A flexible surgical robot for removing deep cerebral hematomas through transcranial window ultrasonic oscillation

Abstract

The present invention provides a flexible surgical robot for removing deep cerebral hematoma through transcranial window ultrasonic oscillation, comprising a feed drive mechanism, an endoscope sheath, a suction arm mechanism and an ultrasonic arm mechanism; for minimally invasive surgery of intracerebral hematoma, the flexible continuum robot composed of the feed mechanism and the parallel suction arm mechanism and the ultrasonic arm mechanism can achieve six-degree-of-freedom precision operation, and in addition, the six-degree-of-freedom robotic arm can enable the endoscope sheath to smoothly enter the brain as soon as possible when implemented outside the body, and the six-degree-of-freedom rough operation of the six-degree-of-freedom robotic arm plus the six-degree-of-freedom fine operation of the flexible robot further improve the operability of the structure, meet the flexibility requirements of minimally invasive surgery of intracerebral hematoma, have precise positioning capability, flexible operation mode and high repeatability, so that it is highly efficient, reduces the patient's operation time and has extremely low damage to the human body; compared with existing surgical tools, it reduces the difficulty of surgery, improves surgical efficiency, reduces patient trauma, and further ensures patient safety.

Description

Technical Field

[0001] The present invention relates to the field of mechanical equipment, and in particular to a flexible surgical robot for removing deep cerebral hematomas through transcranial window ultrasonic oscillation. Background Art

[0002] Intracerebral hematoma is caused by trauma and other reasons. When blood vessels in the brain rupture, blood accumulates in the brain or between the brain and the skull, and compresses the brain tissue. Compared with traditional craniotomy, minimally invasive surgical robot-assisted surgery has obvious advantages such as high positioning accuracy, short operation time, and strong anti-interference ability. It can reduce the damage to normal brain tissue caused by manual operation and improve efficiency and safety.

[0003] Traditional minimally invasive robots for intracerebral hematoma surgery, such as RODS and Remebot, use CT scans and MRIs to create preoperative 3D images. The surgeon then determines the desired trajectory during surgery based on the center point of the largest plane and the long axis of the hematoma. After completing the registration, the robotic arm automatically moves along the pre-planned trajectory to the target area, creating a drill hole as a surgical channel. The surgeon then inserts surgical instruments and completes the surgery with the assistance of the robot.

[0004] However, there are still some deficiencies in the current surgical robots, which are mainly reflected in the following three aspects:

[0005] 1. Traditional neurosurgery robots use rigid puncture needles for hematoma removal. The inflexibility of these needles results in low mobility, making them inefficient in clearing blood clots from brain tissue and prone to damaging normal brain tissue during surgery, posing a risk of iatrogenic injury.

[0006] 2. Traditional hematoma surgery requires doctors to lack visual information and cannot directly see the hematoma, making the operation difficult. When the sheath of a traditional rigid endoscope penetrates deep into the skull, the field of view is limited, which affects the accuracy of the surgery and increases the number of steps and time required for the operation, seriously affecting the safety of the patient during surgery.

[0007] 3. Traditional hematoma removal involves cutting and clamping, which can easily lead to serious complications due to misoperation and fail to protect normal brain tissue. The suction operation is limited by the structure of its flexible arm, making it difficult to control the optimal parameters based on individual factors and lesion characteristics, and thus unable to achieve personalized hematoma aspiration.

[0008] 4. Traditional surgical robot instruments are not bendable and have a small operating space, making it difficult to meet the needs of clearing larger hematomas. Summary of the Invention

[0009] (1) Technical issues to be resolved

[0010] In order to solve the above problems in the prior art, the present invention provides a flexible surgical robot for removing deep cerebral hematomas through transcranial window ultrasonic oscillation.

[0011] (2) Technical solution

[0012] In order to achieve the above objectives, the main technical solutions adopted by the present invention include:

[0013] A flexible surgical robot for removing deep cerebral hematomas through transcranial window ultrasonic oscillation comprises a feeding drive mechanism, an endoscope sheath, a suction arm mechanism and an ultrasonic arm mechanism;

[0014] The suction arm mechanism and the ultrasonic arm mechanism are both mounted on the feed moving end of the feed drive mechanism, and the suction arm mechanism includes an outer shell, a hub, a sheath fixing tube, a front plate, a rear plate, a tendon, a flexible continuum, a traction assembly, and a control motor;

[0015] The front plate and the rear plate are installed in the outer shell at intervals, and a control cavity is formed between the front plate and the rear plate;

[0016] The traction assembly is provided with multiple groups, and a circumferential array is arranged in the control cavity. The traction assembly includes a screw rod, a polished rod and a square nut. The ends of the screw rod and the polished rod are respectively connected to the front plate body and the rear plate body. The square nut is threadedly connected to the screw rod, and the square nut is provided with a guide hole corresponding to the polished rod;

[0017] The control motor is connected to the screw rod;

[0018] The large end of the hub is connected to the outer shell, and the small end of the hub is connected to the sheath fixing tube;

[0019] The endoscope sheath is mounted on the sheath fixing tube, the flexible continuum is mounted in the endoscope sheath, and a suction port is provided at the free end of the flexible continuum;

[0020] One end of the tendon is connected to the flexible continuum, and the other end of the tendon is connected to the square nut;

[0021] The ultrasonic arm mechanism and the suction arm mechanism are different only in the flexible continuum. The flexible continuum of the ultrasonic arm mechanism is provided with an ultrasonic port, and the free end of the flexible continuum of the ultrasonic arm mechanism is also provided with a tooth knife. The flexible continuums of the ultrasonic arm mechanism and the suction arm mechanism are both installed in the endoscope sheath.

[0022] Preferably, the feed drive mechanism includes a guide rail base, a feed guide rail, a feed slider, a feed nut seat, a feed screw, a feed motor and a robot base;

[0023] The feed guide rail is installed on the guide rail base;

[0024] The feed slider is slidably mounted on the feed guide rail;

[0025] The feed nut seat is fixedly mounted on the feed slider and is threadedly connected to the feed screw;

[0026] The feed motor is connected to the feed screw via a coupling;

[0027] The robot base is mounted on the feed nut seat, and mounting grooves corresponding to the ultrasonic arm mechanism and the suction arm mechanism are respectively opened on the robot base.

[0028] Preferably, three groups of traction components are provided.

[0029] Preferably, a six-degree-of-freedom robotic arm is installed at the bottom of the feed drive mechanism.

[0030] Preferably, the six-degree-of-freedom robotic arm is mounted on a trolley mechanism.

[0031] Preferably, the trolley mechanism includes a vehicle body and an electric box. Universal wheels are provided at the four corners of the bottom of the vehicle body. The electric box is provided in the vehicle body and is used for supplying power.

[0032] (3) Beneficial effects

[0033] The beneficial effects of the present invention are:

[0034] 1. This application is used for minimally invasive surgery for intracerebral hematomas. The flexible continuum robot, consisting of a feeding mechanism, a parallel suction arm mechanism, and an ultrasonic arm mechanism, can achieve six-degree-of-freedom precision operation. In addition, when deployed externally, the six-degree-of-freedom robotic arm can quickly and smoothly insert the endoscope sheath into the brain. The coarse operation of the six-degree-of-freedom robotic arm combined with the fine operation of the flexible robot further improves the operability of the structure, meeting the flexibility requirements of minimally invasive surgery for intracerebral hematomas.

[0035] 2. This application is intended to ensure the safe and effective removal of hematomas from the brain using a highly flexible ultrasonic flexible robotic structure for minimally invasive brain hematoma surgery. Due to the precise positioning capabilities, flexible operation, and high repeatability of the robotic structure, it is highly efficient, reduces surgical time, and causes minimal harm to the patient. Compared to existing surgical tools, it reduces surgical difficulty, improves surgical efficiency, minimizes patient trauma, and further ensures patient safety.

[0036] 3. The six-degree-of-freedom robotic arm and its drive and feed drive modules and their unique parallel flexible continuum structure of the present application realize personalized medical treatment for patients. The unique endoscope sheath structure ensures that its volume is far lower than the requirement for the opening in the brain, and realizes the scheme of simultaneously shattering and draining the intracerebral hematoma during surgery, completing the surgical principle of shattering first and then draining, forming "personalized hematoma suction", reducing the differences in each patient's physical constitution, reducing surgical costs, and realizing personalization. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the structure of a flexible surgical robot for removing deep cerebral hematomas through transcranial window ultrasonic oscillation;

[0038] Figure 2 Schematic diagram of the structure of the suction arm mechanism;

[0039] Figure 3 for Figure 2 A magnified schematic diagram of the middle part A;

[0040] Figure 4 It is a structural diagram of the flexible continuum in the ultrasonic arm mechanism;

[0041] Figure 5 It is a structural diagram of the feed drive mechanism.

[0042] [Description of Reference Numerals]

[0043] 1. Suction arm mechanism;

[0044] 11. Outer shell; 12. Hub; 13. Front plate; 14. Rear plate; 15. Polished rod; 16. Screw rod; 17. Square nut; 18. Sheath fixing tube; 19. Control motor; 110. Flexible continuum; 111. Suction port; 112. Ultrasonic port; 113. Toothed knife; 114. Tendon;

[0045] 2. Ultrasonic arm mechanism;

[0046] 3. Feed drive mechanism;

[0047] 31. Guide rail base; 32. Feed guide rail; 33. Feed slider; 34. Feed nut seat; 35. Feed screw; 36. Feed motor; 37. Robot base;

[0048] 4. Endoscope sheath;

[0049] 5. Six-degree-of-freedom robotic arm;

[0050] 6. Trolley mechanism. DETAILED DESCRIPTION

[0051] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0052] Please refer to Figures 1 to 5 The present invention provides a flexible surgical robot for removing deep cerebral hematoma through transcranial window ultrasonic oscillation, comprising a feed drive mechanism 3, an endoscope sheath 4, a suction arm mechanism 1 and an ultrasonic arm mechanism 2;

[0053] The suction arm mechanism 1 and the ultrasonic arm mechanism 2 are both mounted on the feeding moving end of the feeding drive mechanism 3. The suction arm mechanism 1 includes an outer shell 11, a hub 12, a sheath fixing tube 18, a front plate 13, a rear plate 14, a tendon 114, a flexible continuum 110, a traction assembly, and a control motor 19.

[0054] The front plate 13 and the rear plate 14 are installed in the outer shell 11 at intervals, and a control cavity is formed between the front plate 13 and the rear plate 14;

[0055] There are multiple groups of traction assemblies, which are arranged in a circular array in the control cavity. The traction assembly includes a screw rod 16, a polished rod 15 and a square nut 17. The ends of the screw rod 16 and the polished rod 15 are respectively connected to the front plate 13 and the rear plate 14. The square nut 17 is threadedly connected to the screw rod 16, and a guide hole corresponding to the polished rod 15 is opened on the square nut 17.

[0056] The control motor 19 is connected to the screw rod 16;

[0057] The large end of the hub 12 is connected to the outer shell 11, and the small end of the hub 12 is connected to the sheath fixing tube 18;

[0058] The endoscope sheath 4 is mounted on the sheath fixing tube 18 , the flexible continuum 110 is mounted inside the endoscope sheath 4 , and a suction port 111 is provided at the free end of the flexible continuum 110 ;

[0059] One end of the tendon 114 is connected to the flexible continuum 110 , and the other end of the tendon 114 is connected to the square nut 17 ;

[0060] The ultrasonic arm mechanism 2 is different from the suction arm mechanism 1 only in the flexible continuum 110. The flexible continuum 110 of the ultrasonic arm mechanism 2 is provided with an ultrasonic port 112, and a toothed blade 113 is also provided on the free end of the flexible continuum 110 of the ultrasonic arm mechanism 2. The flexible continuum 110 of the ultrasonic arm mechanism 2 and the suction arm mechanism 1 are both installed in the endoscope sheath 4.

[0061] During use, in the suction arm mechanism 1, the control motor 19 controls the rotation of the screw rod, and the movement of the square nut 17 on the screw rod 16 pulls the tendon 114. The tendon 114 is subjected to axial force, which changes the length of the tendon 114, thereby driving the active bending and rotation of the flexible continuum 110 of the suction arm mechanism 1. The flexible continuum 110 of the suction arm mechanism 1 has two degrees of freedom. The bending and rotation of the suction continuum segment realizes the change of the overall shape and spatial posture, thereby performing the suction surgical operation;

[0062] In the ultrasonic arm mechanism 2, the flexible continuum 110 of the suction arm mechanism 1 is also driven by the tendon 114 to actively bend and rotate. The bending and rotation of the flexible continuum 110 in the ultrasonic arm mechanism 2 realize the changeable overall shape and spatial posture, thereby performing ultrasonic surgical operations.

[0063] The feed drive mechanism 3 can be used to control the advancement of the ultrasonic arm mechanism 2 and the suction arm mechanism 1, coarsely adjust the ultrasonic arm mechanism 2 and the suction arm mechanism 1 to a suitable position, and fine-tune the axial feed amount during surgery to improve the flexibility of the flexible continuum 110 of the ultrasonic arm mechanism 2 and the suction arm mechanism 1 during surgery, thereby realizing the six degrees of freedom of the continuum robot.

[0064] In this embodiment, the feed drive mechanism 3 includes a guide rail base 31, a feed guide rail 32, a feed slider 33, a feed nut seat 34, a feed screw 35, a feed motor 36 and a robot base 37;

[0065] The feed guide rail 32 is mounted on the guide rail base 31;

[0066] The feed slider 33 is slidably mounted on the feed guide rail 32;

[0067] The feed nut seat 34 is fixedly mounted on the feed slider 33 and is threadedly connected to the feed screw 35;

[0068] The feed motor 36 is connected to the feed screw 35 via a coupling;

[0069] The robot base 37 is mounted on the feed nut base 34 , and mounting grooves corresponding to the ultrasonic arm mechanism 2 and the suction arm mechanism 1 are respectively opened on the robot base 37 ;

[0070] During use, the feed motor 36 drives the feed screw 35 to rotate, thereby driving the feed nut seat 34 to move along the feed guide rail 32, and then driving the movement of the robot base 37 to control the forward movement of the ultrasonic arm mechanism 2 and the suction arm mechanism 1.

[0071] In this embodiment, three groups of traction components are provided.

[0072] In this embodiment, a six-degree-of-freedom robotic arm 5 is installed at the bottom of the feed drive mechanism 3 .

[0073] In this embodiment, the six-degree-of-freedom robotic arm 5 is installed on the trolley mechanism 6 .

[0074] In this embodiment, the trolley mechanism 6 includes a vehicle body and an electrical box. Universal wheels are provided at the four corners of the bottom of the vehicle body. The electrical box is provided in the vehicle body and is used for supplying power.

[0075] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

[0076] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A flexible surgical robot for removing deep cerebral hematoma by transcranial ultrasonic oscillation, characterized in that: It includes a feeding drive mechanism, an endoscope sheath, a suction arm mechanism, and an ultrasonic arm mechanism; The suction arm mechanism and the ultrasonic arm mechanism are both mounted on the feed moving end of the feed drive mechanism, and the suction arm mechanism includes an outer shell, a hub, a sheath fixing tube, a front plate, a rear plate, a tendon, a flexible continuum, a traction assembly, and a control motor; The front plate and the rear plate are installed in the outer shell at intervals, and a control cavity is formed between the front plate and the rear plate; The traction assembly is provided with multiple groups, and a circumferential array is arranged in the control cavity. The traction assembly includes a screw rod, a polished rod and a square nut. The ends of the screw rod and the polished rod are respectively connected to the front plate body and the rear plate body. The square nut is threadedly connected to the screw rod, and the square nut is provided with a guide hole corresponding to the polished rod; The control motor is connected to the screw rod; The large end of the hub is connected to the outer shell, and the small end of the hub is connected to the sheath fixing tube; The endoscope sheath is mounted on the sheath fixing tube, the flexible continuum is mounted in the endoscope sheath, and a suction port is provided at the free end of the flexible continuum; One end of the tendon is connected to the flexible continuum, and the other end of the tendon is connected to the square nut; The ultrasonic arm mechanism and the suction arm mechanism are different only in the flexible continuum. The flexible continuum of the ultrasonic arm mechanism is provided with an ultrasonic port, and the free end of the flexible continuum of the ultrasonic arm mechanism is also provided with a tooth knife. The flexible continuums of the ultrasonic arm mechanism and the suction arm mechanism are both installed in the endoscope sheath.

2. The flexible surgical robot for removing deep cerebral hematoma by transcranial ultrasonic oscillation according to claim 1, characterized in that: The feed drive mechanism includes a guide rail base, a feed guide rail, a feed slider, a feed nut seat, a feed screw, a feed motor and a robot base; The feed guide rail is installed on the guide rail base; The feed slider is slidably mounted on the feed guide rail; The feed nut seat is fixedly mounted on the feed slider and is threadedly connected to the feed screw; The feed motor is connected to the feed screw via a coupling; The robot base is mounted on the feed nut seat, and mounting grooves corresponding to the ultrasonic arm mechanism and the suction arm mechanism are respectively opened on the robot base.

3. The flexible surgical robot for removing deep cerebral hematoma through transcranial window ultrasonic oscillation according to claim 1 is characterized in that: The traction components are provided in three groups.

4. The flexible surgical robot for removing deep cerebral hematoma by transcranial ultrasonic oscillation according to claim 1, characterized in that: A six-degree-of-freedom robotic arm is installed at the bottom of the feed drive mechanism.

5. The flexible surgical robot for removing deep cerebral hematoma by transcranial ultrasonic oscillation according to claim 4, characterized in that: The six-degree-of-freedom robotic arm is installed on a trolley mechanism.

6. The flexible surgical robot for removing deep cerebral hematoma by transcranial ultrasonic oscillation according to claim 5, characterized in that: The trolley mechanism includes a vehicle body and an electric box. Universal wheels are provided at the four corners of the bottom of the vehicle body. The electric box is provided in the vehicle body and is used for supplying power.

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