Robot and system for directionally pulling nerves in three-dimensional space

Abstract

The invention discloses a robot and system for directionally pulling nerves in a three-dimensional space. The robot comprises a movement mechanism, a transmission mechanism, a power generation mechanism and a suture ring which are arranged in a three-dimensional bent pipeline. The power generation mechanism comprises a motor cover connected with the sewing ring, a motor and a magnet assembly, and the magnet assembly rotates directionally under the action of an external magnetic field; the movement mechanism comprises a sleeve, a spiral cam, first supporting legs and first cams, second cams are arranged on the sleeve wall of the sleeve, each first supporting leg is connected with one first cam and one second cam, and each first cam is embedded into a first groove of the spiral cam; the two ends of a flexible shaft in the transmission mechanism are connected with a spiral cam and a motor, the spiral cam is driven by the motor to rotate, a first cam is made to move in a first groove, a first supporting leg is driven to do reciprocating motion, and the nerve on the suture ring is dragged to do directional movement through pulling force generated when the first supporting leg grabs the groove of the three-dimensional bent pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of implantable surgical robots, and particularly to a robot and a system for directionally tractioning nerves in a three-dimensional space. Background Art

[0002] The statements in this part only provide background technical information related to the present invention, and do not necessarily constitute prior art.

[0003] An implantable surgical robot is a micro-miniature precision medical device invented with the development of minimally invasive surgery and related basic technologies. The implantable surgical robot can be completely placed in a narrow space deep inside the body, replacing the doctor to complete precise surgical operations, and significantly reducing the degree of harm to the patient during the surgery. The implantable surgical robot system usually consists of an external driving device, a robot body and auxiliary devices. Compared with traditional large medical devices, using an implantable surgical robot can perform surgical tasks in the body for a long time, with high surgical precision and more targeted surgical operations.

[0004] Most neurosurgical robots are large medical devices and can complete various surgeries including precise punctures for cerebral hemorrhage, brain abscess, and intracranial foreign bodies. With the development of robot technology, neurosurgical robots can be applied to nerve traction surgeries. The repair of peripheral nerve defects is a difficult problem in clinical surgeries, which can lead to nerve innervation and motor function disorders. Small nerve defects can be directly sutured, while large-sized nerve defects need to be regularly tractioned in combination with the natural growth of nerves.

[0005] As the core component responsible for the sensory and motor functions of the lower limbs, the stability and safety of the surgery of the sciatic nerve are crucial. The current treatment plan still requires doctors to regularly operate medical devices to traction the nerve growth every day, occupying a large amount of medical resources. Combining with the relatively mature nerve traction devices currently available, there are mainly problems such as strong invasiveness, the need to be fixed to the bone outside the body surface, and the need for manual operation during the operation process. Summary of the Invention

[0006] To solve the above problems, the present invention proposes a robot and a system for directionally tractioning nerves in a three-dimensional space. By setting support legs, a flexible shaft and a three-dimensional bending pipe, the robot can be bent and tractioned in a three-dimensional space.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] In a first aspect, the present invention provides a robot for directionally tractioning nerves in a three-dimensional space, including: a three-dimensional bending pipe, and a motion mechanism, a transmission mechanism, a power generating mechanism and a suture ring that are arranged in the three-dimensional bending pipe and connected in sequence;

[0009] The power generating mechanism includes a motor cover connected to the suture ring, a motor disposed within the motor cover, and a magnet assembly connected to the motor. The magnet assembly rotates directionally under the action of an external magnetic field.

[0010] The motion mechanism includes a sleeve, a spiral cam disposed on the sleeve, at least two first support legs, and at least two first cams. At least two second cams are provided on the circumferential direction of the sleeve wall at the same angular interval. Each first support leg is connected to a first cam and a second cam, and each first cam is embedded in a first groove of the spiral cam.

[0011] The transmission mechanism includes a flexible shaft and a spring sleeved on the flexible shaft. The two ends of the flexible shaft are respectively connected to the spiral cam and the motor, so as to drive the spiral cam to rotate through the motor, cause the first cam to move within the first groove, drive the first support leg to reciprocate, and traction the nerve on the suture ring to move directionally by the pulling force generated by the first support leg grasping the groove of the three-dimensional curved pipe.

[0012] As an alternative embodiment, a second support leg matching the groove on the inner wall of the three-dimensional curved pipe is provided on the outer side surface of the motor cover, and the reciprocating motion of the first support leg drives the second support leg to generate a pulling force by grasping the groove on the inner wall of the three-dimensional curved pipe.

[0013] As an alternative embodiment, six second cams are fixed on the circumferential direction of the sleeve wall at an interval of 60°.

[0014] As an alternative embodiment, there are six first cams in total, with the same structure, distributed on the same circumference, and spaced 60° from each other; there are six first support legs in total, with the same structure, distributed on the same circumference, and spaced 60° from each other.

[0015] As an alternative embodiment, the spiral cam has three layers of grooves, and each layer of grooves includes an ascending slope and a descending slope, and the slope of the ascending slope is greater than the slope of the descending slope.

[0016] As an alternative embodiment, the first cams are divided into two groups, each group includes three, the first cams in the same group form an angle of 120° with each other, and two first cams forming an angle of 180° with each other are embedded in the same layer of grooves of the spiral cam;

[0017] When the spiral cam rotates, the heights of the first cams in the same group change by the same amount at the same time. When the first cams in the same group move on the first groove of the spiral cam, they descend or ascend simultaneously, traction the corresponding first support legs to descend or ascend, and the two groups of first support legs move alternately.

[0018] As an alternative embodiment, the spiral cam is sleeved with a bearing, and two ends of the spring are respectively connected to the bearing and the motor cover to buffer the pulling force from the moving mechanism.

[0019] As an alternative embodiment, the flexible shaft bends in a three-dimensional space and transmits the rotation from the power generating mechanism to drive the spiral cam to rotate through the rotation of the motor; meanwhile, the pulling force generated by the moving mechanism is transmitted to the suture ring.

[0020] As an alternative embodiment, the magnet assembly includes a magnet and a magnet turntable connected between the motor and the magnet. The rotation direction and speed of the magnet are controlled by an external magnetic field and the motor, and the motor is used to monitor and adjust the magnet.

[0021] In a second aspect, the present invention provides a system for directionally towing a nerve in a three-dimensional space, including: a robotic arm and the robot described in the first aspect; a magnet is installed at the end of the robotic arm for generating an external magnetic field to enable the magnet inside the robot to rotate directionally.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] The present invention provides a micro-robot and its system for directionally towing a severed nerve in a three-dimensional space. Through the settings of flexible support legs, a wire flexible shaft, and a three-dimensional bending pipe, it can bend and tow in a three-dimensional space; under the action of an external magnetic field, the magnet rotates directionally. The rotation direction and speed of the magnet are controlled by the external magnetic field and the motor, and the motor monitors and adjusts the rotation speed of the magnet, thereby adjusting the force during the towing process to prevent excessive pulling force.

[0024] The motor of the present invention is fixedly sleeved with a motor cover on the outside to provide a protection function for the internal motor; meanwhile, a suture ring is fitted and connected at the end of the motor cover, and a second support leg matching the serrated grooves on the inner wall of the three-dimensional bending pipe is provided on the outer side surface of the motor cover. When the robot moves, the second support leg passively grabs the serrated grooves on the inner wall of the three-dimensional bending pipe and generates a pulling force, so that the suture ring towes the nerve to move directionally. A plurality of serrated grooves on the inner wall of the three-dimensional bending pipe correspond to the ends of the first support leg and the second support leg, thereby ensuring that the first support leg and the second support leg can generate effective grasping.

[0025] In the present invention, the spiral cam has three layers of grooves. Each layer of groove includes a steep slope that suddenly rises and the remaining gentle slopes that slowly descend. The six first cams are divided into two groups, with three cams in each group. The first cams in the same group form an angle of 120° with each other, and two first cams that are 180° apart are embedded in the same layer of groove of the spiral cam. When the spiral cam rotates, the heights of the first cams in the same group change by the same amount at the same time. When the first cams in the same group move on the grooves of the spiral cam, they either slowly descend or suddenly rise simultaneously, pulling the corresponding first support legs to descend or rise. The two groups of first support legs move alternately, generating a pulling force by grasping the serrated grooves on the three-dimensional curved pipe, and pulling the entire robot in the specified direction, thereby achieving the purpose of pulling the nerve in the specified direction.

[0026] In the present invention, the flexible wire shaft is bent in three-dimensional space to transmit the rotation from the power generating mechanism. The rotation of the motor drives the spiral cam to rotate. At the same time, the pulling force generated by the moving mechanism is transmitted to the suture ring. The flexible wire shaft and the spring have great flexibility, enabling them to deform in three-dimensional space and transmit power. The two ends of the spring are respectively connected to the bearing and the motor cover, buffering the pulling force from the moving mechanism and playing a shock-absorbing effect.

[0027] Advantages of additional aspects of the present invention will be partly given in the following description, partly will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0029] Figure 1 Schematic diagram of the overall structure of the robot provided in Embodiment 1 of the present invention;

[0030] Figure 2 Schematic diagram of the three-dimensional curved pipe provided in Embodiment 1 of the present invention;

[0031] Figure 3 Explosion schematic diagram of the power generating mechanism provided in Embodiment 1 of the present invention;

[0032] Figure 4 Motion principle diagram of the power generating mechanism provided in Embodiment 1 of the present invention;

[0033] Figure 5 Explosion schematic diagram of the moving mechanism provided in Embodiment 1 of the present invention;

[0034] Figure 6 Schematic diagram of the spiral cam provided in Embodiment 1 of the present invention;

[0035] Figure 7 Schematic diagram of the motion principle of the motion mechanism provided in Embodiment 1 of the present invention;

[0036] Figure 8 Schematic diagram of the overall system structure provided in Embodiment 2 of the present invention;

[0037] Wherein, 1, imaging device, 2, robot, 21, motion mechanism, 211, sleeve, 2121 - 2126, first support leg, 213, spiral cam, 2141 - 2146, first cam, 215, bearing; 216, second cam; 22, transmission mechanism, 221, spring, 222, wire soft shaft, 23, power generating mechanism, 231, motor, 232, motor cover, 233, magnet, 234, magnet turntable, 235, second support leg, 24, suture ring, 25, three - dimensional bending pipe, 3, robotic arm. Detailed implementation manners

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0040] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that the terms "comprises" and "comprising", and any variations thereof, are intended to cover non - exclusive inclusion. For example, a process, method, system, product or device that comprises a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0041] In the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0042] Embodiment 1

[0043] As Figure 1 - Figure 2As shown in the figure, this embodiment provides a robot for directionally tractioning nerves in a three-dimensional space, including: a three-dimensional bending pipe 25, and a motion mechanism 21, a transmission mechanism 22, a power generation mechanism 23, and a suture ring 24 that are arranged in the three-dimensional bending pipe 25 and connected in sequence.

[0044] As Figure 2 shown, a plurality of serrated grooves are provided on the inner wall of the three-dimensional bending pipe 25.

[0045] As Figure 3 - Figure 4 shown, the power generation mechanism 23 includes a motor 231 and a magnet assembly. The magnet assembly includes a magnet 233 and a magnet turntable 234 connected between the motor 231 and the magnet 233.

[0046] The motor 231 is fixedly connected to one end of the magnet turntable 234, and a motor cover 232 is fixedly sleeved outside the motor 231 to provide a protection function for the internal motor 231.

[0047] The magnet 233 is fixedly connected to the other end of the magnet turntable 234. Under the action of an external magnetic field, the magnet 233 rotates directionally. The rotation direction and speed of the magnet 233 are controlled by the external magnetic field and the motor 231. The motor 231 monitors and adjusts the rotation speed of the magnet 233. At the same time, the directional rotation of the magnet 233 under the action of the external magnetic field drives the motor to act.

[0048] The suture ring 24 is fitted and connected to the end of the motor cover 232, and second support legs 235 that match the serrated grooves on the inner wall of the three-dimensional bending pipe 25 are provided on the outer side surface of the outer cylinder of the motor cover 232. When the robot moves, the second support legs 235 passively grab the serrated grooves on the inner wall of the three-dimensional bending pipe 25 and generate a pulling force, so that the suture ring 24 tractiones the nerve to move directionally.

[0049] As Figure 5 shown, the motion mechanism 21 includes a spiral cam 213, first cams 2141-2146, first support legs 2121-2126, a sleeve 211, and a bearing 215.

[0050] Among them, the spiral cam 213 is fixedly connected to the transmission mechanism 22, and a bearing 215 is sleeved outside;

[0051] The sleeve 211 is fitted with the spiral cam 213, and six second cams 216 are fixed on the wall of the sleeve 211 at intervals of 60° in the circumferential direction.

[0052] There are six first cams in total, with the same structure, distributed on the same circumference, spaced 60° from each other, and one end of each first cam is embedded in the groove of the spiral cam 213.

[0053] There are a total of six first support legs, which have the same structure, are distributed on the same circumference, are spaced 60° apart from each other, and each first support leg is fixed to the corresponding first cam and passes through the second cam 216 on the sleeve 211; when the magnet 233 rotates directionally under the action of an external magnetic field, the spiral cam 213 is driven by the motor 231 to rotate, causing the first cam to move within the groove of the spiral cam 213 and driving the first support leg to reciprocate up and down as the first cam moves up and down. A pulling force is generated by grasping the serrated groove on the three-dimensional curved pipe 25 through the first support, thereby driving the entire robot to move and pulling the nerve on the suture ring 24 to move directionally.

[0054] As an alternative embodiment, as Figure 6 shown, the spiral cam 213 has three layers of grooves, and each layer of groove includes a steep slope that rises suddenly and the remaining gentle slopes that descend slowly. The slope of the rising slope is greater than that of the descending slope.

[0055] As Figure 7 shown, the six first cams can be divided into two groups, with three in each group. The first cams in the same group form an angle of 120° with each other, and two first cams that are 180° apart from each other are embedded in the same layer of groove of the spiral cam 213.

[0056] When the spiral cam 213 rotates, the first cams in the same group change by the same height at the same moment. When the first cams in the same group move on the groove of the spiral cam 213, they either slowly descend or suddenly rise simultaneously, pulling the corresponding first support legs 2121 - 2126 to descend or rise.

[0057] The two groups of first support legs move alternately, generating a pulling force by grasping the serrated groove on the three-dimensional curved pipe 25 and pulling the entire robot in the specified direction, thereby achieving the purpose of pulling the nerve in the specified direction.

[0058] It can be understood that the serrated grooves on the inner wall of the three-dimensional curved pipe 25 correspond to the ends of the first support legs and the second support legs, thereby ensuring that the first support legs and the second support legs can produce effective grasping.

[0059] As Figure 3 - Figure 4 shown, the transmission mechanism 22 includes a wire soft shaft 222 and a spring 221, and the spring 221 is sleeved on the wire soft shaft 222;

[0060] The two ends of the wire soft shaft 222 are respectively connected to the spiral cam 213 and the motor 231. By the rotation of the motor 231, the spiral cam 213 is driven to rotate;

[0061] Both ends of the spring 221 are respectively connected to the bearing 215 and the motor cover 232, buffering the tensile force from the motion mechanism 21 and achieving a shock absorption effect.

[0062] In this embodiment, the flexible wire shaft 222 bends in a three-dimensional space and transmits the rotation from the power generation mechanism 23, so as to drive the spiral cam 213 to rotate through the rotation of the motor 231; at the same time, the tensile force generated by the motion mechanism 21 can also be transmitted to the suture ring 24.

[0063] It should be noted that the flexible wire shaft 222 and the spring 221 have great flexibility, enabling them to deform in a three-dimensional space and transmit power.

[0064] The basic transmission mechanism of this embodiment is as follows: when the robot is working, power is provided by an external magnet on an external robotic arm. The magnet 233 of the robot rotates directionally under the action of the external magnet, and the power is transmitted to the motion mechanism 21 through the motor 231 and the transmission mechanism 22. The first support legs 2121 - 2126 move up and down reciprocally, grasping the serrated grooves on the three-dimensional curved pipe 25 to generate a tensile force, and the tensile force is transmitted to the suture ring 24 to traction the nerve on the suture ring 24 to move directionally.

[0065] Embodiment 2

[0066] This embodiment provides a system for directionally tractioning nerves in a three-dimensional space, as Figure 8 shown, including: an imaging device 1, a robotic arm 3, and the robot 2 described in Embodiment 1;

[0067] The imaging device is used to obtain an image of the corresponding part of the human body, facilitating real-time monitoring of data and ensuring human safety;

[0068] A magnet is installed at the end of the robotic arm, used to generate an external magnetic field to make the magnet inside the robot 2 rotate directionally.

[0069] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative labor are still within the protection scope of the present invention.

Claims

1. A robot for directional traction of nerves in three-dimensional space, characterized in that: include: A three-dimensional curved pipeline, and a motion mechanism, a transmission mechanism, a power generating mechanism and a sewing ring which are arranged in the three-dimensional curved pipeline and are connected in sequence; The power generating mechanism comprises a motor cover connected to the sewing ring, a motor arranged in the motor cover and a magnet assembly connected to the motor, wherein the magnet assembly rotates in a directional manner under the action of an external magnetic field; The motion mechanism comprises a sleeve, a spiral cam arranged on the sleeve, at least two first supporting legs and at least two first cams, at least two second cams are arranged on the wall of the sleeve along the circumferential direction and at the same angle, each first supporting leg is connected to a first cam and a second cam, and each first cam is embedded in a first groove of the spiral cam; The transmission mechanism includes a flexible shaft and a spring sleeved on the flexible shaft. The two ends of the flexible shaft are respectively connected to a spiral cam and a motor, so that the spiral cam is driven to rotate by the motor, so that the first cam moves in the first groove and drives the first supporting leg to reciprocate. The tension generated by the groove of the three-dimensional curved pipe grasped by the first supporting leg is used to pull the nerve on the suture ring to move in a directional manner.

2. A robot for directional nerve traction in three-dimensional space as claimed in claim 1, characterized in that: The outer surface of the motor cover is provided with a second support leg matching the groove on the inner wall of the three-dimensional curved pipe. The reciprocating motion of the first support leg drives the second support leg to grab the groove on the inner wall of the three-dimensional curved pipe and generate tension.

3. A robot for directional nerve traction in three-dimensional space as claimed in claim 1, characterized in that: Six second cams are fixed on the wall of the sleeve in a circumferential direction and are spaced 60 degrees apart from each other.

4. The robot for directional nerve traction in three-dimensional space as claimed in claim 1, characterized in that: There are 6 first cams in total, with the same structure, distributed on the same circumference and spaced 60 degrees apart from each other; There are 6 first supporting legs in total with the same structure, distributed on the same circumference and spaced 60 degrees apart from each other.

5. The robot for directional nerve traction in three-dimensional space as claimed in claim 1, characterized in that: The spiral cam has three layers of grooves, each layer of grooves includes an ascending slope and a descending slope, and the slope of the ascending slope is greater than the slope of the descending slope.

6. A robot for directional nerve traction in three-dimensional space as claimed in claim 4 or 5, characterized in that: The first cams are divided into two groups, each group includes three cams, the first cams in the same group form an angle of 120° with each other, and the two first cams that are 180° with each other are embedded in the same layer of grooves of the spiral cam; When the spiral cam rotates, the first cams in the same group change in height at the same time, so that the first cams in the same group move on the first grooves of the spiral cam and descend or rise at the same time, pulling the corresponding first supporting legs down or up, and the two groups of first supporting legs move alternately.

7. The robot for directional nerve traction in three-dimensional space as claimed in claim 1, characterized in that: The spiral cam sleeve is provided with a bearing, and the two ends of the spring are respectively connected with the bearing and the motor cover to buffer the pulling force from the motion mechanism.

8. The robot for directional nerve traction in three-dimensional space as claimed in claim 1, characterized in that: The flexible shaft is bent in three-dimensional space and transmits the rotation from the power generating mechanism, so as to drive the spiral cam to rotate through the rotation of the motor; at the same time, the pulling force generated by the motion mechanism is transmitted to the suture ring.

9. The robot for directional nerve traction in three-dimensional space as claimed in claim 1, characterized in that: The magnet assembly includes a magnet and a magnet turntable connected between the motor and the magnet. The rotation direction and speed of the magnet are controlled by an external magnetic field and the motor. The motor is used to monitor and adjust the magnet.

10. A system for directional traction of nerves in three-dimensional space, characterized in that: include: A robotic arm and a robot as claimed in any one of claims 1 to 9; a magnet is mounted at the end of the robotic arm for generating an external magnetic field to cause the magnet inside the robot to rotate in a directional manner.

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