Multi-tool compatible connecting structure applied to tail end of continuum surgical robot

Abstract

The invention relates to the technical field of surgical robots, and discloses a multi-tool compatible connecting structure applied to the tail end of a continuum surgical robot, which comprises a three-jaw gripper, an inner liner, an outer sleeve, a continuum skeleton and a surgical knife head tool, wherein the scalpel head tool is detachably fixed to the three-jaw gripper, the three-jaw gripper is fixed to the interior of the outer sleeve through the inner liner, and the continuum framework is fixedly arranged at the bottom of the outer side of the outer sleeve. After a tool is inserted, self-locking and precise fixing can be achieved through rotating operation. Particularly, the rack design of the three-jaw gripper can automatically adapt to the shape and the size of the tool during locking, so that the tool is effectively prevented from loosening or shifting in the operation process, and the accuracy and the safety of the operation are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a connection structure compatible with multiple tools at the end of a continuum surgical robot. Background Art

[0002] Arthroscopic surgery is a minimally invasive surgical technique that is widely used in the field of orthopedics, especially in hip labrum repair, knee meniscus resection and ligament reconstruction. Compared with traditional open surgery, arthroscopic surgery uses arthroscopic instruments to guide the operation and complete complex diagnostic and treatment operations under small incisions, thereby reducing patient trauma, reducing the risk of infection, shortening recovery time, and improving patients' surgical experience and recovery speed.

[0003] In arthroscopic surgery, doctors usually need to use a series of special surgical tools, including blades, probes, release forceps, etc. of different shapes and sizes. These tools are designed in a variety of ways to adapt to different surgical needs and anatomical structures. Taking hip labrum repair as an example, doctors will choose tools of different shapes according to specific operation needs, such as round, triangular, square, etc. The diameter of the tool is usually between 2.5mm and 5.5mm. Figure 1 As shown; the diversity and precision of arthroscopic surgical tools are crucial to the success of the operation.

[0004] With the continuous development of minimally invasive technology, robotic-assisted systems in arthroscopic surgery have gradually become an important tool in the surgical field. In recent years, the application of continuum robotics in endoscopic surgery has made significant progress. This type of robotic system can accurately position and operate in complex anatomical environments through flexible or rigid structures combined with multi-degree-of-freedom design. The robotic system can improve the accuracy of surgery by precisely controlling the bending of the continuum skeleton, especially in a narrow surgical space, and can better adapt to the patient's anatomical structure and reduce damage to surrounding tissues.

[0005] In arthroscopic surgery, especially in high-precision operations such as labrum repair, how to effectively combine tools of different shapes and sizes with the continuum skeleton of the robotic system has become a key technical issue. Existing arthroscopic robotic systems are usually equipped with fixed interfaces or connecting sleeves that can be connected to surgical tools and operated and controlled. However, traditional connection structures are mostly designed for specific tools, which limits their adaptability to diverse tool shapes and sizes. At the same time, with the continuous development of robotic technology, the frequency of tool replacement during surgery has gradually increased, and doctors need to replace different tools according to the progress and needs of the operation. Therefore, designing a connection structure that can quickly replace tools, firmly connect and fix tools, and cope with changes in tool shape and size has become an important design issue for continuous robots in arthroscopic surgery.

[0006] Although the current continuous robotic system in arthroscopic surgery has improved surgical accuracy and efficiency to a certain extent, in actual application, the existing technology still has some structural and functional deficiencies, which are specifically manifested in the following aspects:

[0007] 1. Insufficient tool compatibility: Most existing arthroscopic robotic systems are equipped with fixed interfaces or connecting sleeves, which are mainly designed for tools of specific shapes and sizes. For example, some systems can only support the connection and operation of a specific tool, and lack sufficient flexibility to adapt to the needs of tools of different shapes (such as round, triangular, square, etc.) and different sizes (such as 2.5mm to 5.5mm diameter range). Due to the wide variety of tools used in labrum repair, the existing connection structure is insufficient in terms of tool diversification and adaptability.

[0008] 2. Unstable tool fixation: Existing tool connection structures usually rely on plug-in or bolt connection fixation mechanisms. These designs may not provide sufficient fixing force when facing tools of different shapes and sizes, causing the tools to loosen or shift during surgery. This not only affects the stability of the surgery, but may also lead to a decrease in surgical accuracy and increase surgical risks.

[0009] 3. Tool replacement is complicated: The tool replacement process of the current system is usually cumbersome, requiring manual operation by the doctor, and the replacement speed is slow. In surgeries with high-frequency tool replacement (such as labrum repair), cumbersome tool replacement not only increases the operation time, but may also increase the risk of infection and patient discomfort. Therefore, the existing technology has obvious deficiencies in the convenience and speed of tool replacement. Summary of the invention

[0010] The object of the present invention is to provide a connection structure compatible with multiple tools at the end of a continuum surgical robot, so as to solve the technical problems of insufficient tool compatibility, unstable tool fixation and / or complex tool replacement.

[0011] In order to achieve the above purpose, the technical solutions adopted are as follows:

[0012] A connection structure compatible with multiple tools at the end of a continuum surgical robot comprises a three-claw gripper, an inner liner, an outer sleeve, a continuum skeleton and a surgical blade tool; wherein the three-claw gripper can detachably fix the surgical blade tool, the three-claw gripper is fixed to the inside of the outer sleeve through the inner liner, and the continuum skeleton is fixedly arranged on the outer bottom of the outer sleeve.

[0013] Preferably, in the above-mentioned connection structure compatible with multiple tools at the end of a continuum surgical robot, the three-claw gripper includes three grippers, and the gripper includes a fixing member and a connecting member, and the connecting member is fixedly connected to the fixing member.

[0014] Preferably, in the above-mentioned connection structure compatible with multiple tools at the end of a continuum surgical robot, a first rack and a second rack are respectively provided on two symmetrical sides of the connecting member, a third rack is provided on the inner lining, and a fourth rack is provided on the inner side wall of the outer sleeve. When the three-claw gripper is fixed to the inside of the outer sleeve through the inner lining, the first rack cooperates with the third rack, and the second rack cooperates with the fourth rack.

[0015] Preferably, in the above-mentioned connection structure compatible with multiple tools at the end of a continuum surgical robot, the inner lining is made of silicone material.

[0016] Preferably, in the above-mentioned connection structure compatible with multiple tools at the end of a continuum surgical robot, a plurality of microparticles are evenly distributed on the surface of the inner lining.

[0017] Preferably, in the above-mentioned connection structure compatible with multiple tools at the end of a continuum surgical robot, the microparticles are round or conical.

[0018] Preferably, in the above-mentioned connection structure compatible with multiple tools at the end of a continuum surgical robot, the size of the surgical blade tool is between 2.5 mm and 5.5 mm.

[0019] Preferably, in the above-mentioned connection structure for multi-tool compatibility at the end of a continuum surgical robot, the three-claw gripper is made of metal.

[0020] Preferably, in the above-mentioned connection structure for multi-tool compatibility at the end of a continuum surgical robot, the outer sleeve is made of plastic material.

[0021] Preferably, in the above-mentioned connection structure for multi-tool compatibility at the end of a continuum surgical robot, the outer sleeve is processed by 3D printing.

[0022] The beneficial effects of the present invention are:

[0023] 1. Significantly enhanced compatibility: The continuum robot end connection structure of the present invention is compatible with a variety of surgical tools with diameters that meet surgical requirements, including round, triangular, square and other shapes. This wide adaptability effectively meets the demand for diversified tools in labrum repair surgery, and significantly improves the applicability and flexibility of the system compared to the traditional connection structure that only supports a single tool.

[0024] 2. Improved tool fixation stability: By adopting the matching design of the inner liner, the three-claw gripper and the outer sleeve, the present invention can achieve self-locking and precise fixation through rotation after the tool is inserted. In particular, the rack design of the three-claw gripper can automatically adapt to the shape and size of the tool when locking, effectively preventing the tool from loosening or shifting during surgery, and ensuring the accuracy and safety of surgical operations.

[0025] 3. Improved convenience of tool replacement: The design of the present invention allows doctors to quickly replace tools during surgery with just one hand. Compared with the traditional connection structure that requires multiple steps of manual adjustment, the present invention greatly simplifies the tool replacement operation steps by rotating counterclockwise to fix and releasing clockwise to release, reducing replacement time and improving surgical efficiency.

[0026] 4. Easy to clean and maintain: The present invention has a simple structure and is easy to disassemble and assemble between the components, which is convenient for cleaning and high-temperature disinfection after surgery to ensure the hygienic standards of the equipment. At the same time, the durable material design enables the present invention to maintain good performance after multiple disinfections and high-frequency use.

[0027] 5. Save surgical time: Through rapid replacement and efficient fixation, surgical delays caused by operational complexity are reduced, thereby improving overall surgical efficiency and saving surgical time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The figure shows the main surgical tools and their sizes used in labrum repair surgery according to the prior art.

[0029] Figure 2 A structural schematic diagram of a multi-tool compatible connection structure applied to the end of a continuum surgical robot according to an embodiment of the present invention is shown; wherein, (a) is a stereoscopic view; (b) is a front view; and (c) is a partial enlarged view.

[0030] Figure 3 An exploded view of a multi-tool compatible connection structure applied to the end of a continuum surgical robot according to an embodiment of the present invention is shown.

[0031] Figure 4 A structural diagram of a three-claw gripper in a multi-tool compatible connection structure for a continuum surgical robot end according to an embodiment of the present invention is shown.

[0032] Figure 5 A structural diagram of an inner liner used in a multi-tool compatible connection structure at the end of a continuum surgical robot according to an embodiment of the present invention is shown.

[0033] Figure 6A structural diagram of an outer sleeve in a multi-tool compatible connection structure applied to a continuum surgical robot end according to an embodiment of the present invention is shown.

[0034] Figure 7 A schematic diagram of a surgical blade tool in a multi-tool compatible connection structure for a continuum surgical robot end according to an embodiment of the present invention is shown.

[0035] Figure 8 The diagram shows an installation state of a connection structure compatible with multiple tools at the end of a continuum surgical robot according to an embodiment of the present invention, taking a tool of the largest size as an example.

[0036] Fig. 9 A cross-sectional view of an installation state of a multi-tool compatible connection structure applied to a continuum surgical robot end according to an embodiment of the present invention is shown, taking a tool of a maximum size as an example.

[0037] Fig.10 A diagram showing the matching process of installing a multi-tool compatible connection structure applied to a continuum surgical robot end according to an embodiment of the present invention, taking a tool of minimum size as an example.

[0038] Fig.11 An overall coordination diagram of a multi-tool compatible connection structure applied to the end of a continuum surgical robot according to an embodiment of the present invention is shown, taking a tool of minimum size as an example.

[0039] Description of reference numerals:

[0040] 1. Three-claw gripper; 100. gripper; 110. fixing piece; 120. connecting piece; 121. first rack; 122. second rack; 2. inner liner; 3. outer sleeve; 4. continuum skeleton; 5. maximum size tool; 6. minimum size tool; 7. third rack; 8. fourth rack. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0042] The specific implementation of the present invention is further described in detail below in conjunction with the drawings and examples.

[0043] The embodiment of the present invention provides a connection structure compatible with multiple tools at the end of a continuum surgical robot, such as Figure 2 and Figure 3 As shown, the connection structure compatible with multiple tools at the end of a continuum surgical robot includes a three-jaw gripper 1, an inner lining 2, an outer sleeve 3, a continuum skeleton 4 and a surgical blade tool; wherein the three-jaw gripper 1 can detachably fix the surgical blade tool, the three-jaw gripper 1 is fixed to the inside of the outer sleeve 3 through the inner lining 2, and the continuum skeleton 4 is fixedly arranged on the outer bottom of the outer sleeve 3.

[0044] It should be noted that if Figure 7 As shown, the surgical tool head includes but is not limited to a maximum size tool 5 and a minimum size tool 6, wherein Figure 2 and Figure 3 The maximum size tool 5 is shown.

[0045] In some embodiments, Figure 4 As shown, the three-claw gripper 1 includes three grippers 100, and the gripper 100 includes a fixing member 110 and a connecting member 120, and the connecting member 120 is fixedly connected to the fixing member 110. The fixing member 110 is used to fix the surgical tool, and the connecting member 120 is used to cooperate with the inner liner 2 and the outer sleeve 3 to fix the three-claw gripper 1 to

[0046] Specifically, if Figures 4 to 6 As shown, the first rack 121 and the second rack 122 are respectively provided on two symmetrical sides of the connecting member 120, the third rack 7 is provided on the inner liner 2, and the fourth rack 8 is provided on the inner wall of the outer sleeve 3. When the three-claw gripper 1 is fixed to the inside of the outer sleeve 3 through the inner liner 2, the first rack 121 cooperates with the third rack 7, and the second rack 122 cooperates with the fourth rack 8.

[0047] In some embodiments, the outer sleeve 3 is made of plastic using 3D printing; the three-claw gripper 1 is made of metal; the inner liner 2 is made of silicone, and the surface is covered with micro-particles. The particles are tiny circles or cones with moderate density and uniform distribution, which can effectively improve friction. At the same time, the silicone material can maintain excellent biocompatibility and softness.

[0048] In some embodiments, a surgical tool such as Figure 7As shown. Considering that the size of surgical tools in labrum repair surgery is between 2.5mm-5.5mm, this embodiment takes the largest size tool 5 (5.5mm) and the smallest size tool 6 (2.5mm) as examples. It should be noted that this design meets the surgical requirements of labrum repair surgery, but by adjusting the height of the inner liner 2 and the outer sleeve 3, it can adapt to a wider range of surgical blade size requirements, not just limited to the 2.5mm-5.5mm range and labrum repair surgery.

[0049] For example, Figure 8 As shown, taking the maximum size tool 5 as an example, in order to clearly express the movement relationship between the components, the cross-sectional view of the installation process of the maximum size tool 5 is as follows Fig. 9 As shown. When installing the blade, the doctor can do it with one hand, and the process is as follows: insert the largest-sized tool 5 (such as the blade) to be replaced into the inner liner 2, and the largest-sized tool 5 can be temporarily fixed due to the friction; at this time, rotate the largest-sized tool 5 counterclockwise to drive the inner liner 2 to rotate, and the three-claw gripper 1 will move downward along the racks on both sides of the inside and outside at the same time; due to the conical design, the three-claw rack will also tighten inward when moving, and finally clamp the largest-sized tool 5 to fix it. If you want to replace the blade, just rotate the largest-sized tool 5 in the opposite direction and pull it out.

[0050] The matching process of the minimum size tool 6 is as follows Fig.10 As shown, the installation method is similar to that of the maximum size tool 5, which will not be repeated here. The final overall matching diagram is as shown in Fig.10 shown.

[0051] In summary, the embodiment of the present invention provides a connection structure compatible with multiple tools at the end of a continuum surgical robot, which has at least the following technical effects:

[0052] 1. Significantly enhanced compatibility: The continuum robot end connection structure of the present invention is compatible with a variety of surgical tools with diameters that meet surgical requirements, including round, triangular, square and other shapes. This wide adaptability effectively meets the demand for diversified tools in labrum repair surgery, and significantly improves the applicability and flexibility of the system compared to the traditional connection structure that only supports a single tool.

[0053] 2. Improved tool fixation stability: By adopting the matching design of the inner liner, the three-claw gripper and the outer sleeve, the present invention can achieve self-locking and precise fixation through rotation after the tool is inserted. In particular, the rack design of the three-claw gripper can automatically adapt to the shape and size of the tool when locking, effectively preventing the tool from loosening or shifting during surgery, and ensuring the accuracy and safety of surgical operations.

[0054] 3. Improved convenience of tool replacement: The design of the present invention allows doctors to quickly replace tools during surgery with just one hand. Compared with the traditional connection structure that requires multiple steps of manual adjustment, the present invention greatly simplifies the tool replacement operation steps by rotating counterclockwise to fix and releasing clockwise to release, reducing replacement time and improving surgical efficiency.

[0055] 4. Easy to clean and maintain: The present invention has a simple structure and is easy to disassemble and assemble between the components, which is convenient for cleaning and high-temperature disinfection after surgery to ensure the hygienic standards of the equipment. At the same time, the durable material design enables the present invention to maintain good performance after multiple disinfections and high-frequency use.

[0056] 5. Save surgical time: Through rapid replacement and efficient fixation, surgical delays caused by operational complexity are reduced, thereby improving overall surgical efficiency and saving surgical time.

[0057] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The patent protection scope of the present invention should be defined by the claims.

Claims

1. A connection structure compatible with multiple tools at the end of a continuum surgical robot, characterized in that: It includes a three-claw gripper, an inner liner, an outer sleeve, a continuum frame and a surgical blade tool; wherein the three-claw gripper can detachably fix the surgical blade tool, the three-claw gripper is fixed to the inside of the outer sleeve through the inner liner, and the continuum frame is fixedly arranged on the outer bottom of the outer sleeve.

2. A multi-tool compatible connection structure for a continuum surgical robot end as claimed in claim 1, characterized in that: The three-claw gripper includes three grippers, and the gripper includes a fixing member and a connecting member, and the connecting member is fixedly connected to the fixing member.

3. A connection structure compatible with multiple tools at the end of a continuum surgical robot as claimed in claim 2, characterized in that: The first rack and the second rack are respectively arranged on two symmetrical sides of the connecting member, the third rack is arranged on the inner liner, and the fourth rack is arranged on the inner wall of the outer sleeve. When the three-claw gripper is fixed to the inside of the outer sleeve through the inner liner, the first rack cooperates with the third rack, and the second rack cooperates with the fourth rack.

4. The multi-tool compatible connection structure for the end of a continuum surgical robot as claimed in claim 1, characterized in that: The inner liner is made of silicone material.

5. The multi-tool compatible connection structure for the end of a continuum surgical robot as claimed in claim 1, characterized in that: A plurality of micro particles are evenly distributed on the surface of the inner liner.

6. The multi-tool compatible connection structure for the end of a continuum surgical robot as claimed in claim 5, characterized in that: The microparticles are round or conical.

7. The multi-tool compatible connection structure for a continuum surgical robot end as claimed in claim 1, characterized in that: The size of the surgical blade tool is between 2.5mm and 5.5mm.

8. The multi-tool compatible connection structure for a continuum surgical robot end as claimed in claim 1, characterized in that: The three-claw gripping head is made of metal material.

9. The multi-tool compatible connection structure for a continuum surgical robot end as claimed in claim 1, characterized in that: The outer sleeve is made of plastic material.

10. The multi-tool compatible connection structure for the end of a continuum surgical robot as claimed in claim 1, characterized in that: The outer sleeve is processed by 3D printing.

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