A robot and system for directional nerve traction in three-dimensional space

Abstract

This invention discloses a robot and system for directional nerve traction in three-dimensional space, comprising a motion mechanism, a transmission mechanism, a power generation mechanism, and a suture ring disposed within a three-dimensional curved pipe; the power generation mechanism includes a motor cover, a motor, and a magnet assembly connected to the suture ring, the magnet assembly rotating directionally under the action of an external magnetic field; the motion mechanism includes a sleeve, a helical cam, a first support leg, and a first cam, the sleeve having a second cam on its wall, each first support leg being connected to a first cam and a second cam, each first cam being embedded in a first groove of the helical cam; the transmission mechanism has two ends of a flexible shaft connected to the helical cam and the motor, the motor driving the helical cam to rotate, causing the first cam to move within the first groove, driving the first support leg to reciprocate, the first support leg grasping the groove of the three-dimensional curved pipe generating tension, thereby directionally moving the nerve on the suture ring.

Description

Technical Field

[0001] This invention relates to the field of implantable surgical robot technology, and in particular to a robot and system for directional traction of nerves in three-dimensional space. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Implantable surgical robots are miniature, precision medical devices invented thanks to advancements in minimally invasive surgery and related technologies. These robots can be implanted entirely within confined spaces deep within the body, performing precise surgical procedures in place of surgeons and significantly reducing the trauma to patients. An implantable surgical robot system typically consists of an external drive unit, the robot itself, and auxiliary devices. Compared to traditional large medical devices, implantable surgical robots allow for prolonged surgical procedures within the body, offering higher precision and more targeted surgical approaches.

[0004] Neurosurgical robots are mostly large medical instruments capable of performing a variety of surgeries, including those for cerebral hemorrhage, brain abscess, and precise removal of intracranial foreign bodies. With advancements in robotics technology, neurosurgical robots can also be applied to nerve traction surgeries. Repairing peripheral nerve defects is a challenging clinical procedure, potentially leading to impaired nerve innervation and motor function. Small nerve defects can be directly sutured, while large defects require regular traction that integrates with the natural growth of the nerve.

[0005] As a core component responsible for sensory and motor function in the lower limbs, the stability and safety of surgery on the sciatic nerve are paramount. Current treatment options still require doctors to use medical devices to traction nerve growth at regular intervals each day, consuming significant medical resources. Furthermore, the relatively mature nerve traction devices currently available have drawbacks such as high invasiveness, the need for external fixation to the bone, and the requirement for manual operation during the procedure. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes a robot and system for directional nerve traction in three-dimensional space. By incorporating supporting legs, flexible shafts, and a three-dimensional curved tube, the robot can bend and traction within three-dimensional space.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a robot for directional traction of nerves in three-dimensional space, comprising: a three-dimensional curved pipe, and a motion mechanism, a transmission mechanism, a power generation mechanism and a suture ring disposed within the three-dimensional curved pipe and connected in sequence;

[0009] The power generating mechanism includes a motor housing connected to the stitching ring, a motor disposed inside the motor housing, and a magnet assembly connected to the motor. The magnet assembly rotates in an directional manner 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 sleeve wall along the circumferential direction and spaced at the same angle from each other. Each first support leg is connected to a first cam and a second cam. Each first cam is embedded in the 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 a spiral cam and a motor, so that the motor drives the spiral cam to rotate, causing the first cam to move in the first groove, and driving the first support leg to reciprocate. The tension generated by the first support leg grasping the groove of the three-dimensional curved pipe is used to traction the nerve on the suture ring to move in a directional manner.

[0012] As an alternative implementation, the outer side of the motor cover is provided with a second support leg that matches 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 a pulling force.

[0013] As an alternative implementation, six second cams are fixed on the sleeve wall in a circumferential direction at 60° intervals.

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

[0015] As an alternative implementation, the spiral cam has three layers of grooves, each layer of grooves including 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 implementation, the first cam is divided into two groups, each group including three cams. The first cams in the same group are at a 120° angle to each other, and two first cams at a 180° angle to each other are embedded in the same groove of the spiral cam.

[0017] When the spiral cam rotates, the height of the first cam in the same group changes in the same way at the same time, so that when the first cam in the same group moves on the first groove of the spiral cam, it descends or rises at the same time, pulling the corresponding first support leg to descend or rise, and the two groups of first support legs move alternately.

[0018] As an alternative implementation, the spiral cam is fitted with a bearing, and the two ends of the spring are connected to the bearing and the motor cover, respectively, to buffer the tension from the motion mechanism.

[0019] As an alternative implementation, the flexible shaft bends in three-dimensional space and transmits rotation from the power generation mechanism to drive the spiral cam to rotate via the rotation of the motor; at the same time, the tension generated by the motion mechanism is transmitted to the stitching ring.

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

[0021] In a second aspect, the present invention provides a system for directional traction of nerves in three-dimensional space, comprising: a robotic arm and the robot described in the first aspect; the end of the robotic arm is equipped with a magnet for generating an external magnetic field to cause the magnet inside the robot to rotate in a directional manner.

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

[0023] This invention provides a miniature robot and system for directional traction of severed nerves in three-dimensional space. Through the setting of flexible support legs, steel wire flexible shaft and three-dimensional curved pipe, it can bend and traction in three-dimensional space. Under the action of an external magnetic field, the magnet rotates in a directional manner. The rotation direction and speed of the magnet are controlled by the external magnetic field and the motor. The motor monitors and adjusts the rotation speed of the magnet, thereby regulating the force during the traction process and preventing excessive tension.

[0024] This invention features a motor cover fixedly fitted around the motor to provide protection for the internal motor. Simultaneously, a suture ring is fitted and connected to the end of the motor cover. A second support leg, matching the serrated grooves on the inner wall of the three-dimensional curved pipe, is provided on the outer surface of the motor cover. When the robot moves, the second support leg passively grasps the serrated grooves on the inner wall of the three-dimensional curved pipe and generates tension, thereby causing the suture ring to pull the nerve for directional movement. Several serrated grooves on the inner wall of the three-dimensional curved pipe correspond to the ends of the first and second support legs, ensuring that the first and second support legs can effectively grasp the motor.

[0025] In this invention, the spiral cam has three layers of grooves. Each layer of grooves includes a steep slope that rises abruptly and the rest of the slopes that descend slowly. The six first cams are divided into two groups of three. The first cams in the same group are at a 120° angle to each other, and two first cams at a 180° angle to each other are embedded in the same layer of grooves of the spiral cam. When the spiral cam rotates, the height of the first cams in the same group changes at the same time. This allows the first cams in the same group to move slowly or suddenly as they move on the grooves of the spiral cam, pulling the corresponding first support leg down or up. The two groups of first support legs move alternately, generating tension by gripping the serrated grooves on the three-dimensional curved pipe, thus pulling the entire robot to move in the specified direction, thereby achieving the purpose of pulling the nerve to move in the specified direction.

[0026] In this invention, the flexible steel wire shaft bends in three-dimensional space, transmitting rotation from the power generating mechanism. The rotation of the motor drives the spiral cam to rotate. At the same time, the tension generated by the motion mechanism is transmitted to the stitching ring. The flexible steel wire shaft and the spring have great flexibility, allowing them to deform in three-dimensional space and transmit power. The two ends of the spring are connected to the bearing and the motor cover, respectively, to buffer the tension from the motion mechanism and achieve a shock absorption effect.

[0027] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the overall structure of the robot provided in Embodiment 1 of the present invention;

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

[0031] Figure 3 This is a schematic diagram of the explosion of the power generating mechanism provided in Embodiment 1 of the present invention;

[0032] Figure 4 This is a schematic diagram of the motion principle of the power generation mechanism provided in Embodiment 1 of the present invention;

[0033] Figure 5 This is an exploded view of the motion mechanism provided in Embodiment 1 of the present invention;

[0034] Figure 6 This is a schematic diagram of a spiral cam provided in Embodiment 1 of the present invention;

[0035] Figure 7 This is a schematic diagram of the motion principle of the motion mechanism provided in Embodiment 1 of the present invention;

[0036] Figure 8 This is a schematic diagram of the overall system structure provided in Embodiment 2 of the present invention;

[0037] Among them, 1. Imaging device, 2. Robot, 21. Motion mechanism, 211. Sleeve, 2121-2126. First support leg, 213. Helical cam, 2141-2146. First cam, 215. Bearing; 216. Second cam; 22. Transmission mechanism, 221. Spring, 222. Flexible steel wire shaft, 23. Power generation mechanism, 231. Motor, 232. Motor cover, 233. Magnet, 234. Magnet turntable, 235. Second support leg, 24. Stitching ring, 25. Three-dimensional curved pipe, 3. Robotic arm. Detailed Implementation

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

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

[0040] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. Furthermore, it should be understood that the terms “comprising” and “including”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

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

[0042] Example 1

[0043] like Figures 1-2As shown, this embodiment provides a robot for directional traction of nerves in three-dimensional space, including: a three-dimensional curved pipe 25, and a motion mechanism 21, a transmission mechanism 22, a power generation mechanism 23 and a suture ring 24 disposed in the three-dimensional curved pipe 25 and connected in sequence.

[0044] like Figure 2 As shown, the inner wall of the three-dimensional curved pipe 25 is provided with several serrated grooves.

[0045] like Figures 3-4 As shown, the power generating mechanism 23 includes a motor 231 and a magnet assembly, the magnet assembly including 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 fitted on the outside of the motor 231 to provide protection 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 in an directional manner. 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 move.

[0048] A suture ring 24 is fitted and connected to the end of the motor cover 232, and a second support leg 235 is provided on the outer side of the outer cylinder of the motor cover 232, which matches the serrated groove on the inner wall of the three-dimensional curved pipe 25. When the robot moves, the second support leg 235 passively grasps the serrated groove on the inner wall of the three-dimensional curved pipe 25 and generates a pulling force, thereby causing the suture ring 24 to pull the nerve to move in a directional manner.

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

[0050] The spiral cam 213 is fixedly connected to the transmission mechanism 22 and is fitted with a bearing 215 on the outside.

[0051] The sleeve 211 is fitted with the spiral cam 213, and six second cams 216 are fixed on the sleeve 211 around the circumference and spaced 60° apart.

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

[0053] There are six first support legs with the same structure, distributed on the same circumference and spaced 60° apart. Each first support leg is fixed to a corresponding first cam and passes through the second cam 216 on the sleeve 211. When the magnet 233 rotates in a directional manner under the action of an external magnetic field, the motor 231 drives the spiral cam 213 to rotate, causing the first cam to move in the groove of the spiral cam 213, and driving the first support leg to move up and down reciprocally with the up and down movement of the first cam. The first support grips the serrated groove on the three-dimensional curved pipe 25 to generate a pulling force, thereby driving the entire robot to move and pulling the nerve on the suture ring 24 to move in a directional manner.

[0054] As one possible implementation method, such as Figure 6 As shown, the spiral cam 213 has three layers of grooves. Each layer of grooves includes a steep slope that rises abruptly and the remaining gentle slopes that descend slowly. The slope of the rising slope is greater than the slope of the descending slope.

[0055] like Figure 7 As shown, the six first cams can be divided into two groups of three. The first cams in the same group are at a 120° angle to each other, and two first cams at a 180° angle to each other are embedded in the same groove of the spiral cam 213.

[0056] When the spiral cam 213 rotates, the height of the first cams in the same group changes at the same moment, so that when the first cams in the same group move on the groove of the spiral cam 213, they slowly descend or suddenly rise, pulling the corresponding first support legs 2121-2126 down or up.

[0057] The two sets of first support legs move alternately, generating tension by grasping the serrated grooves on the three-dimensional curved pipe 25, pulling the entire robot to move in the specified direction, thereby achieving the purpose of pulling the nerve to move in the specified direction.

[0058] Understandably, the serrated grooves on the inner wall of the three-dimensional curved pipe 25 correspond to the ends of the first and second support legs, thereby ensuring that the first and second support legs can generate effective gripping.

[0059] like Figures 3-4 As shown, the transmission mechanism 22 includes a flexible steel wire shaft 222 and a spring 221, with the spring 221 sleeved on the flexible steel wire shaft 222;

[0060] The two ends of the flexible steel wire shaft 222 are respectively connected to the spiral cam 213 and the motor 231. The rotation of the motor 231 drives the spiral cam 213 to rotate.

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

[0062] In this embodiment, the flexible steel wire shaft 222 bends in three-dimensional space and transmits rotation from the power generating mechanism 23, so that the rotation of the motor 231 drives the spiral cam 213 to rotate; at the same time, the tension generated by the motion mechanism 21 can also be transmitted to the stitching ring 24.

[0063] It is worth noting that the flexible steel wire shaft 222 and the spring 221 have great flexibility, allowing them to deform in three-dimensional space and transmit power.

[0064] The basic transmission mechanism of this embodiment is as follows: When the robot is working, it is powered by an external magnet on the external robotic arm. The robot's magnet 233 rotates in an directional manner under the action of the external magnet. 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 and reciprocate to grasp the serrated groove on the three-dimensional curved pipe 25 to generate a pulling force. The pulling force is transmitted to the suture ring 24, which pulls the nerves on the suture ring 24 to move in a directional manner.

[0065] Example 2

[0066] This embodiment provides a system for directional nerve traction in three-dimensional space, such as... Figure 8 As shown, it includes: an imaging device 1, a robotic arm 3, and the robot 2 described in Embodiment 1;

[0067] The imaging device is used to acquire images of corresponding parts of the human body, facilitating real-time monitoring data and ensuring human safety.

[0068] The robotic arm is equipped with a magnet at its end to generate an external magnetic field, which causes the magnet inside the robot 2 to rotate in a specific direction.

[0069] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A robot for directional nerve traction in three-dimensional space, characterized in that, include: A three-dimensional curved pipe, and a motion mechanism, a transmission mechanism, a power generating mechanism and a stitching ring arranged in sequence within the three-dimensional curved pipe; The power generating mechanism includes a motor housing connected to the stitching ring, a motor disposed inside the motor housing, and a magnet assembly connected to the motor. The magnet assembly rotates in an directional manner under the action of an external magnetic field. The motion mechanism includes a sleeve, a helical 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 sleeve wall along the circumferential direction and spaced at the same angle from each other. Each first support leg is connected to a first cam and a second cam. Each first cam is embedded in a first groove of the helical cam. The helical 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. 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 motor drives the spiral cam to rotate, causing the first cam to move in the first groove, and driving the first support leg to reciprocate. The tension generated by the first support leg grasping the groove of the three-dimensional curved pipe is used to traction the nerve on the suture ring to move in a directional manner.

2. The robot for directional nerve traction in three-dimensional space as described in claim 1, characterized in that, The outer side of the motor cover is provided with a second support leg that matches 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 a pulling force.

3. The robot for directional nerve traction in three-dimensional space as described in claim 1, characterized in that, Six second cams are fixed on the sleeve wall in a circumferential direction at 60° intervals.

4. The robot for directional nerve traction in three-dimensional space as described in claim 1, characterized in that, The first cam consists of 6 identical cams, distributed on the same circumference and spaced 60° apart from each other. The first support leg has 6 identical structures, distributed on the same circumference, and spaced 60° apart from each other.

5. A robot for directional nerve traction in three-dimensional space as described in claim 1 or 4, characterized in that, The first cam is divided into two groups, each group including 3. The first cams in the same group are at a 120° angle to each other, and the two first cams at a 180° angle to each other are embedded in the same groove of the spiral cam. When the spiral cam rotates, the height of the first cam in the same group changes in the same way at the same time, so that when the first cam in the same group moves on the first groove of the spiral cam, it descends or rises at the same time, pulling the corresponding first support leg to descend or rise, and the two groups of first support legs move alternately.

6. The robot for directional nerve traction in three-dimensional space as described in claim 1, characterized in that, The spiral cam is fitted with a bearing, and the two ends of the spring are connected to the bearing and the motor cover, respectively, to buffer the tension from the motion mechanism.

7. The robot for directional nerve traction in three-dimensional space as described in claim 1, characterized in that, The flexible shaft bends in three-dimensional space and transmits rotation from the power generation mechanism to drive the spiral cam to rotate via the rotation of the motor; at the same time, it transmits the tension generated by the motion mechanism to the stitching ring.

8. The robot for directional nerve traction in three-dimensional space as described 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, which is used to monitor and adjust the magnet.

9. A system for directional nerve traction in three-dimensional space, characterized in that, include: The robotic arm and the robot according to any one of claims 1-8; the robotic arm is equipped with a magnet at its end to generate an external magnetic field so as to cause the magnet inside the robot to rotate in a specific direction.

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