reflects the light to the photoelectric sensor 241 after receiving the light, and the photoelectric sensor 241 generates a first electric signal according to the light reflected by the outer wall of the rotating disc 242. When the notch 2421 of the rotating disc 242 rotates to coincide with the photoelectric sensor 241, the light generated by the photoelectric sensor 241 enters the notch 2421 and is reflected on the bottom wall of the notch 2421, and the photoelectric sensor 241 generates a second electric signal according to the light reflected by the bottom wall of the notch 2421, the first electric signal and the second electric signal are transmitted to the operation control system 400, so that the operation control system 400 conveniently determines whether the rotating plate 214 rotates to the limit position according to the first electric signal and the second electric signal.

[0061] As shown in Figure 4 , the second sensing assembly 250 comprises a transmitter 251 and a receiver 252, the transmitter 251 is mounted on the bottom of the base 213, and the receiver 252 is mounted on the rotating plate 214 and rotates with the rotating plate 214. Of course, the transmitter 251 can also be mounted on the rotating plate 214, and the receiver 252 is mounted on 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, and the rotating plate 214 is provided with a corresponding second through hole 2144, the transmitter 251 is used for generating light, and the light passes through the first through hole 2112 and the second through hole 2144 to make the receiver 252 receive 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 electric 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 the electric signals.

[0062] Preferably, the second sensing components 250 are arranged in two groups relative to each other. Accordingly, the first through holes 2112 and the second through holes 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, which facilitates 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 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 arcuate groove 2111 is provided on the connecting plate 211. The stop pin 2143 is at least partially disposed within the arcuate groove 2111. The arcuate groove 2111 extends along the circumference of the rotating shaft 2141, and the arcuate groove 2111 has an arc angle of 120 to 220 degrees. Since the medical operating unit 100 has a limited rotational angle range and generally only needs to rotate within a range of 180 degrees, the arcuate 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 arcuate groove 21111, preventing 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 assembly 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 assembly 220. Obviously, the second rotating assembly 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 around. Figure 1 The second rotating assembly 220 is used to drive the medical operating unit 100 around Figure 1 The first rotating assembly 210 and the second rotating assembly 220 can be used to rotate the medical operating unit 100 in two dimensions 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 and will not be repeated 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 operating 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. In the first direction 901 (equivalent to 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 figure), the second drive assembly 130 and the third drive assembly 140 rotate in conjunction with each other; in the third direction 903 (equivalent to rotating around the Y axis), the second drive assembly 130 and the third drive assembly 140 rotate in conjunction with each other; Figure 1 In the direction of rotation of the Z-axis in FIG, the third drive assembly 140 and the fourth drive assembly 150 rotate in conjunction. 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 within the cylinder 111 and is slidably connected to the inner wall of the cylinder 111. The balloon expansion catheter 112 is inserted into the guide tube 115. The first end of the balloon expansion catheter 112 is mounted on the cylinder 111 and communicates with the air cavity. The second end of the balloon expansion catheter 112 is mounted with the balloon 113, which communicates 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, causing the balloon 113 to expand. When the first drive assembly 120 moves away from the balloon 113, the air cavity becomes negatively pressurized, and the medium in the balloon 113 flows into the air cavity, causing the balloon 113 to contract. By moving the first drive assembly 120 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 expansion effect of the balloon 113. Moreover, physiological saline is one of the main components of human tissue fluid, is relatively safe for human tissue, and is not prone to causing adverse reactions such as allergies. In the event of leakage, the physiological saline has no side effects on the human body.

[0067] In some embodiments, the balloon expansion assembly 110 further comprises a pressure sensor 114 mounted on the balloon expansion catheter 112, the pressure sensor 114 being used to monitor the air pressure of the balloon 113. Specifically, the pressure sensor 114 is electrically connected with the operation control system 400, when the balloon 113 is expanded, 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 know the expansion condition of the balloon 113 in time, so as to facilitate the operator to perform the expansion 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 comprises a first driving piece 121, a first support piece 122, a first support plate 123, a first lead screw 124, a push rod 125 and a first moving block 126. The first driving piece 121 is mounted on the first end of the first support piece 122, and the first support plate 123 is mounted on the second end of the first support piece 122. The first end of the first lead screw 124 is mounted on the output end of the first driving piece 121, and the second end of the first lead screw 124 is rotatably mounted on the first support plate 123. The first moving block 126 is sleeved on the first lead screw 124 and threadedly cooperates with the first lead screw 124, and the first moving block 126 is slidably connected with the first support piece 122 in the first direction 901. 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 piece 122 has a first guide rail 127 extending in the first direction 901, and the first moving block 126 has a groove matched with the first guide rail 127, so that the first moving block 126 and the first guide rail 127 are slidably matched 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 via the first support plate 123, thereby improving 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 movable block 126 is sleeved on the outside of the first screw rod 124 and threadedly engaged with the first screw rod 124. Since the first movable block 126 is slidably connected to the first support member 122 via the first guide rail 127 in the first direction 901, the first guide rail 127 limits the movement direction of the first movable block 126, preventing the first movable block 126 from rotating with the first screw rod 124, so that when the first screw rod 124 rotates, it drives the first movable block 126 to move toward the first direction 901. 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, this piston push plate is slidingly 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, thereby realizing 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, and the second moving block 134 is sleeved on the second screw rod 133 and threadedly engaged 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, thereby moving the position of the first drive assembly 120.

[0071] Specifically, second support member 132 supports second driver 131, which drives second screw 133 to rotate. In the first direction 901, second movable block 134 slidably engages second guide rail 135 on second support member 132. Second guide rail 135 limits the movement direction of second movable block 134, preventing second movable block 134 from rotating with second screw 133. Consequently, second screw 133 drives second movable block 134 to move back and forth in the first direction 901. The first driver assembly 120 is mounted on second movable block 134, thereby driving balloon expansion assembly 110 to move in the first direction 901.

[0072] Since the air 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 it expands, 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 unit (not shown) and a camera 161. The image processing control unit can be installed on the second support plate 136 but is not limited to being installed there. It 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. The camera 161 is electrically connected to the image processing control unit, and the image processing control unit is used to process and display the data from the camera 161. The camera 161 is used to record in real time or through images the appropriate position of the guide tube 115 entering the pharyngeal opening corresponding to the nasal groove of the Eustachian tube, as well as the environmental image of the balloon dilatation catheter 112 entering the pharyngeal opening of the Eustachian tube, to provide operational guidance for achieving surgical accuracy, reducing surgical trauma, and reducing doctor fatigue. The camera 161 is used to guide the guide tube 115 to prevent the camera 161 from directly contacting the mucosal tissue of the pharyngeal opening of the Eustachian tube and damaging the mucosal tissue during movement. Preferably, the guide tube 115 is made of a soft material and has a rounded tip to prevent damage to the mucosal tissue when it contacts the inner wall. The camera 161 is ensured to capture real-time image information of the guide tube 115 passing through the nasal cavity into the appropriate position of the pharyngeal opening corresponding to the Eustachian tube groove, as well as the balloon dilatation catheter 112 entering the pharyngeal opening of the Eustachian tube, and the surrounding environment, and then display the image information on the image processing control unit or operation control system 400.

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

[0076] The third drive assembly 140 is mounted on the fourth drive assembly 150. Specifically, the fourth drive assembly 150 includes a fourth drive member 151 and a fourth support member 152. The fourth drive member 151 is mounted on the fourth support member 152, and the fourth support member 152 is mounted on the first support plate 231 or the second support plate 232. The third support member 142 is mounted on the output end of the fourth drive member 151. The fourth drive member 151 is used to drive the third support 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 drive 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, causing the balloon dilation catheter 112 to expand and retract within the Eustachian tube. The second drive 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 within the Eustachian tube. The third drive assembly 140 is used to drive the balloon dilation catheter 112 to rotate clockwise or counterclockwise in the second direction 902. The fourth drive 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 rotation assembly 210, the second rotation assembly 220, the second drive assembly 130, the third drive assembly 140, and the fourth drive assembly 150, the balloon dilation catheter 112 is moved to a predetermined position within the Eustachian tube. The balloon dilation catheter 112 is then expanded and retracted by the first drive assembly 120, thereby treating a blocked 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 through 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 in clinical surgery for Eustachian tube dilation treatment, including the following steps:

[0080] Step 1: The operation control system 400 drives the lifting mechanism 300 to move the medical operating 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 operating 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 the image 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 Eustachian tube pharyngeal opening, and moves the camera 161 and the balloon dilatation catheter 112 to the appropriate position of the Eustachian tube pharyngeal opening.

[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 expansion operation of the Eustachian tube.

[0084] The first rotating assembly, the second rotating assembly, and the second driving assembly, the third driving assembly, and the fourth driving assembly 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 assembly 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. This improves the inconvenience of manual operation of the existing Eustachian tube balloon dilation surgery, improves surgical accuracy, reduces surgical trauma, and reduces 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 are commercially available, and the model number may be Panasonic-MSMF012L1U2M. Furthermore, the guide tube 115 / camera 161 or balloon dilatation catheter 112 may also be moved or rotated by cooperating with other drivers, reducers, and transmission components, without particular limitation herein.

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

[0087] The purpose of the above embodiments is to exemplify 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 enable the public to have a more thorough and comprehensive understanding of the disclosed content of the present invention, and it does not limit the scope of protection of the present invention.

[0088] The above embodiments are not exhaustive and may include many other embodiments not listed above. Any replacements and improvements made without violating the concept of the present invention are within the scope of protection 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 engaged with the second drive assembly; In the second direction, the second drive assembly is rotationally engaged with the third drive assembly; In the third direction, the third drive assembly and the fourth drive assembly rotate in conjunction with each other; The first direction is a linear direction, the second direction and the third direction are clockwise or counterclockwise directions, and the rotation plane of the second direction intersects the rotation plane of the third direction; The balloon expansion assembly includes a cylinder, a balloon expansion catheter, and a balloon. The cylinder has an air cavity and a piston push plate. The piston push plate is connected to the first drive assembly. The outer wall of the piston push plate is slidably connected to the inner wall of the cylinder. The first end of the balloon expansion catheter is mounted on the first end of the cylinder. The balloon is mounted on the second end of the balloon expansion catheter. The balloon expansion catheter is connected to the air cavity. The first drive assembly pushes the piston push plate to allow medium to flow into the balloon to expand the balloon or to allow medium to flow out of the balloon to contract. 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 on the outside of the second screw rod and is threadedly engaged 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 further 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.

2. The medical operating unit according to claim 1, wherein: The balloon dilatation component also includes a guide tube, and the balloon dilatation catheter is inserted into 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. The camera is electrically connected to the image processing control component.

3. The medical operating unit according to claim 1, wherein: 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.

4. The medical operating unit according to claim 1, wherein: 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 on the outside of the first screw rod and is threadably engaged with the first screw rod. 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.

5. A middle ear surgery robot, characterized in that: It includes a driving mechanism, a lifting mechanism, and a medical operating unit as described in any one of claims 1 to 4, 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.

6. The middle ear surgery robot according to claim 5, 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, and the second rotating component is installed on the bracket. The first rotating component drives the bracket and the second rotating component to rotate on the first surface, and the second rotating component drives the medical operating unit to rotate on the second surface. The first surface intersects with the second surface.

7. The middle ear surgery robot according to claim 6, wherein: The first rotating assembly 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.

8. The middle ear surgery robot according to claim 5, wherein: 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.

Images