A transnasal interventional variable stiffness flexible bone-grinding robot and its stiffness control method

Abstract

This invention provides a transnasal interventional variable stiffness flexible bone-grinding robot and a stiffness control method, comprising a grinding mechanism, an inner arm drive mechanism, and an outer arm drive mechanism. The outer arm continuum of this application is composed of snake bone continuum units, which enable it to have both high flexibility and high stiffness. After the outer arm continuum enters the surgical cavity, it can provide a high-stiffness working space for the inner arm continuum and the drill bit. By simultaneously axially stretching / compressing the tendon, the compression or extension of the distal spring of the inner arm continuum can be controlled, thereby changing the stiffness of the distal end of the inner arm continuum. When feeding, the spring is stretched to reduce stiffness, making it more flexible and conducive to reaching the surgical area. When the grinding drill bit is working, the spring is compressed, making it have high stiffness so that it does not damage non-disease tissue when the drill bit grinds bone, realizing the function of adjustable stiffness, which is more conducive to the needs of surgical operation.

Description

Technical Field

[0001] This invention relates to the field of surgical robots, and in particular to a transnasal interventional variable stiffness flexible bone-grinding robot and a stiffness control method. Background Technology

[0002] Transnasal bone reshaping surgery is a minimally invasive technique primarily used to treat diseases of the skull base, sinuses, and nasal region, such as saddle nose correction, skull base tumor resection, and nasal septum repair. Its core advantage lies in accessing the surgical area through the natural cavity (nasal cavity), avoiding the skin incisions of traditional open surgery, thus reducing tissue damage and postoperative complications. As surgical procedures become increasingly minimally invasive and precise, the transnasal approach is gradually becoming an important option in craniofacial surgery. For example, in rhinoplasty, reshaping the nasal bone or cartilage through an intranasal incision significantly reduces external scarring and improves patient satisfaction. In skull base surgery, transnasal endoscopy is widely used for the resection of pituitary tumors and other lesions, avoiding the trauma of craniotomy. The nasal cavity and skull base region have complex anatomy, involving important blood vessels, nerves (such as the optic nerve and internal carotid artery), and brain tissue. In traditional surgery, limited field of vision and high-risk procedures are major bottlenecks, while transnasal interventional techniques, assisted by endoscopy or robotics, can achieve precise manipulation.

[0003] Despite the significant advantages of robotic transnasal bone reshaping surgery, its technological implementation faces multiple challenges. While traditional robotic surgery has improved performance in minimally invasive surgery, it still faces challenges in narrow and difficult-to-access spaces.

[0004] Traditional robots have at least the following drawbacks:

[0005] 1. Traditional bone grinding or bone removal surgery uses rigid tools such as Kerrison forceps, biopsy forceps, and curettes to remove necrotic tissue from the wound surface. Rigid tools have difficulty reaching the lesion area in a narrow space.

[0006] 2. The average width of the nasal cavity is only about 7-15mm, and there are irregular structures such as turbinate and nasal septum. Traditional instruments are difficult to operate flexibly, and the narrow surgical field makes it difficult for bone grinding instruments to accurately locate the target bone area.

[0007] 3. Existing flexible robots have low stiffness and deform under external loads, failing to meet the requirements of bone grinding tasks. Existing flexible robots lack variable stiffness capability, resulting in deficiencies in stability and force control, thus affecting the accuracy of bone grinding operations.

[0008] 4. Existing flexible robots have poor bending ability and low flexibility, and cannot form an "S" shaped curve, making it difficult to adapt to the curved and narrow nasal cavity environment;

[0009] Despite the advantages of continuum in terms of flexibility and range of operation, its application in transnasal bone reshaping surgery has not been widely adopted due to the high contact force and specific requirements. Therefore, there is an urgent need for a transnasal variable stiffness flexible bone reshaping surgical robot and a stiffness control method to address this issue. Summary of the Invention

[0010] (a) Technical problems to be solved

[0011] To address the aforementioned problems in the prior art, this invention provides a transnasal interventional variable stiffness flexible bone grinding robot and a stiffness control method.

[0012] (II) Technical Solution

[0013] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0014] A transnasal interventional variable stiffness flexible bone grinding robot includes a grinding mechanism, an inner arm drive mechanism, and an outer arm drive mechanism.

[0015] The outboard drive mechanism includes an outboard continuous body and an outboard control assembly for controlling the bending and rotational movements of the outboard continuous body.

[0016] The inner arm drive mechanism includes an inner arm continuous body and an inner arm control component for controlling the bending and rotational movements of the inner arm continuous body, and the inner arm continuous body is disposed within the outer arm continuous body.

[0017] The grinding mechanism includes a grinding drill bit and a grinding drive control component for controlling the drilling movement of the grinding drill bit.

[0018] Preferably, the grinding drive control assembly includes a grinding motor, a support base, a fixed disc, a drill bit hose, and a hose connector;

[0019] The fixed discs are respectively installed at both ends of the support base;

[0020] The grinding motor is mounted on one of the fixed discs and is connected in sequence to the hose connector and the drill hose via a coupling;

[0021] The drill hose extends through another of the fixed discs into the inner arm continuum and connects to the grinding drill bit.

[0022] Preferably, the inner arm continuum includes a spring continuum, an inner arm continuum top seat, an inner arm continuum base, and an inner arm continuum tendon.

[0023] One end of the spring continuous is connected to the top seat of the inner arm continuous, and the other end of the spring continuous is connected to the base of the inner arm continuous.

[0024] The inner arm continuous tendon of the spring continuous passes through the inner arm continuous base and extends into the inner arm control assembly.

[0025] Preferably, the inner arm drive mechanism includes an inner arm support base, an inner arm front plate, an inner arm middle plate, an inner arm rear plate, an inner arm traction control unit, a hub, and an inner arm continuous body fixing seat.

[0026] The inner arm middle plate is fixedly installed at one end of the inner arm support base, and the inner arm rear plate is fixedly installed at the other end of the inner arm support base.

[0027] The inner arm front disc is located on the side of the inner arm middle disc away from the inner arm rear disc;

[0028] The inner arm traction control unit is installed between the inner arm anterior disc and the inner arm middle disc, and the inner arm traction control unit is connected to the inner arm continuous muscle tendon.

[0029] The hub is mounted on the front disc of the inner arm;

[0030] The inner arm continuous body fixing seat is installed at the port of the hub and connected to the inner arm continuous body.

[0031] Preferably, the inner arm traction control unit includes an inner arm lead screw, a guide rod, a connecting seat, a nut seat, a control motor, a preload block, and an adjusting screw;

[0032] Both ends of the inner arm lead screw and the guide rod are respectively connected to the inner arm front plate and the inner arm middle plate, and one end of the inner arm lead screw is connected to the control motor;

[0033] The nut seat is threaded onto the inner arm lead screw;

[0034] The connecting seat is fixedly connected to the nut seat and slidably mounted on the optical rod, and the inner arm continuous muscle tendon is connected to the connecting seat;

[0035] The connecting seat has a pre-tightening groove, the pre-tightening block is slidably installed in the pre-tightening groove and is threadedly connected to the adjusting screw, and the inner arm continuous muscle tendon is connected to the pre-tightening block.

[0036] Preferably, the boom control assembly includes a boom base plate, a boom driver support frame, a boom driver fixing plate, a boom top plate, a boom manifold, a boom continuum fixing seat, and a boom traction control unit.

[0037] The outer arm drive support frame and the arm drive fixing plate are respectively installed at both ends of the outer arm base plate;

[0038] The outer arm traction control unit is installed between the outer arm driver support frame and the arm driver fixing plate, and the outer arm traction control unit has the same structure as the inner arm traction control unit.

[0039] The outer arm top plate is fixedly mounted on the outer arm driver mounting plate;

[0040] The outer arm hub is mounted on the outer arm top plate;

[0041] The outer arm continuum fixing seat is installed at the port of the outer arm hub tube;

[0042] The control tendon of the outer arm continuum passes sequentially through the outer arm continuum fixing seat and the outer arm hub tube before connecting to the outer arm traction control unit.

[0043] Preferably, the outboard drive mechanism further includes a linear motion component, the moving end of which is connected to the outboard control component.

[0044] Preferably, it also includes a feed control mechanism, which includes a feed base, a feed top plate, a slide rail, a slider, a feed lead screw, a feed moving seat, and a feed motor;

[0045] Two feed screws are provided, which are symmetrically arranged in the feed base, and one end of each feed screw is connected to the feed motor.

[0046] The feed top plate is fixedly installed on the feed base;

[0047] The slide rail is fixedly installed on the surface of the feed top plate;

[0048] Two sliders are provided, both of which are slidably mounted on the slide rail. One slider is connected to the grinding mechanism, and the other slider is connected to the inner arm drive mechanism.

[0049] The feed moving seat is threadedly connected to the feed screw, and the top end of the feed moving seat passes through the feed top plate and is connected to the corresponding slider.

[0050] A method for stiffness control of a transnasal interventional variable stiffness flexible bone-grinding robot includes the following steps:

[0051] Step 1: Obtain the required stiffness value of the flexible body;

[0052] Step 2: Obtain tendon tension based on the stiffness value of the flexible body and the stiffness matrix formula of the inner arm continuum;

[0053] The stiffness matrix formula for the inner arm continuum is as follows:

[0054] ;

[0055] ;

[0056] ;

[0057] ;

[0058] in, U is the potential energy gradient, representing the passive elastic force in configuration space, J q To drive the Jacobian matrix from the configuration space to the configuration space, J is the Jacobian matrix q The transpose of the matrix, U is the total energy of the inner arm continuum, K ψ Here is the stiffness matrix in configuration space. τ The tendon tension value is given by the arc length L of the portion of the inner arm continuum extending beyond the outer arm continuum. The arc length L after the inner arm continuum is extended or compressed is also given by the tendon tension value. t The bending angle is θ, the rotation angle is φ, and the tendon length is L. i Spring modulus E, tendon modulus E r Spring moment of inertia I, tendon moment of inertia I r Spring cross-sectional area A, Jacobian matrix J between configuration space and workspace x The bending potential energy of the inner arm continuum is U. b The elastic potential energy of the inner arm continuum is U. c .

[0059] (III) Beneficial Effects

[0060] The beneficial effects of this invention are as follows:

[0061] 1. The outer arm continuum is composed of snake bone continuum units, which gives it high flexibility while also providing high rigidity. After the outer arm continuum enters the surgical cavity, it can provide a high-rigidity working space for the inner arm continuum and the drill bit.

[0062] 2. By simultaneously axially stretching / compressing the tendon, the compression or elongation of the distal spring of the inner arm continuum can be controlled, thereby changing the stiffness of the distal end of the inner arm continuum. When feeding, the spring is stretched to reduce stiffness, making it more flexible and easier to reach the surgical area; when the grinding drill is working, the spring is compressed to give it higher stiffness so that it does not damage non-disease tissue when the drill grinds bone. This achieves the function of adjustable stiffness, which is more conducive to the needs of surgical operation.

[0063] 3. By manually adjusting the screw, the pretension block moves back and forth, thereby changing the pretension force of the tendon through axial tension / compression. This simple mechanism adjusts the pretension force of the tendon and solves the problem of tendon laxity caused by long-term repeated axial tension / compression.

[0064] 4. The feed control mechanism can adjust the overall feed of the inner arm drive mechanism and the overall feed of the grinding mechanism according to actual needs, enhancing the flexibility of the transnasal pituitary tumor minimally invasive resection surgical robot. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of a nasal cavity-interventional variable stiffness flexible bone-grinding robot.

[0066] Figure 2 This is a schematic diagram of the grinding mechanism;

[0067] Figure 3 This is a schematic diagram of the inner arm drive mechanism;

[0068] Figure 4 This is a schematic diagram of the inner arm traction control unit.

[0069] Figure 5 This is a schematic diagram of the inner arm continuum.

[0070] Figure 6 This is a schematic diagram of the outer arm drive mechanism;

[0071] Figure 7 This is a schematic diagram of the feed control mechanism.

[0072] Explanation of reference numerals in the attached figures

[0073] 1. Feed control mechanism;

[0074] 11. Feed base; 12. Feed top plate; 13. Slider; 14. Slide rail; 15. Feed screw; 16. Feed motor;

[0075] 2. Grinding mechanism;

[0076] 21. Support base; 22. Grinding motor; 23. Fixing disc; 24. Hose connector; 25. Drill bit hose; 26. Grinding drill bit;

[0077] 3. Inner arm drive mechanism;

[0078] 31. Inner arm control assembly; 311. Inner arm continuous body fixing seat; 312. Hub; 313. Inner arm front plate; 314. Inner arm support base; 315. Inner arm middle plate; 316. Inner arm rear plate; 32. Inner arm continuous body; 321. Spring continuous body; 322. Inner arm continuous body base; 323. Inner arm continuous body top seat; 324. Inner arm continuous body tendon; 33. Inner arm traction control unit; 331. Spur rod; 332. Inner arm lead screw; 333. Connecting seat; 334. Nut seat; 335. Preload block; 336. Adjusting screw;

[0079] 4. Outer arm drive mechanism;

[0080] 41. Outer boom control assembly; 411. Outer boom base plate; 412. Outer boom driver support frame; 413. Outer boom driver mounting plate; 414. Outer boom top plate; 415. Outer boom hub; 416. Outer boom continuous body mounting base; 42. Outer boom continuous body; 43. Outer boom traction control unit; 44. Linear movement assembly. Detailed Implementation

[0081] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0082] Please refer to Figures 1 to 3 The present invention provides a transnasal interventional variable stiffness flexible bone grinding robot, including a grinding mechanism 2, an inner arm drive mechanism 3 and an outer arm drive mechanism 4.

[0083] The outarm drive mechanism 4 includes an outarm continuous body 42 and an outarm control assembly 41 that controls the bending and rotational movements of the outarm continuous body 42.

[0084] The inner arm drive mechanism 3 includes an inner arm continuous body 32 and an inner arm control component 31 for controlling the bending and rotational movements of the inner arm continuous body 32, and the inner arm continuous body 32 is disposed inside the outer arm continuous body 42.

[0085] The grinding mechanism 2 includes a grinding drill bit 26 and a grinding drive control component for controlling the drilling movement of the grinding drill bit 26;

[0086] In use, the invention is first connected to a robotic arm. The surgeon adjusts the angle of the robotic arm to position the invention in a suitable location for the surgery. The surgeon controls the outer arm drive mechanism 4 to drive the outer arm continuum 42 into the nasal cavity and maintain its posture. The surgeon controls the feed control mechanism 1 to allow the inner arm continuum 32 to pass through the channel of the outer arm continuum 42 and enter the depth of the nasal cavity. The surgeon controls the inner arm drive mechanism 3 to bend the inner arm continuum 32 to the lesion location through the pushing and pulling of the tendons. The surgeon controls the feed control mechanism 1 to allow the grinding mechanism 2 to enter the nasal cavity lesion location through the channel of the inner arm continuum 32 and perform bone grinding.

[0087] refer to Figure 2 In this embodiment, the grinding drive control assembly includes a grinding motor 22, a support base 21, a fixed disc 23, a drill bit hose 25, and a hose connector 24.

[0088] Fixed discs 23 are respectively installed at both ends of the support base 21;

[0089] The grinding motor 22 is mounted on one of the fixed discs 23 and is connected in sequence to the hose connector 24 and the drill hose 25 via a coupling;

[0090] The drill hose 25 extends through another fixed disc 23 into the inner arm continuous 32 and connects to the grinding drill bit 26;

[0091] In use, the grinding motor 22 transmits motion to the hose connector 24 through the coupling, thereby driving the grinding drill bit 26 to rotate and realize the bone grinding function.

[0092] In this embodiment, the inner arm continuum 32 includes a spring continuum 321, an inner arm continuum top seat 323, an inner arm continuum base 322, and an inner arm continuum tendon 324.

[0093] One end of the spring continuous 321 is connected to the top seat 323 of the inner arm continuous, and the other end of the spring continuous 321 is connected to the base 322 of the inner arm continuous.

[0094] The inner arm continuous tendon 324 of the spring continuous 321 passes through the inner arm continuous base 322 and extends into the inner arm control assembly 31;

[0095] By simultaneously axially pulling / compressing the tendon 324 of the inner arm continuous body, the compression or elongation of the spring at the distal end of the inner arm continuous body 32 can be controlled, thereby changing the stiffness of the distal end of the inner arm continuous body 32. This allows the spring to be stretched during feeding to reduce stiffness and gives it greater flexibility to reach the surgical area.

[0096] refer to Figures 3 to 5 In this embodiment, the inner arm drive mechanism 3 includes an inner arm support base 314, an inner arm front plate 313, an inner arm middle plate 315, an inner arm rear plate 316, an inner arm traction control unit 33, a hub 312, and an inner arm continuous body fixing seat 311.

[0097] An inner arm middle plate 315 is fixedly installed at one end of the inner arm support base 314, and an inner arm rear plate 316 is fixedly installed at the other end of the inner arm support base 314.

[0098] The inner arm front disc 313 is located on the side of the inner arm middle disc 315 away from the inner arm rear disc 316;

[0099] The inner arm traction control unit 33 is installed between the inner arm front disc 313 and the inner arm middle disc 315, and the inner arm traction control unit 33 is connected to the inner arm continuous tendon 324.

[0100] Hub 312 is mounted on the inner arm front plate 313;

[0101] The inner arm continuous body fixing seat 311 is installed at the port of the hub 312 and connected to the inner arm continuous body 32. The inner arm traction control unit 33 includes an inner arm lead screw 332, a guide rod 331, a connecting seat 333, a nut seat 334, a control motor, a preload block 335, and an adjusting screw 336.

[0102] Both ends of the inner arm lead screw 332 and the guide rod 331 are respectively connected to the inner arm front plate 313 and the inner arm middle plate 315, and one end of the inner arm lead screw 332 is connected to the control motor.

[0103] Nut seat 334 is threaded onto inner arm screw 332;

[0104] Connector 333 is fixedly connected to nut seat 334 and is slidably mounted on smooth rod 331; inner arm continuous tendon 324 is connected to connector 333.

[0105] A pre-tightening groove is provided on the connecting seat 333, and the pre-tightening block 335 is slidably installed in the pre-tightening groove and is threadedly connected to the adjusting screw 336. The inner arm continuous body tendon 324 is connected to the pre-tightening block 335.

[0106] In use, the control motor rotates to drive the inner arm lead screw 332 to rotate, causing the nut seat 334 to move back and forth, thereby driving the inner arm continuous tendon 324 to push and pull back and forth to realize the bending and rotation of the inner arm continuous 32.

[0107] refer to Figure 6 The boom control assembly 41 includes a boom base plate 411, a boom driver support frame 412, a boom driver fixing plate 413, a boom top plate 414, a boom manifold 415, a boom continuous body fixing seat 416, and a boom traction control unit 43.

[0108] The outer arm base plate 411 is equipped with an outer arm drive support frame 412 and an arm drive fixing plate at both ends;

[0109] The outer arm traction control unit 43 is installed between the outer arm drive support frame 412 and the arm drive fixing plate, and the outer arm traction control unit 43 has the same structure as the inner arm traction control unit 33.

[0110] The outer boom top plate 414 is fixedly mounted on the outer boom drive mounting plate 413;

[0111] The outer arm hub 415 is installed on the outer arm top plate 414;

[0112] The outer arm continuum fixing seat 416 is installed at the port of the outer arm hub 415;

[0113] The control tendon of the outer arm continuum 42 passes through the outer arm continuum fixing seat 416 and the outer arm hub tube 415 in sequence and then connects to the outer arm traction control unit 43.

[0114] In use, the outer arm traction control unit 43 is connected to the tendon of the outer arm continuum 42, and drives the tendon of the outer arm continuum 42 to push and pull back and forth to realize the bending and rotation of the inner arm continuum 32.

[0115] In this embodiment, the outer arm drive mechanism 4 further includes a linear movement component 44. The moving end of the linear movement component 44 is connected to the outer arm control component 41. The linear movement component 44 can drive the outer arm drive mechanism 4 to achieve forward and backward feeding movement.

[0116] refer to Figure 7 It also includes a feed control mechanism 1, which includes a feed base 11, a feed top plate 12, a slide rail 14, a slider 13, a feed lead screw 15, a feed moving seat, and a feed motor 16.

[0117] Two feed screws 15 are provided, which are symmetrically arranged in the feed base 11, and one end of the feed screw 15 is connected to the feed motor 16.

[0118] The feed top plate 12 is fixedly installed on the feed base 11;

[0119] The slide rail 14 is fixedly installed on the surface of the feed top plate 12;

[0120] Two sliders 13 are provided, both of which are slidably mounted on the slide rail 14. One slider 13 is connected to the grinding mechanism 2, and the other slider 13 is connected to the inner arm drive mechanism 3.

[0121] The feed moving seat is threadedly connected to the feed screw 15, and the top end of the feed moving seat is inserted through the feed top plate 12 and connected to the corresponding slider 13.

[0122] In use, the feed motor 16 drives the feed screw 15 to rotate, which in turn drives the feed moving seat on the feed screw 15 to move. The movement of the feed moving seat can simultaneously drive the slider 13 on the slide rail 14 to achieve feed movement. The feed control mechanism 1 can independently control the feed movement of the grinding mechanism 2 and the inner arm drive mechanism 3.

[0123] A method for stiffness control of a transnasal interventional variable stiffness flexible bone-grinding robot includes the following steps:

[0124] Step 1: Obtain the required stiffness value of the flexible body;

[0125] Step 2: Obtain tendon tension based on the stiffness value of the flexible body and the stiffness matrix formula of the inner arm continuum;

[0126] Formula for the stiffness matrix of the inner arm continuum:

[0127]

[0128] in, U is the potential energy gradient, representing the passive elastic force in configuration space; J q U is the Jacobian matrix from the driving space to the configuration space; U is the total energy of the inner arm continuum; and Kψ is the stiffness matrix in the configuration space. τThis represents the tendon tension value.

[0129] Bending potential energy of the inner arm continuum:

[0130]

[0131] Elastic potential energy of the inner arm continuum:

[0132]

[0133] Total energy of the inner arm continuum:

[0134]

[0135] Mapping between configuration space generalized forces and end forces:

[0136]

[0137] Relationship between configuration space generalized forces and stiffness matrix:

[0138]

[0139] Wherein, the arc length of the portion of the inner arm continuous extending beyond the outer arm continuous is L, and the arc length of the inner arm continuous after extension or compression is L. t The bending angle is θ, the rotation angle is φ, and the tendon length is L. i Spring modulus E, tendon modulus E r Spring moment of inertia I, tendon moment of inertia I r The Jacobian matrix J between configuration space and workspace x The external force is w. For small changes in the generalized forces in configuration space. It represents a tiny change in angle.

[0140] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention's specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

[0141] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A transnasal interventional variable stiffness flexible bone-grinding robot, characterized in that, This includes a grinding mechanism, an inner arm drive mechanism, and an outer arm drive mechanism; The outboard drive mechanism includes an outboard continuous body and an outboard control assembly for controlling the bending and rotational movements of the outboard continuous body. The inner arm drive mechanism includes an inner arm continuous body and an inner arm control component for controlling the bending and rotational movements of the inner arm continuous body, and the inner arm continuous body is disposed within the outer arm continuous body. The grinding mechanism includes a grinding drill bit and a grinding drive control component for controlling the drilling movement of the grinding drill bit. The inner arm continuum includes a spring continuum, an inner arm continuum top seat, an inner arm continuum base, and an inner arm continuum tendon. One end of the spring continuous is connected to the top seat of the inner arm continuous, and the other end of the spring continuous is connected to the base of the inner arm continuous. The inner arm continuous tendon of the spring continuous passes through the inner arm continuous base and extends into the inner arm control assembly; The inner arm drive mechanism includes an inner arm support base, an inner arm front plate, an inner arm middle plate, an inner arm rear plate, an inner arm traction control unit, a hub, and an inner arm continuous body fixing seat. The inner arm middle plate is fixedly installed at one end of the inner arm support base, and the inner arm rear plate is fixedly installed at the other end of the inner arm support base. The inner arm front disc is located on the side of the inner arm middle disc away from the inner arm rear disc; The inner arm traction control unit is installed between the inner arm anterior disc and the inner arm middle disc, and the inner arm traction control unit is connected to the inner arm continuous muscle tendon. The hub is mounted on the front disc of the inner arm; The inner arm continuous body fixing seat is installed at the port of the hub and connected to the inner arm continuous body; The inner arm traction control unit includes an inner arm lead screw, a guide rod, a connecting seat, a nut seat, a control motor, a preload block, and an adjusting screw; Both ends of the inner arm lead screw and the guide rod are respectively connected to the inner arm front plate and the inner arm middle plate, and one end of the inner arm lead screw is connected to the control motor; The nut seat is threaded onto the inner arm lead screw; The connecting seat is fixedly connected to the nut seat and slidably mounted on the optical rod, and the inner arm continuous muscle tendon is connected to the connecting seat; The connecting seat has a pre-tightening groove, the pre-tightening block is slidably installed in the pre-tightening groove and is threadedly connected to the adjusting screw, and the inner arm continuous muscle tendon is connected to the pre-tightening block.

2. The transnasal interventional variable stiffness flexible bone-grinding robot according to claim 1, characterized in that, The grinding drive control assembly includes a grinding motor, a support base, a fixed disc, a drill bit hose, and a hose connector; The fixed discs are respectively installed at both ends of the support base; The grinding motor is mounted on one of the fixed discs and is connected in sequence to the hose connector and the drill hose via a coupling; The drill hose extends through another of the fixed discs into the inner arm continuum and connects to the grinding drill bit.

3. The transnasal interventional variable stiffness flexible bone-grinding robot according to claim 1, characterized in that, The boom control assembly includes a boom base plate, a boom driver support frame, a boom driver fixing plate, a boom top plate, a boom manifold, a boom continuum fixing seat, and a boom traction control unit. The outer arm drive support frame and the arm drive fixing plate are respectively installed at both ends of the outer arm base plate; The outer arm traction control unit is installed between the outer arm driver support frame and the arm driver fixing plate, and the outer arm traction control unit has the same structure as the inner arm traction control unit. The outer arm top plate is fixedly mounted on the outer arm driver mounting plate; The outer arm hub is mounted on the outer arm top plate; The outer arm continuum fixing seat is installed at the port of the outer arm hub tube; The control tendon of the outer arm continuum passes sequentially through the outer arm continuum fixing seat and the outer arm hub tube before connecting to the outer arm traction control unit.

4. The transnasal interventional variable stiffness flexible bone-grinding robot according to claim 1, characterized in that, The outboard drive mechanism also includes a linear motion component, the moving end of which is connected to the outboard control component.

5. The transnasal interventional variable stiffness flexible bone-grinding robot according to claim 1, characterized in that, It also includes a feed control mechanism, which includes a feed base, a feed top plate, a slide rail, a slider, a feed screw, a feed moving seat, and a feed motor; Two feed screws are provided, which are symmetrically arranged in the feed base, and one end of each feed screw is connected to the feed motor. The feed top plate is fixedly installed on the feed base; The slide rail is fixedly installed on the surface of the feed top plate; Two sliders are provided, both of which are slidably mounted on the slide rail. One slider is connected to the grinding mechanism, and the other slider is connected to the inner arm drive mechanism. The feed moving seat is threadedly connected to the feed screw, and the top end of the feed moving seat passes through the feed top plate and is connected to the corresponding slider.

Images