Traction device with soft tissue protection function for surgical robot system

Abstract

The invention discloses a traction device with a soft tissue protection function for a surgical robot system, which is characterized in that the head end of an inner cylinder is inserted into the tail end of an outer cylinder, two ends of a flexible unit respectively penetrate through the inner cylinder and the outer cylinder and are used for providing force for inserting the inner cylinder into the outer cylinder, and an outer cylinder cover is connected with the head end of the flexible unit and can seal the head end of the outer cylinder. The inner barrel cover is connected with the tail end of the flexible unit, so that the inner barrel can be prevented from completely entering the inner barrel, and the ends, away from each other, of the inner barrel cover and the outer barrel cover are each provided with a quick-release connector. According to the traction device with the soft tissue protection function for the surgical robot system, the relative movement (linear movement, rotary movement but not bending) of the inner cylinder and the outer cylinder is limited through the flexible unit, and various devices or surgical instruments are connected through the quick release connector. When the traction device is used for surgical traction, one end of the traction device is connected with a surgical instrument to clamp and pull soft tissues such as skin, and the other end is connected with a manipulator or other fixing devices, so that the skin is kept in an open state.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical instruments, and more specifically, relates to a traction device with a soft tissue protection function used in a surgical robot system. Background Art

[0002] In the medical field, surgical robots usually need to be equipped with an elastic unit with flexible deformation function during the navigation and resetting operations to assist the robot in resetting the pelvis, limbs, and other bone tissues. Its main function is to overcome the constraints of soft tissues during machine movement, which causes the robot's movement load to exceed the limit and cannot reach the ideal position. At the same time, it should comply with biomechanical properties and not cause damage to soft tissues, meet medical requirements, prevent accidental injuries to the human body, effectively separate bone tissue and soft tissue, and achieve safe, effective, and convenient operation.

[0003] However, the force of the existing elastic unit is difficult to control, and the distortion and deformation are uncertain, which is not conducive to stable traction. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and provide a traction device with soft tissue protection function for use in a surgical robot system, thereby solving the problem that the existing elastic unit body is difficult to control the force, has uncertain distortion and deformation, and is not conducive to stable traction use.

[0005] In order to achieve the above object, the present invention provides a traction device with soft tissue protection function for use in a surgical robot system, comprising:

[0006] An outer cylinder, an inner cylinder, an outer cylinder cover, an inner cylinder cover and a flexible unit;

[0007] The head end of the inner tube is inserted into the tail end of the outer tube;

[0008] Two ends of the flexible unit are respectively inserted into the inner tube and the outer tube, and are used to provide a force for inserting the inner tube into the outer tube;

[0009] The outer tube cover is connected to the head end of the flexible unit and can close the head end of the outer tube;

[0010] The inner cylinder cover is connected to the tail end of the flexible unit, which can prevent the inner cylinder from completely entering the inner cylinder;

[0011] The inner tube cover and the outer tube cover are respectively provided with quick-release interfaces at their ends away from each other.

[0012] Optionally, a scale is provided on the outer circumference of the inner cylinder.

[0013] Optionally, a connecting seat is provided on one side of the outer cylinder cover, and the connecting seat is connected to the flexible unit via a plug screw.

[0014] Optionally, the outer cylinder and the inner cylinder are respectively cylindrical.

[0015] Optionally, a sheath is provided on the outer circumference of the outer cylinder.

[0016] Optionally, the flexible unit is columnar.

[0017] Optionally, the flexible unit is a rubber column or a silicone column with a honeycomb structure.

[0018] Optionally, the flexible unit is tubular.

[0019] Optionally, the flexible unit is a rubber tube or a silicone tube.

[0020] Optionally, the flexible unit is a columnar spring.

[0021] The present invention provides a traction device with soft tissue protection function for a surgical robot system, which has the following beneficial effects:

[0022] The traction device with soft tissue protection function used in the surgical robot system limits the relative movement (linear movement, rotational movement but not bending) of the inner and outer cylinders through a flexible unit, and connects various devices or surgical instruments through a quick-release interface. When used for surgical traction, one end of the traction device is connected to the surgical instrument to clamp and pull the skin and other soft tissues, and the other end is connected to a manipulator or other fixing device, thereby keeping the skin open to prevent the skin and other soft tissues from interfering with the movement of the surgical instrument or blocking the field of view.

[0023] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0025] Figure 1 A schematic structural diagram of a traction device with a soft tissue protection function used in a surgical robot system according to an embodiment of the present invention is shown.

[0026] Description of reference numerals:

[0027] 1. Outer tube; 2. Inner tube; 3. Outer tube cover; 4. Inner tube cover; 5. Flexible unit; 6. Plug screw; 7. Sheath. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0029] like Figure 1 As shown, a traction device with soft tissue protection function for a surgical robot system comprises:

[0030] An outer cylinder 1, an inner cylinder 2, an outer cylinder cover 3, an inner cylinder cover 4 and a flexible unit 5;

[0031] The head end of the inner tube 2 is inserted into the tail end of the outer tube 1;

[0032] The two ends of the flexible unit 5 are respectively inserted into the inner tube 2 and the outer tube 1 to provide a force for inserting the inner tube 2 into the outer tube 1;

[0033] The outer tube cover 3 is connected to the head end of the flexible unit 5 and can close the head end of the outer tube 1;

[0034] The inner tube cover 4 is connected to the rear end of the flexible unit 5, which can prevent the inner tube 2 from completely entering the inner tube 2;

[0035] The inner tube cover 4 and the outer tube cover 3 are respectively provided with quick-release interfaces at their ends away from each other.

[0036] Specifically, the relative movement (linear movement, rotational movement but not bending) of the inner tube 2 and the outer tube 1 is limited by the flexible unit 5, and various devices or surgical instruments are connected through the quick release interface. When used in surgical traction, one end of the traction device is connected to the surgical instrument to clamp and pull the skin and other soft tissues, and the other end is connected to the manipulator or other fixing device, thereby keeping the skin open to prevent the skin and other soft tissues from interfering with the movement of the surgical instrument or blocking the field of view.

[0037] Furthermore, there is a safety hard limit between the inner tube 2 and the outer tube 1. The flexible unit 5 meets the pulling requirements of a large load of more than 30kg. The inner tube cover 4 is in the shape of a cap, and the tail end of the inner tube 2 is flush with the tail end of the flexible unit 5, and is connected and fixed by a stop sleeve and a steel wire interface. The quick-release interface includes quick-insertion structures such as a rotating spring type, a pressing spring structure type, and a spring wave ball locking structure.

[0038] In this embodiment, a scale is provided on the outer circumference of the inner cylinder 2 .

[0039] Specifically, the pulling state and the deformation of the flexible unit 5 are confirmed by a scale, and then the magnitude of the pulling force is confirmed.

[0040] Furthermore, the scale includes an angle scale and a linear scale, or is connected to a digital display device via a sensor.

[0041] In this embodiment, a connection seat is provided on one side of the outer tube cover 3 , and the connection seat is connected to the flexible unit 5 via a plug screw 6 .

[0042] Specifically, the flexible unit 5 can be easily replaced by plugging the screw 6 , thereby preventing the flexible unit 5 from being frequently used or aging and failing.

[0043] In this embodiment, the outer tube 1 and the inner tube 2 are both cylindrical.

[0044] Specifically, the cylindrical shape provides a certain rotation angle to adapt to adjustment. The rotation angle can be used to adapt to different incisions and skin traction directions.

[0045] In this embodiment, a sheath 7 is provided on the outer circumference of the outer tube 1 .

[0046] Specifically, the sheath 7 can be used to connect and install various active and passive marker balls with tracking, identification and navigation functions.

[0047] In this embodiment, the flexible unit 5 is columnar.

[0048] In this embodiment, the flexible unit 5 is a rubber column or a silicone column with a honeycomb structure.

[0049] Specifically, the honeycomb structure reduces weight while preventing deformation, distortion, and expansion that would hinder axial movement.

[0050] In this embodiment, the flexible unit 5 is in a tubular shape.

[0051] In this embodiment, the flexible unit 5 is a rubber tube or a silicone tube.

[0052] In this embodiment, the flexible unit 5 is a columnar spring.

[0053] In this embodiment, a traction device with a soft tissue protection function for a surgical robot system is used, taking skin traction as an example:

[0054] When used in surgical traction, one end of the traction device is connected to the surgical instrument to clamp and pull the skin, and the other end is connected to a manipulator or other fixing device, thereby keeping the skin open to prevent soft tissue such as the skin from interfering with the movement of the surgical instrument or blocking the field of view.

[0055] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A traction device with soft tissue protection function for a surgical robot system, characterized in that: include: An outer cylinder, an inner cylinder, an outer cylinder cover, an inner cylinder cover and a flexible unit; The head end of the inner tube is inserted into the tail end of the outer tube; Two ends of the flexible unit are respectively inserted into the inner tube and the outer tube, and are used to provide a force for inserting the inner tube into the outer tube; The outer tube cover is connected to the head end of the flexible unit and can close the head end of the outer tube; The inner cylinder cover is connected to the tail end of the flexible unit, which can prevent the inner cylinder from completely entering the inner cylinder; The inner tube cover and the outer tube cover are respectively provided with quick-release interfaces at their ends away from each other.

2. The traction device with soft tissue protection function for a surgical robot system according to claim 1, characterized in that: A scale is arranged on the outer circumference of the inner cylinder.

3. The traction device with soft tissue protection function for a surgical robot system according to claim 1, characterized in that: A connecting seat is arranged on one side of the outer cylinder cover, and the connecting seat is connected to the flexible unit via a plug screw.

4. The traction device with soft tissue protection function for a surgical robot system according to claim 1, characterized in that: The outer cylinder and the inner cylinder are respectively cylindrical.

5. The traction device with soft tissue protection function for a surgical robot system according to claim 1, characterized in that: A sheath is arranged on the outer periphery of the outer cylinder.

6. The traction device with soft tissue protection function for a surgical robot system according to claim 1, characterized in that: The flexible unit is column-shaped.

7. The traction device with soft tissue protection function for a surgical robot system according to claim 1, characterized in that: The flexible unit is a rubber column or a silicone column with a honeycomb structure.

8. The traction device with soft tissue protection function for a surgical robot system according to claim 1, characterized in that: The flexible unit is in a tubular shape.

9. The traction device with soft tissue protection function for a surgical robot system according to claim 8, characterized in that: The flexible unit is a rubber tube or a silicone tube.

10. The traction device with soft tissue protection function for a surgical robot system according to claim 8, characterized in that: The flexible unit is a columnar spring.

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