Modularized self-telescopic steerable arthroscope system based on rod-driven continuum structure

Abstract

The invention belongs to the technical field of minimally invasive surgery robots and medical instruments, and discloses a modular self-telescopic steerable arthroscope system based on a rod-driven continuum structure. The system is mainly composed of a modular arthroscope body and a driving system with closed-loop control capability. The system has the flexibility of a continuum robot, the flexibility of the arthroscope in an unstructured environment is enhanced, the visual range of the arthroscope is widened, and the surgical risk during use is reduced. Due to the modular design, the expansibility of the arthroscope is enhanced, and meanwhile no-dead-corner disinfection of the whole structure is facilitated. The telescopic characteristic ensures that the camera module is prevented from being injured before entering a human body, and meanwhile, the bending radius is adjustable.

Description

Technical Field

[0001] The present invention belongs to the technical field of minimally invasive surgical robots and medical devices, and specifically relates to a modular self-retractable and steerable arthroscopic system based on a rod-driven continuum structure. Background Art

[0002] With the rapid development of optical technology and the continuous improvement of arthroscopic equipment, arthroscopy has been widely used in the hip, knee, shoulder, and elbow joints. In addition, it has also begun to make its mark in small joints such as the wrist and ankle. In recent years, with the maturity of artificial cavity creation technology, arthroscopy has also begun to be used in many non-cavitary areas. Arthroscopic surgery has experienced rapid development and widespread application over the past two decades, significantly improving patients' clinical efficacy and quality of life.

[0003] Arthroscopy, currently in clinical use, is a surgical endoscope commonly used in orthopedics and sports medicine. It consists of an optical system, optical fibers, and a metal sheath. This rigid, straight-lens design makes it difficult to fully and effectively observe all internal joint structures within the complex joint cavity, severely impacting the effectiveness and precision of the procedure. Furthermore, to expand the field of view, arthroscopy is often used with 30° and 70° lenses. However, this often results in image distortion during manipulation, posing significant risks to orthopedic treatment. Summary of the Invention

[0004] To overcome the limitations of traditional rigid arthroscopes in terms of flexibility, field of view, and operational safety, this paper proposes a modular, self-retractable, steerable arthroscope system based on a rod-driven continuum structure. This system utilizes a self-retracting mechanism to effectively protect the scope before insertion and allows for adjustable insertion length. The steerable structure significantly expands the viewing angle, enabling access to areas difficult to observe with conventional rigid arthroscopes. This prevents image distortion and eliminates blind spots, thereby enhancing adaptability and operational safety in complex anatomical environments, providing a novel solution for minimally invasive orthopedic and sports medicine procedures.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The system of the present invention comprises:

[0007] The camera module includes a front-end frame, lens, LED light, control board, and data cable. The lens and LED light are integrated into the frame. The LED lights are arranged in a circular array and have a brightness adjustment function. The control board processes the image signal collected by the lens and transmits the signal to the host computer via the data cable.

[0008] The rigid outer tube has a front end and a rear end. The front end is used to carry the camera module and insert it into the human body. The rear end is fixedly connected to the outer shell module to provide protection and guidance.

[0009] The parallel dual-push rod mechanism adopts a symmetrical horizontal arrangement. The two push rods are of the same length, material and diameter. The front end is connected to the camera frame via mounting screws, and the rear end is connected to the slider module to achieve forward and backward telescopic and horizontal deflection control.

[0010] The housing module consists of a front, middle, and back section, connected by screws. The top section of the middle section is equipped with a membrane button for easy operation, the bottom section has threaded holes for connecting to the robotic arm interface, and the sides of the middle section have threaded holes for handheld design.

[0011] The slider module is assembled with the screw, and the rotation of the screw drives the slider to achieve linear motion along the guide shaft, thereby controlling the push rod to drive the extension or deflection of the camera module;

[0012] A drive motor, comprising a motor and an integrated screw, wherein the drive motor is mounted on the housing module via fixing screws;

[0013] The host computer is used to send control signals and process images. It can be a data processing device such as a computer, mobile phone, driver or single-chip microcomputer.

[0014] Furthermore, the outer diameter of the lens holder is smaller than the inner diameter of the rigid outer tube, and the lens holder is protected by the rigid outer tube before being inserted into the human body.

[0015] Furthermore, the material of the parallel double push rods is hospital nickel-titanium alloy, and the total length of the push rods is equal to the sum of the length of the rigid outer tube and the movement length.

[0016] Furthermore, the front end frame of the camera module is directly driven by a double rod to control the direction of the lens. The LED lights are arranged in a circular array, and the brightness of the LED lights is controllable. The lens is used to collect light signals, which are processed by the control board and then transmitted to the host computer via a data cable.

[0017] Furthermore, the drive motor rotates after receiving the signal transmitted by the host computer, including but not limited to a stepping motor, and the screw includes but is not limited to a standard T-type screw. The host computer controls the drive motor through a closed loop to reduce the impact of lost steps on motion accuracy.

[0018] Compared with the existing technology, the beneficial effects of the present invention are:

[0019] This invention is a modular, self-retractable, steerable arthroscopic system based on a rod-driven continuum structure. It possesses the flexibility of a continuum robot, enhancing the arthroscopic's maneuverability and visual range in unstructured environments, thereby reducing surgical risks. Its modular design enhances the arthroscopic's expandability and facilitates comprehensive disinfection of the entire structure. Its retractable design protects the camera module from damage before entry into the human body, while also enabling adjustable bending radius.

[0020] In response to the problems of insufficient flexibility and limited field of view coverage of traditional arthroscopy in practical applications, the present invention proposes the following innovative design solutions: 1) In terms of the driving mechanism, a horizontally symmetrically arranged medical nickel-titanium alloy push rod is used to cooperatively drive the end effector to achieve its rapid response and variable radius controllable bending, significantly improving the flexibility and response efficiency of the system operation; 2) In terms of the imaging structure, the end effector is designed as a modular camera assembly, which supports rapid replacement and function switching according to different clinical needs, and enhances the adaptability of the system in various surgical scenarios; 3) In terms of structural layout, the drive system and the in-body structure adopt an electromechanical separation design, which not only ensures the isolation and stable operation of the electronic system, but also realizes the dead angle disinfection of the in-body part, comprehensively improving the safety during the operation and the maintainability of the system. In summary, the arthroscopic system proposed by the present invention has achieved significant optimization in modular integration, flexible control and clinical adaptability, and is particularly suitable for minimally invasive orthopedic surgery, and can provide effective reference and technical support for the design of other types of minimally invasive interventional surgical instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 An exploded view of a modular self-retractable steerable arthroscope based on a rod-driven continuum structure of the present invention;

[0022] Figure 2 Schematic diagram of the structure of the front end of the camera module in the present invention;

[0023] Figure 3 This is an exploded view of the housing module of the present invention;

[0024] Figure 4 This is a schematic diagram of the front end housing in the present invention;

[0025] Figure 5 is a cross-sectional view of the rigid outer tube of the present invention;

[0026] Figure 6 Schematic diagram of the middle upper shell in the present invention;

[0027] Figure 7 Schematic diagram of the middle lower shell in the present invention;

[0028] Figure 8 This is a schematic diagram of the installation of the push rod in the present invention;

[0029] Figure 9 Schematic diagram of the slider module in the present invention;

[0030] Figure 10 This is a schematic diagram of the rear end housing in the present invention;

[0031] Figure 11 This is a schematic diagram of the handheld use of the system of the present invention.

[0032] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0033] 1-Camera module; 2-Push rod module; 3-Outer tube module; 4-Casing module; 5-Slider module; 6-Motor module; 7-Mounting screws; 8-Bearing; 101-Lens; 102-LED light; 103-Lens holder; 104-Circuit board; 201-Parallel double push rods; 301-Hard outer tube; 311-Hard tube transition section; 321-Push rod hole; 331-Lens storage section; 401-Front end housing; 402-Middle upper housing; 412-Membrane button; 422-Glass window; 432-Fixed hole (front); 442-Fixed hole (back); 452-Reserved mounting hole; 403-Middle lower housing ;413-M5 reserved hole;423-M6 reserved hole;433-front mounting hole;443-rear mounting hole;453-upper shell mounting hole (front);463-upper shell mounting hole (rear);404-rear shell;501-left slider;502-right slider;503-slider nut;504-guide rod;601-drive motor;701-push rod mounting screw;702-hard tube mounting screw;703-housing mounting screw;704-slider mounting screw;705-guide rod mounting screw;706-motor mounting screw;801-guide rod bearing;802-motor screw bearing;9-upper computer. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] like Figures 1 to 11As shown, the present invention is a modular, self-retractable, steerable arthroscopic system based on a rod-driven continuum structure, comprising a modular, self-retractable, steerable arthroscopic system based on a rod-driven continuum structure and a host computer 9 for control. The modular arthroscopic system comprises: a camera module 1, a push rod module 2, an outer tube module 3, a housing module 4, a slider module 5, a motor module 601, mounting screws 7, and bearings 8. The camera module 1 is protected by a rigid outer tube 301 when entering the working area, and its forward and backward self-retractable motion and left and right steering motion are controlled by the push rod module 2. The housing module 4 is the main mounting object, with the rigid outer tube 301 and the drive motor 601 secured to the housing module 4 via corresponding connecting screws. The slider module 5 engages with the screw of the drive motor 601 via a slider nut 503, and its specific movement is guided by a guide rod 504 secured to the rear end housing 404. The housing module 4 can be handheld or mounted on a robotic arm, and the arthroscopic self-retractable and steerable functions are achieved through given commands.

[0036] In this embodiment, the camera module 1 includes a lens 101, an LED light 102, a lens frame 103, and a circuit board 104; the lens 101 is a 0-degree lens, and there are 8 LED lights 102, which are integrated with the circuit board 104 and installed on the lens frame 103; the circuit board 104 converts the optical signal of the lens 101 into a digital signal and provides power for the LED light 102, and the brightness of the LED light 102 is controllable.

[0037] In this embodiment, the hard outer tube 301 can be divided into two sections: a hard tube transition section 311 and a lens storage section 331. The outermost side of the hard tube transition section 311 is used for installation with the front end housing 401, and the innermost side is used for passing the data cable. The push rod hole 321 is used for the push rod 201 to pass through; the length of the lens storage section 331 is greater than the lens frame 103 and is used to protect the camera module 1.

[0038] In this embodiment, the housing module 4 includes a front housing 401, a middle upper housing 402, a middle lower housing 403, and a rear housing 404. The middle lower housing 403 serves as the mounting base for the housing, and the front housing 401, the middle upper housing 402, and the rear housing 404 are all mounted on the middle lower housing 403 using the same type of housing mounting screws 703.

[0039] In this embodiment, the front end housing 401 fixes the hard outer tube 301 through the hard tube mounting screws 702, and leaves two through holes for the push rod 201 to pass through, two blind holes for installing the motor screw bearings 802 and three blind holes for positioning the guide rod 504.

[0040] In this embodiment, in addition to the fixing holes (front) 432 and fixing holes (rear) 442 for installation, the side of the middle upper shell 402 also has a reserved mounting hole 452 for later handheld design. The top of the middle upper shell 402 has a membrane button 412 for handheld control and a glass window 422 for observation and later debugging. The side of the middle lower shell 403 has a front mounting hole 433 for fixing the front shell 401, a rear mounting hole 443 for fixing the rear shell 404, and an upper shell mounting hole (front) 453 and an upper shell mounting hole (rear) 463 for fixing the middle upper shell 402. The bottom has M5 reserved holes 413 and M6 reserved holes 423 for expanded installation applications of arthroscopes.

[0041] In this embodiment, the slider module 5 includes a left slider 501, a right slider 502, a slider nut 503, and a guide rod 504; Figure 8 As shown, the left slider 501 fixes the push rod 201 to the left slider 501 through the push rod mounting screw 701, and the other side of the push rod 201 is used to directly act on the camera module 1. Figure 9 As shown, the right slider 502 is assembled with the slider nut 503 through three slider mounting screws 704, so as to adapt to screws of different specifications; the guide rod bearing 801 is directly mounted on the right slider 502 to provide support for the guide rod 504; the left slider 501 and the right slider 502 have the same function and installation principle.

[0042] In this embodiment, the rear end housing 404 fixes the driving motor 601 via motor mounting screws 706 , and simultaneously fixes the guide rod 504 via guide rod mounting screws 705 .

[0043] In this embodiment, the overall workflow of the invention system is as follows:

[0044] After the system is started, the host computer sends a control instruction to the drive motor 601. The drive motor 601 drives the slider nut 503 to move linearly along the guide rod 504 through the rotation of the screw. The movement direction and speed of the slider nut 503 depend on the rotation direction and speed of the drive motor 601. The left slider 501 and the right slider 502 are both driven by the slider nut 503 and are respectively connected to the double push rods 201 arranged in parallel. Through differential drive, when the two push rods 201 are pushed in the same direction, the camera module 1 is moved forward or backward; when the two push rods 201 are driven in opposite directions, the horizontal deflection of the camera module 1 is achieved, thereby completing the steering function. Specifically:

[0045] Insertion stage of the rigid outer tube 301: The operator or the robotic arm first inserts the rigid outer tube 301 into the target joint cavity, establishes a preliminary path through its rigid structure, and provides guidance and protection for the subsequent flexible part.

[0046] Camera module 1 forward stage: The host computer issues a forward command, the driving motor 601 drives the slider nut 503 to move forward, and the two push rods 201 move forward at the same time, so that the camera module 1 slowly extends from the hard outer tube 301 and enters the target area.

[0047] During the bending phase of camera module 1, the host computer adjusts the difference in the extension and contraction of the two push rods 201 to create a differential input, thus bending camera module 1. Due to its continuum structure, camera module 1 can bend smoothly, achieving controllable deflection in different directions to achieve a wider field of view.

[0048] Observation and Illumination by Camera Module 1: After camera module 1 reaches the target position, LED light 102 is powered by circuit board 104 and activated, with brightness adjusted by the host computer. Image signals captured by lens 101 are transmitted to host computer 9, enabling real-time image transmission for doctors or operators to observe the internal body.

[0049] Camera module 1 retreat stage: After completing the observation task, the host computer issues a retreat command, driving the motor 601 to rotate in the opposite direction, and the slider nut 503 drives the double push rod 2 to move in the opposite direction, so that the camera module 1 is smoothly retracted into the rigid outer tube 301.

[0050] The rigid outer tube 301 withdrawal stage: Finally, the operator or the robotic arm withdraws the entire arthroscopic device to complete a complete inspection or operation process.

[0051] This system's modular design allows for compact structure and flexible control, making it suitable for clinical operations on various types of joint cavities. The system can be operated handheld or integrated into a robotic platform, supporting remote control and image feedback, enhancing the doctor's operational precision and observation capabilities in confined spaces.

[0052] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure, characterized in that: include: A modular self-retractable steerable arthroscope based on a rod-driven continuum structure; A host computer (9) is used to send control instructions to the modular self-retractable steerable arthroscope based on the rod-driven continuum structure and process image information; The modular self-retractable steerable arthroscope based on a rod-driven continuum structure comprises: a camera module (1), a push rod module (2), an outer tube module (3), a housing module (4), a slider module (5), a motor module (6), a mounting screw (7), and a bearing (8); the camera module (1) is protected by a hard outer tube (301) when entering a working area, and is controlled by a parallel double push rod (201) to perform self-retractable movement in forward and backward directions, as well as steering movement to the left and right; the housing module (4) is a mounting body, and the hard outer tube (301) and the driving motor (601) are fixed to the housing module (4) through corresponding mounting screws (7); the slider module (5) cooperates with the screw of the driving motor (601) through a slider nut (503), and realizes linear guided movement with the help of a guide rod (504) fixed to the housing module (4); the housing module (4) can be handheld or installed on a robotic arm.

2. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1, characterized in that: The camera module (1) comprises: a lens (101), an LED lamp (102), a lens frame (103), and a circuit board (104); the lens (101) can be a lens with different viewing angles; the LED lamps (102) are distributed in a plurality of arrays and are integrally mounted on the lens frame (103) with the circuit board (104); the circuit board (104) is used to convert the optical signal collected by the lens (101) into a digital signal and to supply power to the LED lamp (102); the brightness of the LED lamp (102) is adjustable; the camera module (1) is coupled to a driving slider via a parallel double push rod (201) to realize image collection and lighting functions during extension, retraction, and steering actions.

3. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1, characterized in that: The housing module (4) comprises a front housing (401), a middle upper housing (402), a middle lower housing (403) and a rear housing (404).

4. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1 or 3, characterized in that: The hard outer tube (301) can be divided into two parts: a hard tube transition section (311) and a lens storage section (331). The outermost side of the hard tube transition section (311) is used to connect with the front housing (401), and the innermost side is provided with a data line channel and a push rod hole (321) is reserved. The length of the lens storage section (331) is greater than the length of the lens frame (103) and is used to provide sufficient protection when the camera module (1) is extended or retracted. The hard outer tube (301) and the front housing (401) are fixed by hard tube mounting screws (702).

5. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1, characterized in that: The slider module (5) comprises: a left slider (501), a right slider (502), a slider nut (503), and a guide rod (504); the left slider (501) and the right slider (502) are symmetrical in structure and have the same function, and are both driven by the slider nut (503) to move linearly along the guide rod (504).

6. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1, characterized in that: The driving motor (601) drives the slider nut (503) to move linearly along the guide rod (504) by rotating the driving screw; the slider nut (503) drives the left slider (501) and the right slider (502) to move synchronously and drives the parallel double push rods (201).

7. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1, characterized in that: The modular structure allows for: rapid disassembly and replacement of the camera module (1) or the rigid outer tube (301); the use of rigid outer tubes (301) of different lengths or stiffnesses or parallel double push rods (201) in different surgical or inspection scenarios; and adaptation to a variety of robotic arm interfaces or handheld gripping structures through the reserved holes of the outer shell module (4) to enhance versatility.

8. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1, characterized in that: The material and structure of the rigid outer tube (301) meet the requirements of biocompatibility and clinical disinfection; the materials and surface coatings of the guide rod (504), the parallel double push rod (201), the left slider (501), the right slider (502) and other components meet the standards of low friction and high wear resistance, so as to ensure stability and reliability during multiple telescopic movements.

9. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1, characterized in that: When the parallel double push rods (201) are pushed in the same direction, the camera module (1) is made to realize self-extending motion in the forward or backward direction; when the parallel double push rods (201) are driven in the reverse direction, the camera module (1) is made to realize horizontal deflection to complete steering; the upper computer (9) sends corresponding rotation direction and speed instructions to the driving motor (601) according to the required action to control the telescopic and steering processes.

10. The modular self-retractable steerable arthroscopic system based on a rod-driven continuum structure according to claim 1, characterized in that: The host computer (9) communicates with the drive motor (601) and the circuit board (104) in the camera module (1) through wired or wireless communication to achieve: real-time feedback of image signals; adjustable brightness control of the LED light (102); and issuance of telescopic and steering instructions and feedback monitoring, so as to support real-time control and observation of the arthroscope by a handheld or remote robotic platform.

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