Knee key endoscope surgery positioner and electromagnetic navigation robot

Abstract

The invention relates to the field of knee joint surgery equipment, in particular to a knee key endoscope surgery positioner and an electromagnetic navigation robotic.The knee key endoscope surgery positioner comprises a handle, a positioning arm movable block is slidably connected in the handle, a guide sleeve is installed at the bottom of the handle, a guide needle is arranged in the guide sleeve in a matched mode, and a positioning arm is fixedly connected to the top face of the positioning arm movable block; the end, away from the positioning arm movable block, of the positioning arm is fixedly connected with a hydraulic bending arm structure, the hydraulic bending arm structure communicates with a hydraulic angle adjusting component, the end, away from the positioning arm movable block, of the hydraulic bending arm structure is provided with an electromagnetic positioning generation module, and an angle adjusting mechanism used for adjusting the positioning arm is installed in the handle. And an electromagnetic positioning receiving module is mounted on the guide pin. Positioning is carried out through electromagnetic induction, the problem that positioning in a common sight glass mode cannot be carried out in the puncture process can be solved, and precise surgery is achieved in cooperation with a mechanical arm.

Description

Technical Field

[0001] This invention relates to the field of knee joint surgery equipment, and more specifically to a knee arthroscopic surgery locator and an electromagnetic navigation robot. Background Technology

[0002] The knee joint is a vital weight-bearing joint of the lower limb, and its structure and function are among the most complex of all human joints. Osteoarthritis of the knee is a common disease among the elderly. The success of knee surgery plays a crucial role in the patient's full recovery and ability to walk. Knee surgery typically requires the use of a positioning device. Current positioning devices are mostly operated manually, which suffers from inaccurate positioning and operator hand tremors during surgery, leading to suboptimal surgical outcomes. Summary of the Invention

[0003] The purpose of this invention is to provide a knee arthroscopy surgical locator and an electromagnetic navigation robot to solve the above-mentioned problems. By using electromagnetic induction for positioning, it can avoid the problem of ordinary endoscope positioning failing to locate during puncture, and achieve precise surgery in conjunction with a robotic arm.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] A knee arthroscopic surgery locator includes a handle, a slidably connected positioning arm movable block inside the handle, a guide sleeve installed at the bottom of the handle, a guide needle fitted inside the guide sleeve, a positioning arm fixedly connected to the top surface of the positioning arm movable block, a hydraulic bending arm structure fixedly connected to the end of the positioning arm away from the positioning arm movable block, the hydraulic bending arm structure being connected to a hydraulic angle adjustment component, an electromagnetic positioning generating module installed at the end of the hydraulic bending arm structure away from the positioning arm movable block, the positioning arm movable block sliding in an arc direction relative to the handle, an angle adjustment mechanism for adjusting the positioning arm installed inside the handle, and an electromagnetic positioning receiving module installed on the guide needle.

[0006] Preferably, the hydraulic bending arm structure includes several connecting plates. A first sleeve is fixedly connected to one end of each connecting plate, and a second sleeve is fixedly connected to the other end of each connecting plate. The second sleeve on an adjacent connecting plate is rotatably sleeved on the outside of the first sleeve on another connecting plate. A first sleeve is fixedly connected to the end of the positioning arm away from the positioning arm movable block, and a corresponding second sleeve is sleeved on the outside of the first sleeve on the positioning arm movable block. The first sleeve has a first hydraulic chamber and a second hydraulic chamber, which are connected to the hydraulic angle adjustment component. The electromagnetic positioning generation module is installed at the end of the connecting plate away from the positioning arm movable block.

[0007] Preferably, the first sleeve is provided with a first baffle plate, which is fixedly connected to the bottom wall of the first sleeve. The edge of the first baffle plate is fixedly connected to the inner side wall of the first sleeve. The second sleeve is provided with a second baffle plate, which is fixedly connected to the bottom wall of the second sleeve. One side of the second baffle plate is slidably and sealingly disposed with the inner side wall of the first sleeve, and the side of the second baffle plate away from the bottom wall of the second sleeve is slidably and sealingly disposed with the bottom wall of the first sleeve. The side of the first baffle plate away from the bottom wall of the first sleeve is slidably and sealingly disposed with the bottom wall of the second sleeve. The first baffle plate and the second baffle plate divide the cavity formed by the first sleeve and the second sleeve into a first hydraulic cavity and a second hydraulic cavity.

[0008] Preferably, the hydraulic angle adjustment component includes several three-position four-way valves. The bottom wall of the first sleeve has a first liquid hole and a second liquid hole. The first liquid hole and the second liquid hole are distributed on both sides of the first baffle plate. The first liquid hole is located in the first hydraulic chamber, and the second liquid hole is located in the second hydraulic chamber. The first liquid hole and the second liquid hole of one first sleeve are connected to two of the ports of one three-position four-way valve. The other two ports of the three-position four-way valve are respectively connected in parallel to a hydraulic pump and a pressure relief pipe. A solenoid valve is installed on the pressure relief pipe.

[0009] Preferably, the angle adjustment mechanism includes a gear, a worm gear is connected to the gear shaft, the worm gear meshes with a worm, a drive motor is connected to the worm shaft, the drive motor is installed inside the handle, the worm, gear, and worm gear are rotatably connected inside the handle, and a plurality of teeth are provided on one side of the positioning arm movable block, the gear meshing with the teeth on the positioning arm movable block.

[0010] Preferably, the electromagnetic positioning generation module is an electromagnetic generator.

[0011] Preferably, the electromagnetic positioning receiving module is an electromagnetic positioning receiver.

[0012] An electromagnetic navigation robot for knee arthroscopy includes a robotic arm, the movable end of which is equipped with a locator, which is the knee arthroscopy locator described in the aforementioned solution.

[0013] The present invention has the following technical effects:

[0014] The positioner of this invention features a hydraulically bent arm structure on its positioning arm. This hydraulic bending structure can be adjusted to different degrees of bending via a hydraulic angle adjustment component, allowing the positioning arm to be adjusted into different shapes to accommodate anterior cruciate ligament (ACL) surgery, posterior cruciate ligament (PCL) surgery, and other knee surgeries. The angle adjustment mechanism allows for adjustment of the positioning arm's angle relative to the handle. The electromagnetic positioning generator module, in conjunction with the electromagnetic positioning receiver module, enables signals to penetrate human tissue, thus achieving real-time positioning during guide needle insertion and preventing deviations during insertion.

[0015] Before the operation, the patient undergoes an MRI scan to determine the condition. Then, the path and angle of the guide needle are set. The robotic arm advances the locator to the appropriate position according to the designed path and angle. Then, the electromagnetic positioning generator and electromagnetic positioning receiver are used to determine whether the guide needle is inserted according to the preset path. The stability of the robotic arm, together with the ability of the electromagnetic positioning generator and electromagnetic positioning receiver to penetrate human tissue, improves the precision and power of the operation. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the positioner structure of the present invention;

[0019] Figure 3 This is a schematic diagram of the exploded structure of the locator of the present invention;

[0020] Figure 4 This is a schematic diagram of the exploded structure of the locator of the present invention from another perspective;

[0021] Figure 5 This is a cross-sectional view of the positioner of the present invention;

[0022] Figure 6 This is a schematic diagram of the structure of the angle adjustment component of the present invention in conjunction with the movable block of the positioning arm.

[0023] The components include: 1. Robotic arm; 2. Positioner; 201. Handle; 202. Positioning arm movable block; 203. Positioning arm; 204. First sleeve; 2041. First baffle plate; 2042. First liquid hole; 2043. Second liquid hole; 205. Connecting plate; 206. Second sleeve; 2061. Second baffle plate; 207. Gear; 208. Worm gear; 209. Worm; 210. Drive motor; 3. Guide sleeve; 4. Guide pin. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Reference Figures 1 to 6 As shown, this embodiment provides a knee arthroscopy surgical locator, including a handle 201, a positioning arm movable block 202 slidably connected inside the handle 201, a guide sleeve 3 installed at the bottom of the handle 201, a guide needle 4 fitted inside the guide sleeve 3, a positioning arm 203 fixedly connected to the top surface of the positioning arm movable block 202, a hydraulic bending arm structure fixedly connected to the end of the positioning arm 203 away from the positioning arm movable block 202, the hydraulic bending arm structure being connected to a hydraulic angle adjustment component, an electromagnetic positioning generating module installed at the end of the hydraulic bending arm structure away from the positioning arm movable block 202, the positioning arm movable block 202 sliding in an arc direction with the handle 201, an angle adjustment mechanism for adjusting the positioning arm 203 installed inside the handle 201, and an electromagnetic positioning receiving module installed on the guide needle 4.

[0027] The positioner of this invention features a hydraulic bending arm structure on the positioning arm 203. This hydraulic bending structure can be adjusted to different degrees of bending via a hydraulic angle adjustment component, allowing the positioning arm 203 to be adjusted into different shapes to accommodate anterior cruciate ligament surgery, posterior cruciate ligament surgery, and other knee surgeries. The angle adjustment mechanism allows for adjustment of the positioning arm 203 relative to the handle at different angles. The electromagnetic positioning generation module, in conjunction with the electromagnetic positioning receiving module, enables the signal to penetrate human tissue, thus achieving real-time positioning during the insertion of the guide needle 4 and preventing deviations during insertion.

[0028] Further optimization of the scheme: the hydraulic bending arm structure includes several connecting plates 205. One end of the connecting plate 205 is fixedly connected to a first sleeve 204, and the other end of the connecting plate 205 is fixedly connected to a second sleeve 206. The second sleeve 206 on an adjacent connecting plate 205 is rotatably sleeved on the outside of the first sleeve 204 of another connecting plate 205. One end of the positioning arm 203 away from the positioning arm movable block 202 is fixedly connected to a first sleeve 204, and the corresponding second sleeve 206 is sleeved on the outside of the first sleeve 204 of the positioning arm movable block 202. The first sleeve 204 is provided with a first hydraulic chamber and a second hydraulic chamber. The first hydraulic chamber and the second hydraulic chamber are connected to the hydraulic angle adjustment component. The electromagnetic positioning generation module is installed at the end of the connecting plate 205 away from the positioning arm movable block 202.

[0029] By pressurizing liquid into the first hydraulic chamber through the hydraulic angle adjustment component, the first hydraulic chamber expands and the second hydraulic chamber contracts, and vice versa. This can drive the connecting plate 205 to rotate, thereby realizing the adjustment of the hydraulic bending arm structure to different degrees of bending to adapt to the shape required by the positioner under different surgeries.

[0030] In a further optimized design, a first baffle plate 2041 is provided inside the first sleeve 204, and the first baffle plate 2041 is fixedly connected to the bottom wall of the first sleeve 204. The edge of the first baffle plate 2041 is fixedly connected to the inner side wall of the first sleeve 204. A second baffle plate 2061 is provided inside the second sleeve 206, and the second baffle plate 2061 is fixedly connected to the bottom wall of the second sleeve 206. One side of the second baffle plate 2061 is slidably sealed to the inner side wall of the first sleeve 204, and the side of the second baffle plate 2061 away from the bottom wall of the second sleeve 206 is slidably sealed to the bottom wall of the first sleeve 204. The side of the first baffle plate 2041 away from the bottom wall of the first sleeve 204 is slidably sealed to the bottom wall of the second sleeve 206. The first baffle plate 2041 and the second baffle plate 2061 divide the cavity formed by the first sleeve 204 and the second sleeve 206 into a first hydraulic cavity and a second hydraulic cavity.

[0031] The first baffle plate 2041 and the second baffle plate 2061 are in contact and the contact position is sealed and rotated. With this configuration, when liquid is filled into the first hydraulic chamber, the second baffle plate 2061 will rotate accordingly, causing the first hydraulic chamber to expand and the second hydraulic chamber to contract. The second baffle plate will drive the second sleeve 206 to rotate. By controlling the expansion or contraction of different first hydraulic chambers, different shapes of the positioning arm 203 can be adjusted.

[0032] Further optimization of the scheme: the hydraulic angle adjustment component includes several three-position four-way valves. The bottom wall of the first sleeve 204 is provided with a first liquid hole 2042 and a second liquid hole 2043. The first liquid hole 2042 and the second liquid hole 2043 are distributed on both sides of the first baffle plate 2041. The first liquid hole 2042 is located in the first hydraulic chamber, and the second liquid hole 2043 is located in the second hydraulic chamber. The first liquid hole 2042 and the second liquid hole 2043 of the first sleeve 204 are connected to two of the ports of a three-position four-way valve. The other two ports of the three-position four-way valve are respectively connected in parallel to a hydraulic pump and a pressure relief pipe. A solenoid valve is installed on the pressure relief pipe.

[0033] The inlet of the hydraulic pump is connected to the hydraulic oil tank, and the pressure relief pipe is connected to the hydraulic oil tank. When the first hydraulic chamber needs to expand, the hydraulic pump supplies oil, and the three-position four-way valve controls the corresponding interface to open. The solenoid valve on the corresponding pressure relief pipe closes, and the corresponding second hydraulic chamber discharges oil through the second liquid hole 2043 and the three-position four-way valve. The solenoid valve on the corresponding pressure relief pipe opens, and the oil is discharged into the oil tank. When the second hydraulic chamber needs to expand, it adopts the same method as the expansion of the first hydraulic chamber. In this way, multiple connecting plates 205 can rotate relative to each other, and different shapes can be adjusted to adapt to different needs of knee joint surgery.

[0034] The design is further optimized. The angle adjustment mechanism includes a gear 207, a worm gear 208 connected to the shaft of the gear 207, a worm 209 meshing with the worm gear 208, a drive motor 210 connected to the shaft of the worm 209, and the drive motor 210 installed inside the handle 201. The worm 209, gear 207, and worm gear 208 are rotatably connected to the handle 201. Several teeth are provided on one side of the positioning arm movable block 202, and the gear 207 meshes with the teeth on the positioning arm movable block 202.

[0035] The drive motor 210 rotates, which drives the worm gear 208 to rotate, which in turn drives the gear 207 to rotate. The gear 207 drives the positioning arm movable block 202 to slide within the handle 201. By controlling the rotation angle and number of rotations of the drive motor 210, the amount of movement of the positioning arm movable block 202 within the handle 201 can be increased, thereby achieving the purpose of adjusting the angle between the positioning arm 203 and the handle 201. At the same time, the worm gear 208 and the worm 209 have a certain self-locking function, which can prevent the adjusted positioning arm 203 and handle 201 from shifting again.

[0036] The scheme was further optimized by replacing the electromagnetic positioning module with an electromagnetic generator.

[0037] The solution was further optimized so that the electromagnetic positioning receiving module became an electromagnetic positioning receiver.

[0038] An electromagnetic navigation robot for knee arthroscopy includes a robotic arm 1, with a locator 2 installed at the movable end of the robotic arm 1. The locator 2 is the knee arthroscopy locator described above.

[0039] Before the operation, the patient undergoes an MRI scan to determine the condition. Then, the path and angle of the guide needle 4 are set. The robotic arm 1 advances the locator 2 to the appropriate position according to the designed path and angle. Then, the electromagnetic positioning generator and electromagnetic positioning receiver are used to determine whether the guide needle 4 is inserted according to the preset path. The stability of the robotic arm 1, together with the ability of the electromagnetic positioning generator and electromagnetic positioning receiver to penetrate human tissue, improves the accuracy and power of the operation.

[0040] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0041] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A knee arthroscopic surgery locator, characterized in that, The device includes a handle (201), a positioning arm movable block (202) slidably connected inside the handle (201), a guide sleeve (3) installed at the bottom of the handle (201), a guide pin (4) fitted inside the guide sleeve (3), a positioning arm (203) fixedly connected to the top surface of the positioning arm movable block (202), a hydraulic bending arm structure fixedly connected to the end of the positioning arm (203) away from the positioning arm movable block (202), a hydraulic bending arm structure connected to a hydraulic angle adjustment component, an electromagnetic positioning generating module installed at the end of the hydraulic bending arm structure away from the positioning arm movable block (202), the sliding direction of the positioning arm movable block (202) and the handle (201) is an arc-shaped sliding direction, an angle adjustment mechanism for adjusting the positioning arm (203) is installed inside the handle (201), and an electromagnetic positioning receiving module is installed on the guide pin (4).

2. The knee arthroscopic surgery locator according to claim 1, characterized in that, The hydraulic bending arm structure includes several connecting plates (205). One end of the connecting plate (205) is fixedly connected to a first sleeve (204), and the other end of the connecting plate (205) is fixedly connected to a second sleeve (206). The second sleeve (206) on an adjacent connecting plate (205) is rotatably sleeved on the outside of the first sleeve (204) of another connecting plate (205). The end of the positioning arm (203) away from the positioning arm movable block (202) is fixedly connected to a first sleeve (204), and the corresponding second sleeve (206) is sleeved on the outside of the first sleeve (204) of the positioning arm movable block (202). The first sleeve (204) is provided with a first hydraulic chamber and a second hydraulic chamber. The first hydraulic chamber and the second hydraulic chamber are connected to the hydraulic angle adjustment component. The electromagnetic positioning generation module is installed at the end of the connecting plate (205) away from the positioning arm movable block (202).

3. The knee arthroscopic surgery locator according to claim 2, characterized in that, The first sleeve (204) is provided with a first baffle plate (2041), which is fixedly connected to the bottom wall of the first sleeve (204). The edge of the first baffle plate (2041) is fixedly connected to the inner side wall of the first sleeve (204). The second sleeve (206) is provided with a second baffle plate (2061), which is fixedly connected to the bottom wall of the second sleeve (206). One side of the second baffle plate (2061) is connected to the bottom wall of the first sleeve (204). The inner wall is sealed and slidably disposed. The side of the second barrier plate (2061) away from the bottom wall of the second sleeve (206) is sealed and slidably disposed with the bottom wall of the first sleeve (204). The side of the first barrier plate (2041) away from the bottom wall of the first sleeve (204) is sealed and slidably disposed with the bottom wall of the second sleeve (206). The first barrier plate (2041) and the second barrier plate (2061) divide the cavity composed of the first sleeve (204) and the second sleeve (206) into the first hydraulic cavity and the second hydraulic cavity.

4. The knee arthroscopic surgery locator according to claim 3, characterized in that, The hydraulic angle adjustment component includes several three-position four-way valves. The bottom wall of the first sleeve (204) is provided with a first liquid hole (2042) and a second liquid hole (2043). The first liquid hole (2042) and the second liquid hole (2043) are distributed on both sides of the first baffle plate (2041). The first liquid hole (2042) is located in the first hydraulic chamber, and the second liquid hole (2043) is located in the second hydraulic chamber. The first liquid hole (2042) and the second liquid hole (2043) of one first sleeve (204) are connected to two of the ports of one three-position four-way valve. The other two ports of the three-position four-way valve are respectively connected in parallel to a hydraulic pump and a pressure relief pipe. A solenoid valve is installed on the pressure relief pipe.

5. A knee arthroscopic surgery locator according to claim 1, characterized in that, The angle adjustment mechanism includes a gear (207), a worm gear (208) is shafted to the gear (207), the worm gear (208) meshes with a worm (209), the worm (209) is shafted to a drive motor (210), the drive motor (210) is installed in the handle (201), the worm (209), gear (207), and worm gear (208) are rotatably connected in the handle (201), and a plurality of teeth are provided on one side of the positioning arm movable block (202), the gear (207) meshes with the teeth on the positioning arm movable block (202).

6. The knee arthroscopic surgery locator according to claim 1, characterized in that, The electromagnetic positioning module is an electromagnetic generator.

7. The knee arthroscopic surgery locator according to claim 1, characterized in that, The electromagnetic positioning receiver module is an electromagnetic positioning receiver.

8. An electromagnetic navigation robot for knee arthroscopy, characterized in that, Includes a robotic arm (1), the movable end of which is equipped with a locator (2), the locator (2) being the knee arthroscopic surgery locator according to any one of claims 1-8.

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