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

Abstract

The invention discloses a robot and system for directionally pulling nerves in a two-dimensional space, and relates to the technical field of surgical robots, the robot comprises a movement mechanism, a transmission mechanism, a power generation mechanism and a traction mechanism which are arranged in a two-dimensional bent pipeline; the movement mechanism comprises a pair of first gear sets; the power generation mechanism comprises a motor shell connected with the traction mechanism, a motor arranged in the motor shell and a magnet assembly connected with the motor, and the magnet assembly rotates directionally; the transmission mechanism comprises a pair of second gear sets and a worm gear arranged between the second gear sets, the worm gear is connected with the motor and meshed with the second gear sets, the motor drives the worm gear to rotate, the second gear sets move along the racks in the two-dimensional bent pipeline, the second gear sets move to drive the first gear set to move along the racks, and the two-dimensional bent pipeline is formed. The nerve on the traction mechanism is driven to directionally move. Through meshing of a worm gear, a gear and a rack and arrangement of a two-dimensional bending pipeline, bending and nerve traction in a two-dimensional space are achieved.

Description

Technical Field

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

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

[0003] The implantable surgical robot system can replace surgeons in performing high-precision intracavitary surgical operations by being implanted in the lesion area of ​​the patient's body. Its typical architecture includes an in-body execution terminal, an in-body drive unit, and a multimodal sensor system. Compared with traditional open surgical instruments, the implantable robotic system has significant advantages such as miniaturized incisions, continuous operations, and precise interventions, and is suitable for complex cases that require long-term interventional treatment.

[0004] In the clinical field of neurosurgery, although large surgical robot systems have realized the automation of routine operations such as brain tissue puncture and hematoma removal, there are still significant technical bottlenecks in the field of peripheral nerve repair. For the treatment of large nerve defects (more than 5 cm), the existing clinical plan requires physicians to operate the external traction device multiple times a day for progressive nerve lengthening. This operation mode not only causes high-intensity consumption of medical resources, but also has the following technical defects:

[0005] Invasiveness of the device: a percutaneous fixation anchoring mechanism needs to be established, increasing the risk of secondary infection; discreteness of operation: reliance on manual intermittent operation leads to continuity of traction force; positioning deviation: in vitro operation is prone to mechanical transmission errors, affecting the accuracy of nerve axial stretching; monitoring blind spots: lack of implantable sensor system to provide real-time feedback on nerve extension biomechanical parameters.

[0006] Taking the repair of sciatic nerve defects as an example, as the main conduction pathway of lower limb sensory and motor functions, the in vitro operation of existing traction devices is difficult to achieve continuous and controllable traction with millimeter-level precision, and there is a risk of secondary nerve damage. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes a robot and system for directionally traction of nerves in two-dimensional space. Through the meshing of worm gears, gears and racks and the setting of a two-dimensional curved pipe, the worm gear receives the power transmitted by the magnet and rotates, and through the meshing of the worm gear and the second gear group, the second gear group and the first gear group are driven to mesh along the rack in the two-dimensional curved pipe, thereby moving the robot along the two-dimensional curved pipe to achieve bending and traction of nerves in two-dimensional space.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] In a first aspect, the present invention provides a robot for directionally pulling nerves in a two-dimensional space, comprising: a two-dimensional curved pipe, and a motion mechanism, a transmission mechanism, a power generating mechanism and a pulling mechanism arranged in the two-dimensional curved pipe;

[0010] The motion mechanism comprises a pair of first gear sets arranged opposite to each other;

[0011] The power generating mechanism comprises a motor housing connected to the traction mechanism, a motor arranged in the motor housing, 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;

[0012] The transmission mechanism includes a pair of second gear groups arranged opposite to each other and a worm gear arranged between the pair of second gear groups. The worm gear is connected to the motor and meshes with the second gear group, so that the worm gear is driven to rotate by the motor, so that the second gear group meshes along the rack in the two-dimensional curved pipe, and then the first gear group is driven to mesh along the rack through the movement of the second gear group, thereby driving the nerve on the traction mechanism to move in a directional manner.

[0013] As an optional implementation, each first gear set includes a first gear shaft and first gears disposed at both ends of the first gear shaft and fixedly connected to the first gear shaft.

[0014] As an optional implementation, a pair of first gear sets are connected via a shaft sleeve, a spring is provided inside the shaft sleeve, and two ends of the spring are respectively connected to the first gear shafts on both sides.

[0015] As an optional implementation, each second gear set includes a second gear shaft and second gears disposed at both ends of the second gear shaft and fixedly connected to the second gear shaft.

[0016] As an optional implementation, a connecting shaft sleeved on the first gear shaft is provided between the two first gears, and a connecting shaft sleeved on the second gear shaft is provided between the two second gears.

[0017] As an optional embodiment, in each second gear set, a bow-shaped baffle is provided between the two second gears; the arc portion of the bow-shaped baffle is fitted with the connecting portion between the second gears at both ends of the second gear shaft, one end of the bow-shaped baffle is fitted with the motor housing, and the other end of the bow-shaped baffle is fitted with the traction mechanism, and the baffle is fixedly connected at the extension.

[0018] As an optional embodiment, the magnet assembly includes a magnet and a magnet turntable connected between the magnet and the motor.

[0019] As an optional implementation, the rack is arranged along the inner wall of the two-dimensional curved pipe, and the gears on the first gear set and the second gear set are meshed with the rack.

[0020] As an optional embodiment, the traction mechanism includes a traction ring for connecting and traction of nerves.

[0021] In a second aspect, the present invention provides a system for directionally pulling nerves in a two-dimensional space, comprising: 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 cause the magnet in the robot to rotate in a direction.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention proposes a robot and system for directionally traction of nerves in a two-dimensional space. Through the meshing of a worm wheel, a gear and a rack and the setting of a two-dimensional curved pipe, the worm wheel receives the power transmitted by a magnet and rotates, and through the meshing of the worm wheel and the second gear set, the second gear set and the first gear set are driven to mesh and move along the rack in the two-dimensional curved pipe, thereby realizing power transmission, so that the robot as a whole moves forward along the two-dimensional curved pipe, realizing bending and traction of nerves in the two-dimensional space.

[0024] In the motion mechanism of the present invention, the first gear shaft and the bushing play a supporting and positioning role, ensuring the stability of the first gear set and other components during the motion process; the spring in the bushing plays a buffering and regulating role, reducing vibration and impact force during motion, and at the same time, the position of the bushing is adjusted according to actual conditions to make certain adjustments to the position and force of the motion mechanism.

[0025] In the power generating mechanism of the present invention, the DC motor is located inside the motor housing, providing a power source for the entire power generating mechanism. The motor housing plays a role in protecting the motor and other components, and also helps to fix and install related components to ensure stable operation of the power generating mechanism.

[0026] In the transmission mechanism of the present invention, the arched baffle is provided to play a certain protective and blocking role, so that the second gears on both sides of the rear are tightly meshed together without loosening.

[0027] The two-dimensional curved pipe of the present invention has a specific curved shape, and its curved design is intended to enable the robot to move flexibly in a two-dimensional space; a rack is provided inside the two-dimensional curved pipe, and the rack is arranged along the inner wall of the two-dimensional curved pipe, and four first gears and four second gears are all meshed with the rack, providing a track for meshing movement for the first gear group and the second gear group; the two-dimensional curved pipe not only provides installation space for other structures, but its unique shape and internal rack structure determine the movement trajectory and direction of the robot in the two-dimensional space, and is a key component for realizing the directional movement of the robot in two-dimensional space.

[0028] The traction mechanism of the present invention comprises a traction ring, which is used to connect and pull nerves. When the robot performs a nerve traction task, the traction ring is connected to the corresponding nerve, and directional traction of the nerve is achieved through the overall movement of the robot.

[0029] The present invention proposes a robot and system for directionally pulling nerves in a two-dimensional space. The magnet rotates directionally under the action of an external magnetic field, and transmits power to a DC motor through a magnet turntable. The DC motor is connected to a worm gear, thereby driving the worm gear to rotate synchronously. The worm gear is meshed with a second gear, and the worm gear receives the power transmitted by the magnet and rotates. The four second gears are driven to mesh along a rack in a two-dimensional curved pipe through the meshing relationship, and then the four first gears in front are driven to mesh along the rack through the movement of the second gear, thereby realizing power transmission, so that the robot as a whole moves forward along the two-dimensional curved pipe, and drives the nerves on the traction mechanism to move in a direction.

[0030] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0032] Figure 1 A schematic diagram of the overall structure of the robot provided in Example 1 of the present invention;

[0033] Figure 2 A schematic diagram of a motion mechanism provided in Example 1 of the present invention;

[0034] Figure 3 A schematic diagram of a sleeve spring provided in Example 1 of the present invention;

[0035] Figure 4 A schematic diagram of a power generating mechanism provided in Example 1 of the present invention;

[0036] Figure 5 A schematic diagram of a transmission mechanism provided in Example 1 of the present invention;

[0037] Figure 6 A schematic diagram of a two-dimensional curved pipeline provided in Example 1 of the present invention;

[0038] Figure 7 A schematic diagram of a traction mechanism provided in Example 1 of the present invention;

[0039] Figure 8 A schematic diagram of the overall structure of the system provided in Example 2 of the present invention;

[0040] Among them, 1. robotic arm, 2. robot, 3. imaging device, 11. moving mechanism, 111. first gear shaft, 112. bushing, 113. connecting shaft, 114. first gear, 115. bracket, 116. spring, 117. rack, 118. two-dimensional curved pipe; 12. power generating mechanism, 121. motor housing, 122. DC motor, 123. magnet; 21. transmission mechanism, 211. second gear shaft, 212. second gear, 213. worm gear, 214. bow baffle; 22. traction mechanism, 221. traction ring. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0043] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "comprise" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0045] Example 1

[0046] This embodiment provides a robot for directional traction of nerves in a two-dimensional space, such as Figure 1 As shown, it includes: a two-dimensional curved pipe 118, and a motion mechanism 11, a transmission mechanism 21, a power generating mechanism 12, and a traction mechanism 22 connected to the power generating mechanism 12, which are arranged in the two-dimensional curved pipe 118;

[0047] Wherein, the motion mechanism 11 comprises a pair of first gear sets arranged opposite to each other;

[0048] The power generating mechanism 12 comprises a motor housing 121 connected to the traction mechanism 22, a motor disposed in the motor housing 121, 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;

[0049] The transmission mechanism 21 includes a pair of oppositely arranged second gear groups and a worm gear 213 arranged between the pair of second gear groups. The worm gear 213 is connected to the motor and meshes with the second gear group, so that the worm gear 213 is driven by the motor to rotate, so that the second gear group meshes along the rack 117 in the two-dimensional curved pipe 118, and then the movement of the second gear group drives the first gear group to mesh along the rack 117, thereby driving the nerve on the traction mechanism 22 to move in a directional manner.

[0050] In this embodiment, if Figure 2 As shown, the motion mechanism 11 includes a pair of first gear sets with the same structure and arranged opposite to each other, a sleeve 112, a connecting shaft 113 and a first bracket 115;

[0051] Specific:

[0052] A pair of first gear sets are connected via a shaft sleeve 112;

[0053] Each first gear set includes a first gear shaft 111 and first gears 114 provided at both ends of the first gear shaft 111, and the four first gears 114 are threadedly fastened to the first gear shaft 111;

[0054] A connecting shaft 113 is provided between the two first gears 114, and the connecting shaft 113 is sleeved on the first gear shaft 111;

[0055] A bracket 115 is arranged on the same end of the two first gear sets, that is, both ends of the bracket 115 are respectively installed on the same end of the two first gear sets.

[0056] As an optional embodiment, the bracket 115 is nested with the first gear shaft 111, playing an important role of connection and stability. On the one hand, the bracket 115 connects a pair of oppositely arranged first gear sets, so that the two first gear sets form a relatively stable overall structure, which helps to ensure the integrity and coordination of the motion mechanism. During the movement of the robot, it ensures that the two first gear sets can move synchronously to avoid offset or shaking, thereby ensuring the normal engagement of the first gear set with the rack 117, so that the motion mechanism can move stably along the two-dimensional curved pipe 118, driving the entire robot to move along the predetermined track, and realizing accurate traction of the nerve. On the other hand, the bracket 115 provides additional support for the first gear set, enhances the stability of the motion mechanism, reduces vibration and displacement during the movement, improves the accuracy and reliability of the robot movement, and ensures the smooth progress of the nerve traction operation.

[0057] In this embodiment, the four first gears 114 are meshed with the rack 117 in the two-dimensional curved pipe 118. When the first gear 114 rotates, the motion mechanism 11 is moved through the cooperation between the first gear 114 and the rack 117, thereby driving the entire robot to move along the two-dimensional curved pipe 118.

[0058] As an optional implementation, the first gear shaft 111 and the shaft sleeve 112 play a supporting and positioning role to ensure the stability of the first gear set and other components during movement.

[0059] As an optional implementation, Figure 3 As shown, a spring 116 is provided in the shaft sleeve 112, and both ends of the spring 116 are respectively connected to the first gear shafts 111 on both sides, which can play a role of buffering and adjustment, reduce vibration and impact force during movement, and adjust the position and force of the movement mechanism according to actual conditions.

[0060] As an optional implementation, the shaft sleeve 112 is arranged at the middle position of the two first gear sets, but the position of the shaft sleeve 112 can also be adjusted according to actual conditions to adjust the position and force of the motion mechanism to a certain extent.

[0061] like Figure 4 As shown, the power generating mechanism 12 includes a motor housing 121 connected to the traction mechanism 22, a DC motor 122 disposed in the motor housing 121, and a magnet assembly connected to the DC motor 122; the magnet assembly includes a magnet 123 and a magnet turntable connected between the magnet 123 and the DC motor 122;

[0062] The magnet 123 performs directional rotation under the action of the external magnetic field, and transmits power to the DC motor 122 through the magnet turntable. The DC motor 122 is connected to the transmission mechanism 21, thereby driving the worm gear 213 of the transmission mechanism 21 to rotate synchronously.

[0063] As an optional implementation, threaded holes are machined at the circular hole at the front end of the motor housing 121 and at the corresponding positions of the lower end of the bracket 115, so that the lower end of the bracket 115 passes through the hole and the nut is tightened to connect the power generating mechanism 12 and the motion mechanism 11.

[0064] As an optional implementation, the DC motor 122 is located inside the motor housing 121 to provide a power source for the entire power generating mechanism 12 .

[0065] As an optional implementation, the motor housing 121 serves to protect the motor and other components, and also helps to fix and install related components to ensure stable operation of the power generating mechanism 12.

[0066] like Figure 5 As shown, the transmission mechanism 21 includes a pair of second gear sets with the same structure and arranged opposite to each other, and a worm gear 213 arranged between the pair of second gear sets;

[0067] Each second gear set includes a second gear shaft 211 and second gears 212 disposed at both ends of the second gear shaft 211, and the four second gears 212 are threadedly fastened to the second gear shaft 211; and a connecting shaft is disposed between two second gears 212, and the connecting shaft is sleeved on the second gear shaft 211;

[0068] The worm gear 213 is connected to the DC motor 122, and the worm gear 213 is meshed with the second gear 212. The worm gear 213 receives the power transmitted by the magnet 123 and rotates, and drives the two second gears 212 at the bottom of the second gear group to rotate through the meshing relationship. Since the second gears 212 on both sides of the second gear shaft 211 are fixedly connected to the second gear shaft 211, the two second gears 212 at the top are driven to mesh with the rack 117, and then the movement of the second gear 212 drives the first gear 114 in front to mesh along the rack 117, thereby realizing power transmission, making the robot move forward as a whole, and driving the nerves on the traction mechanism 22 to move in a directional manner.

[0069] As an optional implementation, matching keyways are machined on the output shaft of the DC motor 122 and the hub of the worm wheel 213, and the key is embedded in the keyway to circumferentially fix the worm wheel 213 and the output shaft of the DC motor 122 to achieve reliable torque transmission.

[0070] As an optional implementation, the arrangement of the arched baffle 214 plays a certain protective and blocking role, so that the second gears 212 on both sides of the rear are tightly meshed together without loosening.

[0071] As an optional implementation, the arc portion of the bow-shaped baffle is fitted with the connecting portion of the upper and lower second gears, one end of the two ends is fitted with the motor housing, and the other end is fitted with the traction ring portion, and the extended portion is fixed with screws.

[0072] like Figure 6 As shown, the two-dimensional curved pipe 118 has a specific curved shape, and its curved design is intended to enable the robot to move flexibly in a two-dimensional space; wherein, the shape of the pipe can be customized according to preoperative medical imaging results, and the maximum bending angle is 45°.

[0073] A rack 117 is provided inside the two-dimensional curved pipe 118, and the rack 117 is arranged along the inner wall of the two-dimensional curved pipe 118. The four first gears 114 and the four second gears 212 are all meshed with the rack 117, providing a track for meshing movement for the first gear group and the second gear group.

[0074] The two-dimensional curved pipe 118 not only provides installation space for other structures, but its unique shape and internal rack structure determine the movement trajectory and direction of the robot in two-dimensional space, and is a key component for realizing the directional movement of the robot in two-dimensional space.

[0075] In this embodiment, the magnet 123 performs directional rotation under the action of the external magnetic field, and transmits power to the DC motor 122 through the magnet turntable. The DC motor 122 is connected to the worm gear 213, thereby driving the worm gear 213 to rotate synchronously.

[0076] The worm gear 213 is meshed with the second gear 212. The worm gear 213 receives the power transmitted by the magnet 123 and rotates. The four second gears 212 are driven to mesh along the rack 117 in the two-dimensional curved pipe 118 through the meshing relationship. Then, the movement of the second gear 212 drives the four first gears 114 in front to mesh along the rack 117, thereby realizing power transmission, so that the robot as a whole moves forward along the two-dimensional curved pipe 118, driving the nerves on the traction mechanism 22 to move in a directional manner.

[0077] like Figure 7 As shown, the traction mechanism 22 includes a traction ring 221, which is used to connect and pull nerves. When the robot performs a nerve traction task, the traction ring 221 is connected to the corresponding nerve, and directional traction of the nerve is achieved through the overall movement of the robot.

[0078] As an optional implementation, the traction ring 221 is connected to the motor housing 121 by welding, and the specific connection position is located at one end close to the transmission mechanism 21, and welding is performed at the contact point between the two.

[0079] Example 2

[0080] This embodiment provides a system for directional traction of nerves in a two-dimensional space, such as Figure 8 As shown, it includes: an imaging device 3, a mechanical arm 1 and the robot 2 described in Example 1;

[0081] The imaging device is used to obtain images of corresponding parts of the human body, so as to facilitate real-time monitoring of data and ensure human safety;

[0082] A magnet is installed at the end of the robot arm to generate an external magnetic field to make the magnet inside the robot 2 rotate in a directional manner.

[0083] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it 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 on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A robot for directional traction of nerves in two-dimensional space, characterized in that: include: A two-dimensional curved pipeline, and a motion mechanism, a transmission mechanism, a power generating mechanism and a traction mechanism arranged in the two-dimensional curved pipeline; The motion mechanism comprises a pair of first gear sets arranged opposite to each other; The power generating mechanism comprises a motor housing connected to the traction mechanism, a motor arranged in the motor housing, 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 transmission mechanism includes a pair of second gear groups arranged opposite to each other and a worm gear arranged between the pair of second gear groups. The worm gear is connected to the motor and meshes with the second gear group, so that the worm gear is driven to rotate by the motor, so that the second gear group meshes along the rack in the two-dimensional curved pipe, and then the first gear group is driven to mesh along the rack through the movement of the second gear group, thereby driving the nerve on the traction mechanism to move in a directional manner.

2. A robot for directional nerve traction in two-dimensional space as claimed in claim 1, characterized in that: Each first gear set includes a first gear shaft and first gears disposed at both ends of the first gear shaft and fixedly connected to the first gear shaft.

3. A robot for directional nerve traction in two-dimensional space as claimed in claim 2, characterized in that: A pair of first gear sets are connected via a shaft sleeve, a spring is arranged inside the shaft sleeve, and two ends of the spring are respectively connected to the first gear shafts on both sides.

4. The robot for directional nerve traction in two-dimensional space as claimed in claim 1, characterized in that: Each second gear set includes a second gear shaft and second gears disposed at both ends of the second gear shaft and fixedly connected to the second gear shaft.

5. A robot for directional nerve traction in two-dimensional space as claimed in claim 2 or 4, characterized in that: A connecting shaft sleeved on the first gear shaft is arranged between the two first gears, and a connecting shaft sleeved on the second gear shaft is arranged between the two second gears.

6. A robot for directional nerve traction in two-dimensional space as claimed in claim 4, characterized in that: In each second gear set, a bow-shaped baffle is provided between the two second gears; the arc portion of the bow-shaped baffle fits with the connecting portion between the second gears at both ends of the second gear shaft, one end of the bow-shaped baffle fits with the motor housing, and the other end of the bow-shaped baffle fits with the traction mechanism, and the baffle is fixedly connected at the extension.

7. The robot for directional nerve traction in two-dimensional space as claimed in claim 1, characterized in that: The magnet assembly comprises a magnet and a magnet turntable connected between the magnet and the motor.

8. The robot for directional nerve traction in two-dimensional space as claimed in claim 1, characterized in that: The rack is arranged along the inner wall of the two-dimensional curved pipe, and the gears on the first gear set and the second gear set are meshed with the rack.

9. The robot for directional nerve traction in two-dimensional space as claimed in claim 1, characterized in that: The traction mechanism includes a traction ring for connecting and traction of nerves.

10. A system for directional traction of nerves in two-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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