Mechanical arm trocar suitable for auxiliary surgery of transnasal skull base surgical robot

Abstract

The invention provides a mechanical arm trocar suitable for an auxiliary operation of a transnasal skull base surgical robot, and relates to the technical field of medical auxiliary instruments, the mechanical arm trocar comprises cylinder dividing pieces, an auxiliary mechanism is arranged between every two cylinder dividing pieces, and by arranging the auxiliary mechanisms, a worker can plug a cylindrical air bag into the inner side of the whole cylinder dividing piece, and the whole cylinder dividing piece is inserted into the cylindrical air bag; the cylindrical air bag is inflated through the inflation tube, so that the cylindrical air bag is gradually expanded, and further outward expansion force can be generated on the cylinder dividing piece; a first hinged hinge piece and a second hinged hinge piece which are connected with a first shaft sleeve and a second shaft sleeve on each hinge shaft slide in a second storage groove in the corresponding column dividing piece, and meanwhile, the first hinged hinge pieces and the second hinged hinge pieces can be stretched through extension springs connected with the first storage grooves; therefore, the inner wall of the nasal cavity of the patient can be gradually expanded, subsequent entering and exiting of a mechanical arm are facilitated, influence on an operation is avoided, and practicability is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical auxiliary instruments. More specifically, it particularly relates to a robotic arm trocar suitable for robot-assisted surgery in transnasal skull base surgery. Background Art

[0002] With the rapid development of new methods, new technologies, and medical instruments, new technical means have emerged in the field of surgical operations. Among them, single-port laparoscopic surgery and natural orifice transluminal endoscopic surgery (NOTES) are more in line with the modern minimally invasive concept of no scar and painless, and have become the development direction of minimally invasive surgery. NOTES refers to surgical operations in which the target surgical site is reached through natural orifices of the human body such as the digestive tract, reproductive tract, respiratory tract, and urinary tract during surgical operations, aiming to eliminate or hide surgical scars, reduce surgical trauma, and accelerate postoperative recovery. The main advantages of surgical robots are flexible and precise operation, stable and reliable operation. The emergence of NOTES has further promoted the development of endoscopic surgical robots. However, the most commonly used surgical robot system at present is the da Vinci system, which has been widely used in general cavity surgeries such as cardiac surgery, obstetrics and gynecology, urology, and general surgery, but it is not yet applicable to surgeries performed through endoscopes. Such a robot system can only perform surgeries through relatively large soft natural orifices such as the digestive tract, urethra, and vagina.

[0003] However, due to the relatively large diameter of the end of some instruments, they cannot be applied to relatively narrow, deep, and fixed cavities such as the nasopharynx and the skull base. Therefore, it is difficult for the robotic arm to smoothly pass through the nasal cavity to reach the nasopharyngeal position and work stably, which further leads to the inability to perform operations in the best state, and the practicability is insufficient and needs to be improved.

[0004] Therefore, in view of this, the existing structure and deficiencies are studied and improved, and a robotic arm trocar suitable for robot-assisted surgery in transnasal skull base surgery is provided, with the expectation of achieving a more practical value. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a robotic arm trocar suitable for robot-assisted surgery in transnasal skull base surgery to solve the above problems.

[0006] A robotic arm trocar suitable for robot-assisted surgery in transnasal skull base surgery includes columnar dividing members, and there is a certain gap between each pair of the columnar dividing members;

[0007] An auxiliary mechanism is provided between each of the columnar dividing members;

[0008] The auxiliary mechanism includes hinge shafts. A first bushing and a second bushing are respectively rotatably installed on the circumferential surface of each hinge shaft. A first hinge flap is fixedly installed on the circumferential surface of each first bushing, and a second hinge flap is fixedly installed on the circumferential surface of each second bushing. Each first bushing is located above the second bushing. An annular groove is formed inside each of the first bushing and the second bushing. A first rotating member is fixedly installed at the lower end of each first hinge flap, and a second rotating member is fixedly installed at the upper end of each second hinge flap. The first rotating member on each first hinge flap is slidably installed in the annular groove inside the second bushing.

[0009] Preferably, the second rotating member on each second hinge flap is slidably installed in the annular groove on the first bushing. A first storage groove is formed inside each of the first hinge flap and the second hinge flap. A plurality of first connecting columns are fixedly installed on the inner wall of each first storage groove. A second storage groove is symmetrically formed inside each column dividing member.

[0010] Preferably, each of the first hinge flap and the second hinge flap is slidably installed inside the second storage groove. A plurality of second connecting columns are fixedly installed on the side wall of each second storage groove. Each first connecting column is parallel to the second connecting column. A tension spring is fixedly installed between each first connecting column and the second connecting column.

[0011] Preferably, a through groove is formed through the bottom of each second storage groove. A threaded groove is formed at the bottom of each of the first hinge flap and the second hinge flap. A locking member is threadedly installed inside each threaded groove. Each locking member partially extends outside the column dividing member through the through groove.

[0012] Preferably, a cylindrical airbag is provided inside each column dividing member. An air filling pipe is fixedly installed at the lower end of the cylindrical airbag. A semi-circular fixing sleeve is provided outside each column dividing member. A semi-circular clamp is fixedly installed at the lower end of each of the two semi-circular fixing sleeves. Locking screws are symmetrically provided between the two semi-circular clamps.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] In the present invention, when in use, the column segment can be inserted into the patient's nasal cavity as a whole, and then the staff can insert the cylindrical airbag into the inner side of the column segment as a whole, and inflate the cylindrical airbag through the inflation tube, so that the cylindrical airbag gradually expands, and then an outward expansion force can be generated on the column segment, so that the first hinged leaf piece and the second hinged leaf piece connected by the first sleeve and the second sleeve on each hinge shaft slide in the second storage groove inside the column segment respectively, and at the same time, the tension spring connected to the first storage groove on the first hinged leaf piece and the second hinged leaf piece will be stretched, so that the column segment as a whole can be gradually expanded, so that the inner wall of the patient's nasal cavity can be gradually opened, so as to facilitate the subsequent entry and exit of the robotic arm, reduce the difficulty of operation for the surgeon, and improve practicality;

[0015] In the present invention, by adopting the sliding connection of the first hinged sheet and the second hinged sheet inside the first connecting column and the expansion characteristics of the cylindrical airbag when inflated, the expansion of the nasal cavity by the overall column segment can be made stepless, and the expansion range of the nasal cavity can be flexibly adjusted, so as to obtain the best surgical state and improve practicality. In addition, by respectively arranging the first connecting column and the second connecting column inside the first storage groove and the second storage groove, and arranging a tension spring between the first connecting column and the second connecting column, the puncture card can be normally reset later, which is convenient for subsequent removal.

[0016] In the present invention, by providing a threaded groove inside the first hinged leaf piece and the second hinged leaf piece, and providing a through groove at the bottom of the first connecting column, after the column segment is fully expanded, the staff can rotate each locking piece to make the locking piece press the inside of the column segment, and then the expanded range of the current column segment can be steplessly locked, thereby improving the stability of subsequent surgery. At the same time, since the parts used are relatively common, the cost is relatively low, and the array-type fixation has a firm fixing effect, so it is more practical.

[0017] In the present invention, when the first hinged leaf piece and the second hinged leaf piece slide on the first connecting column inside the column partition, the first hinged leaf piece and the second hinged leaf piece will generate a certain radial force to make the second shaft sleeve and the first shaft sleeve rotate on the hinge shaft. When the first hinged leaf piece drives the first shaft sleeve to rotate, the first rotating member will rotate inside the annular groove on the second shaft sleeve. At the same time, when the second hinged leaf piece rotates, the second hinged leaf piece will drive the second rotating member to rotate inside the annular groove on the first shaft sleeve. Therefore, the problem of lack of support at the end and the problem of insufficient stability caused by the first shaft sleeve and the second shaft sleeve being fixed on the hinge shaft for half the length can be avoided, thereby improving the reliability of the overall operation of the stamping card.

[0018] In the present invention, after the range of expansion of the cylindrical segmentation member is fixed, the staff can insert the robotic arm into the patient's nasal cavity at this time. Meanwhile, the staff can put the semi-circular fixing sleeve on the outside of the cylindrical segmentation member, and at the same time use the locking screw on the semi-circular clamp to lock the robotic arm for subsequent surgery, so that the cylindrical segmentation member can be indirectly fixed in the robotic arm as a whole. Therefore, it can also provide certain support and limit for the robotic arm and improve stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0020] Figure 2 is a three-dimensional connection exploded structural schematic diagram of the present invention;

[0021] Figure 3 is a semi-circular clamp connection exploded structural schematic diagram of the present invention;

[0022] Figure 4 is a cylindrical segmentation member connection exploded structural schematic diagram of the present invention;

[0023] Figure 5 is a cross-sectional view of the cylindrical segmentation member of the present invention;

[0024] Figure 6 is a cross-sectional view of the first hinge hinge piece and the second hinge hinge piece of the present invention;

[0025] Figure 7 is a hinge shaft connection exploded structural schematic diagram of the present invention;

[0026] Figure 8 is a cross-sectional view of the through groove of the present invention;

[0027] Figure 9 is a first hinge hinge piece and a second hinge hinge piece connection exploded structural schematic diagram of the present invention;

[0028] Figure 10 is a first shaft sleeve and a second shaft sleeve connection exploded structural schematic diagram of the present invention.

[0029] In the figure, the corresponding relationship between the component names and the drawing reference numbers is as follows: 11, cylindrical segmentation member; 12, hinge shaft; 13, first shaft sleeve; 14, second shaft sleeve; 15, first hinge hinge piece; 16, second hinge hinge piece; 17, annular groove; 18, first rotating member; 19, second rotating member; 21, first storage groove; 22, first connecting column; 23, second storage groove; 24, second connecting column; 25, tension spring; 26, through groove; 27, threaded groove; 28, locking member; 29, cylindrical airbag; 31, inflation tube; 32, semi-circular fixing sleeve; 33, semi-circular clamp; 34, locking screw. DETAILED DESCRIPTION OF THE INVENTION

[0030] The following further describes in detail the implementation manners of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0031] Please refer to Figure 1 - Figure 10 , the present invention provides a robotic arm trocar applicable to robotic-assisted surgery for transnasal skull base surgery, including a cylindrical body dividing member 11, and a certain gap is left between each two of the cylindrical body dividing members 11;

[0032] An auxiliary mechanism is provided between each of the cylindrical body dividing members 11;

[0033] The auxiliary mechanism includes a hinge shaft 12. A first shaft sleeve 13 and a second shaft sleeve 14 are respectively rotatably installed on the circumferential surface of each hinge shaft 12. A first articulated hinge piece 15 is fixedly installed on the circumferential surface of each first shaft sleeve 13, and a second articulated hinge piece 16 is fixedly installed on the circumferential surface of each second shaft sleeve 14. Each first shaft sleeve 13 is located above the second shaft sleeve 14. An annular groove 17 is opened inside each of the first shaft sleeve 13 and the second shaft sleeve 14. During use, the whole cylindrical body dividing member 11 can be inserted into the patient's nasal cavity. Subsequently, the staff can insert the cylindrical airbag 29 into the inside of the whole cylindrical body dividing member 11 and inflate the cylindrical airbag 29 through the air charging pipe 31, so that the cylindrical airbag 29 gradually expands, and then an outward expansion force can be generated on the cylindrical body dividing member 11, so that the first articulated hinge piece 15 and the second articulated hinge piece 16 connected by the first shaft sleeve 13 and the second shaft sleeve 14 on each hinge shaft 12 respectively slide in the second storage groove 23 inside the cylindrical body dividing member 11. At the same time, the tension spring 25 connected through the first storage groove 21 on the first articulated hinge piece 15 and the second articulated hinge piece 16 will be stretched, and then the whole cylindrical body dividing member 11 can be gradually enlarged, so that the inner wall of the patient's nasal cavity can be gradually opened, thus facilitating the subsequent entry and exit of the robotic arm, avoiding affecting the surgery, and improving the practicability.

[0034] A first rotating member 18 is fixedly installed at the lower end of each first hinge leaf 15, and a second rotating member 19 is fixedly installed at the upper end of each second hinge leaf 16. The first rotating member 18 on each first hinge leaf 15 is slidably installed in the annular groove 17 in the second bushing 14, and the second rotating member 19 on each second hinge leaf 16 is slidably installed in the annular groove 17 on the first bushing 13. When the first hinge leaf 15 and the second hinge leaf 16 slide on the first connecting column 22 inside the column separator 11, at this time, the first hinge leaf 15 and the second hinge leaf 16 will generate a certain radial force, causing the second bushing 14 and the first bushing 13 to rotate on the hinge shaft 12. When the first hinge leaf 15 drives the first bushing 13 to rotate, it will cause the first rotating member 18 to rotate inside the annular groove 17 on the second bushing 14. At the same time, when the second hinge leaf 16 rotates, the second hinge leaf 16 will drive the second rotating member 19 to rotate inside the annular groove 17 on the first bushing 13, thereby avoiding the problem of lack of support at the end and insufficient stability caused by the fact that the lengths of the first bushing 13 and the second bushing 14 fixed on the hinge shaft 12 are half, and improving the reliability of the overall operation of the punch card.

[0035] A first storage groove 21 is provided inside each of the first hinge leaf 15 and the second hinge leaf 16. A plurality of first connecting columns 22 are fixedly installed on the inner wall of each first storage groove 21. A second storage groove 23 is symmetrically provided inside each column separator 11. Each of the first hinge leaf 15 and the second hinge leaf 16 is slidably installed inside the second storage groove 23. A plurality of second connecting columns 24 are fixedly installed on the side wall of each second storage groove 23. Each first connecting column 22 is parallel to the second connecting column 24. A tension spring 25 is fixedly installed between each first connecting column 22 and the second connecting column 24. By respectively providing the first connecting column 22 and the second connecting column 24 inside the first storage groove 21 and the second storage groove 23, and providing the tension spring 25 between the first connecting column 22 and the second connecting column 24, the whole punch card can be normally reset later, which is convenient for subsequent removal.

[0036] A through groove 26 is formed at the bottom of each second storage groove 23, a threaded groove 27 is formed at the bottom of each first hinged leaf piece 15 and the second hinged leaf piece 16, a locking piece 28 is threadedly installed inside each threaded groove 27, and each locking piece 28 partially extends to the outside of the column partition 11 through the through groove 26. By forming the threaded groove 27 inside the first hinged leaf piece 15 and the second hinged leaf piece 16, and forming the through groove 26 at the bottom of the first connecting column 22, after the column partition 11 is fully expanded, the staff can rotate each locking piece 28 to make the locking piece 28 press the inside of the column partition 11, thereby completing the stepless locking of the expansion range of the current column partition 11, thereby improving the stability of subsequent operations.

[0037] A cylindrical airbag 29 is provided on the inner side of each column partition 11, and an inflation tube 31 is fixedly installed on the lower end of the cylindrical airbag 29. By adopting the sliding connection of the first hinged leaf piece 15 and the second hinged leaf piece 16 inside the first connecting column 22 and the expansion characteristic of the cylindrical airbag 29 when inflated, the expansion of the nasal cavity by the entire column partition 11 can be steplessly adjusted, and the degree of nasal expansion can be flexibly adjusted, thereby obtaining the best surgical state and improving practicality.

[0038] A semi-ring fixing sleeve 32 is provided on the outside of each column partition 11, and a semi-ring clamp 33 is fixedly installed on the lower end of the two semi-ring fixing sleeves 32. Locking screws 34 are symmetrically provided between the two semi-ring clamps 33. After the expansion range of the column partition 11 is fixed, the staff can extend the robotic arm into the patient's nasal cavity. At the same time, the staff can put the semi-ring fixing sleeve 32 on the outside of the column partition 11, and use the locking screws 34 on the semi-ring clamp 33 to lock the robotic arm for subsequent surgery, so that the column partition 11 as a whole can be indirectly fixed in the robotic arm, thereby providing certain support and limitation for the robotic arm to improve stability.

[0039] Working principle:

[0040] The first step is that when using, the staff can first insert the column segment 11 without the through groove 26 into the patient's nasal cavity. After the insertion is completed, the staff can insert the cylindrical airbag 29 into the inner side of the column segment 11, and inflate the cylindrical airbag 29 through the inflation tube 31, so that the cylindrical airbag 29 expands, and then props up the inner side of the column segment 11. At this time, since the column segment 11 is indirectly connected to the column segment 11 through the first hinged leaf piece 15 and the second hinged leaf piece 16 indirectly connected on the hinge shaft 12, when the column segment 11 is opened, the first hinged leaf piece 15 and the second hinged leaf piece 16 will actively slide with the second storage groove 23 in the hinge shaft 12;

[0041] Second step, when the first hinge leaf 15 and the second hinge leaf 16 will actively slide with the second storage groove 23 in the hinge shaft 12, the first hinge leaf 15 and the second hinge leaf 16 will respectively drive the first rotating member 18 and the second rotating member 19 connected to the first hinge leaf 15 and the second hinge leaf 16 to slide inside the annular groove 17 formed on the second bushing 14 and the first bushing 13, thereby gradually increasing the diameter of the cylindrical dividing member 11. At the same time, when the diameter of the cylindrical dividing member 11 increases, at this time, the first connecting column 22 on the first hinge leaf 15 and the second hinge leaf 16 will move away from the second connecting column 24, thereby pulling the tension spring 25 and stretching the tension spring 25. When the overall size formed by the cylindrical dividing member 11, the second bushing 14, and the first hinge leaf 15 meets the diameter requirements of the surgical specification, at this time, the staff can stop inflating the inflatable tube 31 and tighten each locking member 28, so that the locking member 28 presses on the bottom of the cylindrical dividing member 11, thereby completing the fixation of the overall size formed by the cylindrical dividing member 11, the second bushing 14, and the first hinge leaf 15;

[0042] Third step, then the staff can stop supplying gas to the cylindrical airbag 29, and at this time, the staff can insert the robotic arm into the patient's nasal cavity through the inside of the cylindrical dividing member 11. Then, the staff can place the two semi-circular fixing sleeves 32 and the semi-circular clamps 33 on the outside of the cylindrical dividing member 11 respectively, and use the locking screws 34 to lock the two semi-circular clamps 33 around the outside of the robotic arm. When it is necessary to remove the trocar, at this time, the staff can disassemble the semi-circular clamp 33 and the semi-circular fixing sleeve 32 through the locking screw 34 and loosen the locking member 28, so that the tension spring 25 inside the cylindrical dividing member 11 contracts, thereby reducing the diameter of the cylindrical dividing member 11, and thus the trocar can be removed from the patient's nasal cavity.

[0043] The embodiments of the present invention are given for purposes of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better explain the principles of the invention and its practical application, and to enable those of ordinary skill in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A mechanical arm card poking device suitable for robot-assisted transnasal skull base surgery, characterized in that: It comprises column partitions (11), each of which has a certain gap between two of the column partitions (11); An auxiliary mechanism is provided between each of the column partitions (11); The auxiliary mechanism comprises a hinge shaft (12), each of the hinge shafts (12) having a first sleeve (13) and a second sleeve (14) rotatably mounted on its circumferential surface, each of the first sleeves (13) having a first hinged leaf piece (15) fixedly mounted on its circumferential surface, each of the second sleeves (14) having a second hinged leaf piece (16) fixedly mounted on its circumferential surface, each of the first sleeves (13) being located above the second sleeve (14), each of the first sleeves (13) and the second sleeve (14) having an annular groove (17) formed therein, and each of the first sleeves (13) and the second sleeve (14) having a first rotating member (18) fixedly mounted on its lower end.

2. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 1, characterized in that: A second rotating member (19) is fixedly mounted on the upper end of each second hinged leaf piece (16), and a first rotating member (18) on each first hinged leaf piece (15) is slidably mounted in an annular groove (17) in the second shaft sleeve (14).

3. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 2, characterized in that: The second rotating member (19) on each of the second hinged plates (16) is slidably mounted on the annular groove (17) on the first shaft sleeve (13), and a first storage groove (21) is provided inside each of the first hinged plates (15) and the second hinged plates (16).

4. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 3, characterized in that: A plurality of first connecting columns (22) are fixedly mounted on the inner wall of each of the first storage grooves (21), and a second storage groove (23) is symmetrically provided inside each of the column partitions (11).

5. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 4, characterized in that: Each of the first hinged sheet (15) and the second hinged sheet (16) is slidably mounted inside the second storage slot (23), and a plurality of second connecting columns (24) are fixedly mounted on the side wall of each of the second storage slots (23).

6. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 5, characterized in that: Each of the first connecting columns (22) is parallel to the second connecting columns (24), and a tension spring (25) is fixedly installed between each of the first connecting columns (22) and the second connecting columns (24).

7. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 6, characterized in that: A through groove (26) is formed through the bottom of each of the second storage grooves (23), and a thread groove (27) is formed at the bottom of each of the first hinged sheet (15) and the second hinged sheet (16).

8. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 7, characterized in that: A locking piece (28) is threadedly mounted inside each of the thread grooves (27), and each of the locking pieces (28) partially extends through the through groove (26) to the outside of the column partition (11).

9. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 8, characterized in that: A cylindrical air bag (29) is provided on the inner side of each column segment (11), an inflation tube (31) is fixedly installed on the lower end of the cylindrical air bag (29), and a semi-ring fixing sleeve (32) is provided on the outer side of each column segment (11).

10. A mechanical arm card punching device suitable for robot-assisted transnasal skull base surgery as claimed in claim 9, characterized in that: A semi-ring clamp (33) is fixedly mounted on the lower ends of the two semi-ring fixing sleeves (32), and locking screws (34) are symmetrically arranged between the two semi-ring clamps (33).

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