Magnetic suction quick-change flexible spine endoscopic surgery actuator

Abstract

The invention discloses a magnetic suction quick-change flexible spine endoscopic surgery actuator which comprises a driving mechanism and a quick-change mechanism. The driving mechanism comprises a linear feeding unit, a driving device is arranged on the linear feeding unit, a motion base is installed in the linear feeding unit, and the driving device drives the motion base to do linear motion through a transmission device; the front end of the moving base is connected with the quick-change butt joint unit; an instrument driving unit is arranged on the movement base; the instrument driving unit is a magnetic attraction driving unit; the quick-change mechanism comprises a transmission base, a guide rail sliding block structure is arranged on the transmission base, a driving wire tensioning transmission mechanism and / or an elastic beam transmission mechanism are / is arranged on the guide rail sliding block structure, and the driving wire tensioning transmission mechanism and the elastic beam transmission mechanism are connected with a magnetisable iron sheet through transmission connecting pieces. And the magnetisable iron sheet and the magnetic attraction driving unit are attracted.

Description

Technical Field

[0001] The present invention relates to a flexible surgical instrument for spinal endoscopic surgery, and in particular to a flexible spinal endoscopic surgery actuator with magnetic quick-change function. Background Art

[0002] Endoscopic spinal surgery requires a narrow and tortuous operating space. Conventional rigid surgical instruments have limited flexibility, making it difficult to penetrate the target lesion for flexible surgical operations, resulting in low surgical efficiency. To address these clinical bottlenecks, there is an urgent need to design flexible endoscopic spinal surgical instruments to improve the flexibility of endoscopic spinal surgery. However, because flexible endoscopic spinal instruments require multiple degrees of freedom (DOF) operations such as bending, deflection, and feeding, the drive mechanisms of flexible surgical instruments currently disclosed in the prior art are large and complex, and the drive mechanisms of different flexible instruments vary. Summary of the Invention

[0003] In response to the problems of poor operating flexibility and low operating efficiency of conventional rigid surgical instruments, the present invention has designed a flexible surgical instrument for spinal endoscopic surgery. In response to the problems of current flexible surgical instruments having dedicated driving mechanisms and cumbersome operation, the present invention has designed a magnetic-based flexible instrument quick-change mechanism that can share a set of driving mechanisms to achieve rapid replacement of multiple flexible surgical instruments and meet various complex operation requirements.

[0004] The technical solution adopted in the present invention is as follows: The present invention discloses a magnetic quick-change flexible spinal endoscopic surgery actuator, comprising: a driving mechanism and a flexible quick-change mechanism; The driving mechanism includes a linear feed unit, a driving device is provided on the linear feed unit, a motion base is installed inside the linear feed unit, and the driving device drives the motion base to perform linear motion through a transmission device; the front end of the motion base is connected to the quick-change docking unit; an instrument driving unit is provided on the motion base; the instrument driving unit is a magnetic driving unit; The flexible quick-change mechanism includes a transmission base, on which a guide rail slider structure is arranged, and on which a drive wire tensioning transmission mechanism and / or an elastic beam transmission mechanism are arranged. The drive wire tensioning transmission mechanism and the elastic beam transmission mechanism are connected to the magnetizable iron sheet through a transmission connecting piece; the magnetizable iron sheet is adsorbed by the magnetic drive unit.

[0005] As a further technical solution, the device driving units are provided in plurality, and the plurality of device driving units are arranged along the circumferential direction of the motion base and the quick-change docking unit.

[0006] As a further technical solution, the linear feed unit includes a guide rod, a screw shaft, a connecting flange and a guide holder. The connecting flange and the guide holder are connected by a parallel guide rod and a screw shaft; the screw shaft is connected to a motor drive device, and the screw shaft drives the screw nut to perform linear motion; the screw nut moves with the motion base.

[0007] As a further technical solution, the connecting flange is used to connect the rotary drive device to achieve the overall rotation of the drive mechanism.

[0008] As a further technical solution, the inner surface of the guide holder is provided with an arc-shaped protrusion for guiding the movement of the flexible quick-change mechanism.

[0009] As a further technical solution, a guide hole is provided on the motion base, and the guide rod and the lead screw shaft both pass through the guide hole.

[0010] As a further technical solution, a support column is set at the center position of the transmission base, and multiple guide rails and optical axes are set on the outer ring of the support column. The guide rails and optical axes are parallel to each other. A slider is set on each guide rail and the corresponding optical axis, and a driving wire tensioning transmission mechanism and / or an elastic beam transmission mechanism is set on the slider.

[0011] As a further technical solution, the number of the magnetic drive units is equal to the number of the drive wire tensioning transmission mechanism and the elastic beam transmission mechanism.

[0012] As a further technical solution, the magnetic drive unit includes a linear push rod and an electromagnet, and the linear push rod drives the electromagnet to perform linear motion.

[0013] As a further technical solution, a guide shaft is provided at the tail of the transmission base, and a wedge-shaped slot and an arc-shaped guide groove are provided on the transmission base. The guide shaft is inserted into the quick-change docking unit, and the wedge-shaped slot and arc-shaped guide groove cooperate with the linear feed unit.

[0014] The beneficial effects of the present invention are as follows: The flexible spinal endoscopic surgical actuator with magnetic quick-change proposed in the present invention has a driving mechanism and a flexible quick-change mechanism as two independent modules. Through the mutual cooperation and quick connection of the driving mechanism and the flexible quick-change mechanism, the function of quick plug-in and replacement of flexible surgical instruments is realized. The target flexible tool can be replaced during the operation to realize dexterous surgical operations in narrow cavities, such as bone tissue grinding, soft tissue stripping, clamping, etc.; the flexible spinal endoscopic surgical actuator of the present invention is provided with a two-stage drive. The first stage drive is driven by a linear feed unit to realize the overall displacement control of the flexible surgical instrument. The second stage drive is realized by a magnetic drive unit, which cooperates with the drive wire tensioning transmission mechanism and / or the elastic beam transmission mechanism on the flexible quick-change mechanism to realize the displacement control of the drive wire tensioning transmission mechanism and / or the elastic beam transmission mechanism, thereby realizing the control of the bending radius, bending size, etc. of the surgical instrument itself.

[0015] The flexible spinal endoscopic surgical actuator proposed in the present invention can be integrated into a spinal endoscopic surgical robot system, and cooperates with the endoscopic actuator and the rigid actuator to realize rigid-flexible operation under endoscopy, which can effectively improve surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0017] Figure 1 It is a structural schematic diagram of the flexible surgical actuator disclosed in the present invention; Figure 2 Schematic diagram of the flexible grinding drill quick-change surgical instrument disclosed in the present invention; Figure 3 It is a schematic diagram of the flexible nucleus pulposus forceps quick-change surgical instrument disclosed in the present invention; Figure 4 is a schematic diagram of the actuator drive mechanism; Figure 5 is a schematic diagram of a flexible quick-change mechanism; Figure 6 It is a schematic diagram of the overall feeding mechanism; Figure 7 It is a magnetic transmission mechanism; Figure 8 It is a structural diagram of the linear feed unit; Figure 9 is a schematic diagram of the motion base; Figure 10 is a schematic diagram of a quick-change docking unit; In the figure: 1, drive mechanism, 11, linear feed unit, 12, quick-change docking unit, 13, instrument drive unit, 14, feed drive mechanism, 15, motion base, 131, electromagnet; 132, linear push rod; 141. Rotating support housing; 142. Thrust ball bearing; 143. Rolling nut; 144. Gear transmission; 145. Guide rail motor connector; 146. Drive motor; 111, guide rod, 112, screw shaft, 113, connecting flange, 114, guide holder; 2. Flexible grinding and drilling instrument; 21. Flexible grinding and drilling surgical tool; 22. Vertebral continuum operating arm; 23. Drive wire tensioning transmission mechanism; 24. Elastic beam transmission mechanism; 25. Quick-change docking mechanism; 26. Wire sheath transmission mechanism; 3. Flexible nucleus pulposus forceps quick-change surgical instrument; 31. Nucleus pulposus forceps surgical tool; 32. Ball-and-socket continuum operating arm; 33. Drive wire tensioning transmission mechanism; 34. Elastic beam transmission mechanism; 35. Quick-change docking mechanism; 36. Wire sheath transmission mechanism; 121. Driving mechanism docking unit; 241, optical axis; 242 guide rail; 243 slider; 251, wedge-shaped slot; 252, arc-shaped guide groove; 253, support column; 254, quick-change mechanism mounting seat; 255, guide shaft; 261, sheath transmission base; 232. Worm gear transmission shaft; 233. Tensioning device end cover; 234. Transmission connecting piece; 235. Worm gear; 236. Worm; 237. Magnetizable iron sheet; DETAILED DESCRIPTION It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0018] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise clearly indicated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprising" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations; For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0019] As introduced in the background technology, in order to solve the deficiencies in the prior art and the above technical problems, the present invention proposes a magnetic quick-change flexible spinal endoscopic surgery actuator.

[0020] In a typical embodiment of the present invention, Figure 1 As shown, this embodiment provides a magnetic quick-change flexible spinal endoscopic surgery actuator.

[0021] like Figure 1 As shown, the flexible spinal endoscopic surgical actuator with suction and quick-change function includes two parts, namely, the actuator drive mechanism 1 and the flexible quick-change mechanism 2. The drive mechanism and the flexible quick-change mechanism are two independent modules. Through the mutual cooperation and rapid connection of the drive mechanism and the flexible quick-change mechanism, the flexible surgical instrument can be quickly plugged in and replaced. During the operation, the target flexible tool can be replaced to perform dexterous surgical operations in narrow cavities, such as bone tissue grinding, soft tissue stripping, clamping, etc. The specific structure is as follows; The driving mechanism 1 in this embodiment provides driving force for each driving wire of each flexible surgical instrument, and is mainly composed of a linear feed unit 11, a quick-change docking unit 12, an instrument drive unit 13, a feed drive mechanism 14, a motion base 15, etc. The linear feed unit 11 is provided with a feed drive mechanism 14, which drives the motion base 15, the quick-change docking unit 12, the instrument drive unit 13, etc. to perform linear feed motion; specifically, Figure 8 As shown; The linear feed unit 11 includes three guide rods 111, a screw shaft 112, a connecting flange 113, and a guide holder 114. The three guide rods and the screw shaft are evenly arranged along the circumference of the connecting flange and the guide holder 114, wherein the connecting flange is located at one end of the guide rods and the screw shaft, and the guide holder is located at the other end of the guide rods and the screw shaft. A motion base 15 is installed inside the linear feed unit, and the motion base 15 is provided with a connecting hole. The three guide rods and the screw shaft all pass through the connecting hole of the motion base 15, thereby connecting the motion base 15 and the linear feed unit to form a whole. The motion base 15 is as follows Figure 9 As shown, the front end of the motion base 15 is connected to the quick-change docking unit 12; four instrument drive units 13 are arranged on the motion base 15, and the four instrument drive units 13 are arranged along the circumferential direction of the motion base 15; that is, the four groups of drive units in the drive mechanism are distributed around at 90° intervals, which can realize the retraction and extension movement of up to four groups of drive wires.

[0022] Furthermore, the feed drive mechanism 14 is used to realize the overall feed motion of the drive part, such as Figure 6As shown, in order to improve the compactness of the drive mechanism, the present invention adopts a rolling nut feeding scheme. Specifically, a rolling nut 143 is installed on the screw shaft, and the rolling nut 143 cooperates with the screw shaft 111. The drive motor 146 drives the screw shaft 111 to rotate through the transmission device (gear transmission device 144), and then the screw shaft drives the rolling nut 143 to perform linear motion. Then, the rolling nut 143 drives the motion base 15, the instrument drive unit 13, and the quick-change docking unit 12 to perform linear motion; the drive motor 146 is installed on the side of the screw shaft through the guide motor connecting seat 145; a rotating support housing 141 is provided on the outside of the rolling nut, and a thrust ball bearing 142 is provided between the rotating support housing and the rolling nut. Furthermore, the feed drive mechanism 14 is used to realize the overall feed motion of the drive part, such as Figure 6 As shown, in order to improve the compactness of the drive mechanism, the present invention adopts a rolling nut feeding solution. The rolling nut 143 can realize the overall feeding motion along the screw shaft 111 under the power of the drive motor 146. The overall rotational freedom can be achieved by connecting the end flange to the external rotation motor.

[0023] Further, such as Figure 10 As shown, the quick-change docking unit 12 is a disc-shaped structure. Four guide holes are set on the quick-change docking unit 12 along the axial direction of the quick-change docking unit 12; the guide holes cooperate with the guide shaft 255 of the flexible quick-change mechanism to realize the connection and position guidance between the quick-change docking unit 12 and the flexible quick-change mechanism.

[0024] Furthermore, the flexible quick-change mechanism 2 includes a sheath transmission base, the sheath transmission base 261 is a column with a variable cross-section, a quick-change mechanism mounting seat 254 is provided at one end thereof, a support column 253 is installed in the space formed by the quick-change mechanism mounting seat 254 and the sheath transmission base 261, and the support column 253 is installed at the center position of the quick-change mechanism mounting seat 254; the support column 253 can be selected as a rectangular support column, and guide rails 242 are installed on the four sides of the support column 253; four sliders 243 are provided on each guide rail; and four optical axes 2 are provided parallel to the four guide rails. 41. The four optical axes 241 pass through four sliders 243 respectively, wherein the four sliders are used to connect the drive wire tensioning transmission mechanism and / or the elastic beam transmission mechanism; when the slider 243 slides along the guide rail, the optical axis 241 guides the slider; an arc-shaped guide groove 252 and a wedge-shaped card groove 251 are provided on the outer wall of the wire sheath transmission base; a guide shaft 255 is also connected to the right side of the quick-change mechanism mounting seat; the guide shaft 255 is inserted into the drive mechanism docking unit 121, and the arc-shaped guide groove 252 and the wedge-shaped card groove 251 cooperate with the guide card seat 114 in the linear feed unit.

[0025] Furthermore, the quick-change docking mechanism 25 utilizes the guide shaft 255, the wedge-shaped slot 251, the arc-shaped guide groove 252, etc. to quickly dock and lock with the drive mechanism docking unit 121. By pressing the wedge-shaped slot 251 on both sides, the instrument can be quickly withdrawn, thereby realizing rapid replacement of the instrument. Figure 5 The tool 21 can be driven by a driving mechanism to realize rotational motion, and can bend and rotate under the control of the vertebral continuum operating arm 22, thereby realizing the grinding operation of the narrow cavity.

[0026] The flexible spinal endoscopic surgical actuator of the present invention is equipped with a two-stage drive. The first-stage drive is driven by a linear feed unit to realize the displacement control of the entire flexible surgical instrument. The second-stage drive is realized by a magnetic drive unit, which cooperates with the drive wire tensioning transmission mechanism and / or elastic beam transmission mechanism on the flexible quick-change mechanism to realize the displacement control of the drive wire tensioning transmission mechanism and / or elastic beam transmission mechanism.

[0027] Further, such as Figure 2 、 Figure 3 As shown, based on the above-mentioned magnetic quick-change flexible spinal endoscopic surgical actuator, this embodiment also provides a specific application of the magnetic quick-change flexible spinal endoscopic surgical actuator in flexible quick-change surgical instruments; in the prior art, flexible quick-change surgical instruments include flexible grinding drills, flexible nucleus pulposus forceps, flexible radiofrequency, flexible strippers and other instruments, which are used to realize basic operations such as grinding, clamping, ablation and hemostasis, stripping and exploration under spinal endoscopy. This embodiment lists two flexible surgical instruments, a flexible grinding drill 2 and a flexible nucleus pulposus forceps 3; when replacing different instruments, it is only necessary to install different instruments on their respective corresponding flexible quick-change mechanisms, and then install different flexible quick-change mechanisms on the driving mechanism. The driving mechanism in the present invention can cooperate with different surgical instruments to achieve multiple adaptations.

[0028] Further, such as Figure 2 As shown, the flexible burr mill quick-change surgical instrument primarily comprises a flexible burr mill surgical tool 21, a vertebral continuum manipulator arm 22, a drive wire tensioning transmission mechanism 23, an elastic beam transmission mechanism 24, a quick-change docking mechanism 25, and a sheath transmission mechanism 26. The vertebral continuum manipulator arm 22 comprises two sets of bending drive wires and two sets of elastic beam drive wires. The bending drive wires enable unilateral bending, while the elastic beam drive wires can be tightened to increase stiffness. The two sets of bending drive wires are connected to the drive wire tensioning transmission mechanism 23 via the sheath transmission mechanism 26 for transmission; the two sets of elastic beam drive wires are connected to the elastic beam transmission mechanism 24 via the sheath transmission mechanism 26 for transmission.

[0029] Further, such as Figure 3As shown, this embodiment also provides a flexible nucleus pulposus forceps quick-change surgical instrument. The flexible nucleus pulposus forceps quick-change surgical instrument has roughly the same structure as the flexible grinding drill, but the difference is that the end of the flexible nucleus pulposus forceps surgical instrument is a nucleus pulposus forceps surgical tool 31 and a ball-and-socket continuum operating arm 32. Compared with the vertebral continuum operating arm 22, the operating arm has bending and deflection degrees of freedom, and is more flexible to operate. Correspondingly, the number of its drive wires has also changed, wherein the ball-and-socket continuum operating arm 32 is composed of three drive wires arranged at intervals of 120°. Different bending angles and deflection angles are achieved through the reasonable configuration of the three groups of drive wires. The three drive wires are controlled by the drive wire tensioning transmission mechanism 33, and the drive wire of the nucleus pulposus forceps surgical tool 31 is individually controlled by the elastic beam transmission mechanism 34.

[0030] Furthermore, the drive wire tensioning and transmission mechanism 23 includes a slide body 231, the slide body 231 is installed on the slider, the slide body 231 is connected to the magnetizable iron sheet 237 through a transmission connector 234, the magnetizable iron sheet 237 is adsorbed by the electromagnet 131; a worm gear 235 is provided on the slide body 231, the worm gear 235 is engaged with the worm 236, and the worm gear 235 is installed on the worm gear transmission shaft 232; and the top of the slide body 231 is a tensioning device end cover 233; by driving Furthermore, for the control movement of each drive wire, a magnetic quick-change method is used for rapid docking, such as Figure 7 As shown, the instrument drive unit 13 includes a controllable electromagnet 131 and a linear push rod 133; the controllable electromagnet 131 can realize reciprocating feeding motion under the action of the linear push rod 133; the end of the transmission mechanism in the soft heart surgical instrument is integrated into the magnetizable iron sheet 237, and when the electromagnet 131 is energized, the two can be docked, and then under the action of the linear push rod, the drive wire tensioning transmission mechanism 23 and the elastic beam transmission mechanism 24 are driven to realize linear reciprocating motion, ensuring the complete transmission chain of each drive wire, and finally controlling the rope length of each drive wire to ensure that the end flexible operating arm bends to the target state.

[0031] Finally, it should be noted that relational terms such as first and second are merely used to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0032] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A magnetic quick-change flexible spinal endoscopic surgery actuator, characterized in that: include: Drive mechanism and flexible quick-change mechanism; The driving mechanism includes a linear feed unit, a driving device is provided on the linear feed unit, a motion base is installed inside the linear feed unit, and the driving device drives the motion base to perform linear motion through a transmission device; the front end of the motion base is connected to the quick-change docking unit; an instrument driving unit is provided on the motion base; the instrument driving unit is a magnetic driving unit; The flexible quick-change mechanism includes a transmission base, on which a guide rail slider structure is arranged, and on which a drive wire tensioning transmission mechanism and / or an elastic beam transmission mechanism are arranged. The drive wire tensioning transmission mechanism and the elastic beam transmission mechanism are connected to the magnetizable iron sheet through a transmission connecting piece; the magnetizable iron sheet is adsorbed by the magnetic drive unit.

2. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 1, characterized in that: There are multiple instrument drive units, and the multiple instrument drive units are arranged along the circumferential direction of the motion base and the quick-change docking unit.

3. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 1, characterized in that: The linear feed unit includes a guide rod, a screw shaft, a connecting flange and a guide base. The connecting flange and the guide base are connected by a parallel guide rod and a screw shaft; the screw shaft is connected to a motor drive device, and the screw shaft drives the screw nut to perform linear motion; the screw nut moves with the motion base.

4. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 3, characterized in that: The connecting flange is used to connect the rotary drive device to realize the overall rotation of the drive mechanism.

5. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 3, characterized in that: The inner surface of the guide holder is provided with an arc-shaped protrusion for guiding the movement of the flexible quick-change mechanism.

6. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 3, characterized in that: A guide hole is provided on the motion base, and the guide rod and the lead screw shaft both pass through the guide hole.

7. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 1, characterized in that: A support column is set at the center position of the transmission base, and multiple guide rails and optical axes are set on the outer ring of the support column. The guide rails and optical axes are parallel to each other. A slider is set on each guide rail and the corresponding optical axis, and a driving wire tensioning transmission mechanism and / or an elastic beam transmission mechanism is set on the slider.

8. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 1, characterized in that: The number of the magnetic drive units is equal to the number of the drive wire tensioning transmission mechanisms and the elastic beam transmission mechanisms.

9. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 1, characterized in that: The magnetic drive unit includes a linear push rod and an electromagnet, and the linear push rod drives the electromagnet to perform linear motion.

10. The magnetic quick-change flexible spinal endoscopic surgery actuator according to claim 1, characterized in that: The tail of the transmission base is provided with a guide shaft, a wedge-shaped slot and an arc-shaped guide groove are provided on the transmission base, the guide shaft is inserted into the quick-change docking unit, and the wedge-shaped slot and the arc-shaped guide groove cooperate with the linear feed unit.

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