Coaxial continuous flushing and sucking end effector for flushing robot

Abstract

The invention discloses a coaxial continuous flushing and sucking end effector for a flushing robot, and belongs to the technical field of joint cavity flushing, the coaxial continuous flushing and sucking end effector comprises a slender rod main body, the axial upper end of the slender rod main body is connected with a Y-shaped connecting piece through a rotary sealing joint, and the slender rod main body comprises an outer sheath, an inner sheath and a mirror sheath which are sequentially arranged from outside to inside; an annular water injection channel used for conveying flushing fluid is formed between the outer sheath and the inner sheath, an annular water suction channel used for discharging waste liquid and impurities in joints is formed between the inner sheath and the arthroscope sheath, and an arthroscope body containing channel used for containing an arthroscope body in a penetrating mode is formed in the arthroscope sheath. And a water injection valve seat communicated with the water injection channel and a water suction valve seat communicated with the water suction channel are respectively arranged on the side wall of the outer sheath. By the adoption of the coaxial continuous flushing and sucking end effector for the flushing robot, the technical problems that an existing device is lack of coaxial continuous flushing, flow field distribution is uneven, and a mirror body self-protection function is not achieved can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of joint cavity flushing, in particular to a coaxial continuous flushing and suction end effector for a flushing robot. BACKGROUND

[0002] With the rapid development of bone and joint surgery and sports medicine, arthroscopic surgery has become an important minimally invasive method for treating diseases such as knee joint injury, pyogenic arthritis, synovial lesion, etc. Postoperative infection, joint cavity contamination or chronic inflammation often requires continuous flushing to remove inflammatory mediators, bacterial fragments and necrotic tissue in order to control infection and promote healing. In clinical practice, continuous irrigation and drainage under arthroscopy is often used for treatment. In the prior art, the flushing and suction system is usually designed in a split type or a coaxial non-synchronous structure, and the water injection pipe and the suction pipe are spatially separated or work alternately, which is difficult to form a stable and continuous laminar flow field, resulting in disorder of the flow direction of the flushing liquid and easy to leave dead corners. In addition, the traditional water injection channel generally uses a single-hole straight flushing type outlet at the end, and the flushing liquid impacts the local tissue at high speed, which is unevenly distributed and has a limited coverage range. It may cause hydrodynamic damage to the synovial membrane or cartilage due to excessive local dynamic pressure, affecting the postoperative recovery quality.

[0003] In addition, although the commonly used arthroscopic sheath currently integrates the flushing function, it generally lacks effective physical protection structure for the scope, and the scope window is directly exposed to turbid liquid and tissue debris during operation, which is easy to be contaminated or scratched and blurred, cannot realize real-time and convenient adjustment during operation, and has complex structure, difficult sterilization and cross infection risk in repeated use. The existing disposable instruments are also single in function, lack of integrated design of flushing and suction synchronization and scope protection. In summary, the prior art still has obvious deficiencies in the uniformity of the flushing flow field, the protection ability of the scope and the operation convenience. SUMMARY

[0004] The purpose of the present application is to provide a coaxial continuous flushing and suction end effector for a flushing robot, which solves the technical problems of the prior art that the existing device lacks coaxial continuous flushing, the flushing flow field is unevenly distributed, and it does not have a self-protection function for the scope.

[0005] To achieve the above-mentioned purpose, the present application provides a coaxial continuous flushing and suction end effector for a flushing robot, which comprises an elongated rod body arranged in a coaxial three-layer nested manner, an axial upper end of the elongated rod body is connected with a Y-shaped connecting piece through a rotary sealing joint, the elongated rod body comprises an outer sheath, an inner sheath and a scope sheath arranged in sequence from outside to inside, the three layers of the outer sheath, the inner sheath and the scope sheath are coaxial, an annular water injection channel for conveying flushing liquid is formed between the outer sheath and the inner sheath, an annular water suction channel for discharging intra-articular waste liquid and impurities is formed between the inner sheath and the scope sheath, the inside of the scope sheath is a scope containing channel for containing an arthroscope, and the side wall of the outer sheath is respectively provided with a water injection valve seat communicated with the water injection channel and a water suction valve seat communicated with the water suction channel.

[0006] Preferably, the slender rod body is an axially elongated slender structure.

[0007] Preferably, the inner wall of the outer sheath and the outer wall of the inner sheath are fixedly connected by an axially arranged connecting block for fixed support.

[0008] Preferably, the end of the slender rod body away from the Y-shaped connector is provided with an end for sealing the water injection channel. The outer diameter of the end is equal to the outer diameter of the outer sheath. One end of the end is locked to the outer sheath, and the other end of the end is set as a flared mouth with the larger opening facing outward and the smaller opening facing inward. The larger opening diameter of the flared mouth is smaller than the outer diameter of the outer sheath, and the smaller opening diameter of the flared mouth is equal to the inner diameter of the inner sheath.

[0009] Preferably, the outer sheath has two sets of spiral side holes distributed vertically at one end with the end head. The spiral side holes are connected to the water injection channel. Each set of spiral side holes is evenly distributed around the circumference of the outer sheath. The set of spiral side holes located at the top, away from the end head, is set with its opening direction obliquely upward, while the set of spiral side holes located at the bottom, near the end head, is set with its opening direction obliquely downward. The spiral side holes are used to make the flushing liquid in the water injection channel spray out evenly in all directions.

[0010] Preferably, the water intake channel and the water injection channel are not connected and operate independently.

[0011] Preferably, the water injection valve seat and the water suction valve seat are located between the rotary sealing joint and the end head. One end of the water injection valve seat is connected to the positive pressure peristaltic pump, and the other end of the water injection valve seat is connected to the outer sheath. One end of the water suction valve seat is connected to the negative pressure pump, and the other end of the water suction valve seat is connected to the outer sheath. A circular sealing ring block is provided between the water injection valve seat and the water suction valve seat. The sealing ring block is used to seal the end of the water injection channel away from the end. The water injection valve seat is located below the sealing ring block, and the water suction valve seat is located above the sealing ring block.

[0012] Preferably, a sealed transparent viewing window is installed at the end of the mirror housing channel away from the Y-shaped connector.

[0013] Preferably, the rotary sealing joint includes a rotary sleeve interface, the top end of which is locked to a Y-shaped connector, and the bottom end of which is locked to a sleeve nut. The interior of the rotary sleeve interface is provided with a sealing gasket, a stop block, a first gasket, a spring, and a second gasket in sequence from top to bottom. The second gasket is located above the sleeve nut. The first gasket, the spring, and the second gasket are fitted onto the outer wall of the outer sheath. The stop block is used to seal the channel formed between the outer sheath and the mirror sheath.

[0014] Preferably, one side of the Y-shaped connector is a connection interface that connects to the end of the robotic arm of the surgical robot. The other side of the Y-shaped connector is a cylindrical connecting part that is coaxially arranged with the slender rod body. The inner diameter of the cylindrical connecting part is adapted to the outer diameter of the sheath. The sheath passes through the cylindrical connecting part and is fixedly connected to it. The bottom of the cylindrical connecting part is locked to the top of the rotating sleeve interface. The top of the cylindrical connecting part is provided with a sheath tail mount interface for connecting different models of sheath tail mounts.

[0015] The advantages and positive effects of the coaxial continuous flushing and suction end effector for a flushing robot described in this invention are as follows: 1. It adopts a coaxial three-layer structure design, with the water injection channel, water suction channel and endoscope housing channel having the same axis. With the coordinated work of positive pressure peristaltic pump and negative pressure pump, it can achieve continuous synchronous flushing and suction, forming a stable fluid field in the joint cavity. Contaminants are not easy to accumulate, and the flushing and suction flow direction is stable, reducing interference with the surgical field of vision. 2. The water injection channel sprays irrigation fluid through two sets of spiral side holes that are inclined upwards and downwards respectively. The irrigation fluid spreads evenly in all directions, resulting in a uniform irrigation flow field, wide coverage, and more thorough irrigation. At the same time, the spiral side holes disperse the irrigation pressure, avoiding local pressure concentration caused by the end opening, effectively preventing soft tissue damage in the joint cavity and improving surgical safety. 3. The end seal is located at the end of the water injection channel. Together with the axial isolation effect of the sealing ring plug, it isolates the water injection channel from the water suction channel, preventing liquid cross-flow and leakage, maintaining stable joint cavity pressure, and reducing the possibility of contaminating the surgical environment and the robot body. 4. A transparent viewing window is provided at the end of the arthroscopy housing channel to completely isolate the arthroscopy body from the joint cavity environment, effectively preventing contamination and damage to the arthroscopy body, ensuring a clear field of view, reducing the number of times the arthroscopy body needs to be cleaned, and improving surgical efficiency; 5. The sheath tail mount interface can connect to different models of arthroscopy sheath tail mounts, making it easy to replace. It is compatible with different brands and specifications of arthroscopes, and can be quickly docked with the surgical robot arm through the Y-shaped connector, improving the device's adaptability and ease of operation, and reducing surgical preparation time.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a coaxial continuous flushing and suction end effector for a flushing robot according to the present invention; Figure 2 This is an overall cross-sectional view of an embodiment of a coaxial continuous flushing and suction end effector for a flushing robot according to the present invention; Figure 3This is a cross-sectional view at the end of an embodiment of a coaxial continuous flushing and suction end effector for a flushing robot according to the present invention; Figure 4 This is a cross-sectional view of the sealing ring plug of an embodiment of a coaxial continuous flushing end effector for a flushing robot according to the present invention; Figure 5 This is a cross-sectional view of a rotary sealing joint of an embodiment of a coaxial continuous flushing and suction end effector for a flushing robot according to the present invention; Figure 6 This is a schematic diagram of the internal structure of the rotating sleeve interface of an embodiment of a coaxial continuous flushing and suction end effector for a flushing robot according to the present invention; Figure 7 This is a schematic diagram of the sleeve nut structure of an embodiment of a coaxial continuous flushing and suction end effector for a flushing robot according to the present invention; Figure 8 This is a schematic diagram of the internal structure of the rotating sleeve interface of an embodiment of a coaxial continuous flushing and suction end effector for a flushing robot according to the present invention.

[0018] Figure label: 1. Slender rod body; 2. Rotary sealing joint; 3. Y-shaped connector; 4. Water injection valve seat; 5. Water suction valve seat; 6. Outer sheath; 7. Inner sheath; 8. Mirror sheath; 9. Water injection channel; 10. Water suction channel; 11. Mirror body receiving channel; 12. End; 13. Trumpet mouth; 14. Large mouth; 15. Small mouth; 16. Spiral side hole; 17. Sealing ring plug; 18. Transparent viewing window; 19. Rotary sleeve interface; 20. Sleeve nut; 21. Sealing gasket; 22. Stop block; 23. Gasket one; 24. Spring; 25. Gasket two; 26. Connection interface; 27. Cylindrical connecting part; 28. Sheath tail seat interface; 29. ​​Rubber gasket; 30. Connecting block. Detailed Implementation

[0019] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] In this application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0021] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0022] Example: like Figure 1 , Figure 2 As shown, the coaxial continuous flushing and suction end effector for a flushing robot according to the present invention includes a slender rod body 1 with three nested layers arranged coaxially. The slender rod body 1 is an axially extended slender structure. The slender rod body 1 includes an outer sheath 6, an inner sheath 7, and a mirror sheath 8 arranged sequentially from the outside to the inside, with the axes of the three layers of the outer sheath 6, inner sheath 7, and mirror sheath 8 overlapping.

[0023] An annular water injection channel 9 is formed between the outer sheath 6 and the inner sheath 7 for delivering irrigation fluid. The inner wall of the outer sheath 6 and the outer wall of the inner sheath 7 are fixedly connected by two sets of axially arranged connecting blocks 30. Each connecting block 30 in each set is symmetrically distributed circumferentially, and the connecting blocks 30 only serve a fixing and supporting function. An annular water absorption channel 10 is formed between the inner sheath 7 and the arthroscopic sheath 8 for draining intra-articular waste fluid and impurities. The water absorption channel 10 and the water injection channel 9 are not interconnected and operate independently. The interior of the arthroscopic sheath 8 is an arthroscopic body receiving channel 11 for accommodating the arthroscopic body. The arthroscopic body receiving channel 11 runs through the entire length of the slender rod body 1, enabling real-time observation of the joint cavity by the arthroscopic body.

[0024] like Figure 3 As shown, the end of the slender rod body 1 furthest from the Y-shaped connector 3 is provided with an end head 12 for sealing the water injection channel 9, which works in conjunction with the slender rod body 1 to achieve sealing and waste liquid guidance functions. The outer diameter of the end head 12 is equal to the outer diameter of the outer sheath 6, ensuring minimal invasiveness and structural integrity. The end head 12 is hollow inside. One end of the end head 12 is provided with an external thread, which is adapted to and engages with the internal thread pre-set at the end of the inner wall of the outer sheath 6. The internal thread of the inner wall of the outer sheath 6 occupies only a very small part of the inner wall of the outer sheath 6, avoiding occupying the space of the water injection channel 9. The other end of the end head 12 is set as a flared mouth 13. The larger opening 14 of the flared mouth 13 faces outward and the smaller opening 15 faces inward. The diameter of the larger opening 14 of the flared mouth 13 is slightly smaller than the outer diameter of the outer sheath 6 to avoid protruding and scratching the joint cavity tissue. The diameter of the smaller opening 15 of the flared mouth 13 is equal to the inner diameter of the inner sheath 7.

[0025] The outer sheath 6 has two sets of spiral side holes 16 arranged vertically at one end with the end 12. These spiral side holes 16 communicate with the water injection channel 9. Each set of spiral side holes 16 is evenly distributed around the circumference of the outer sheath 6, with 4-6 holes in each set. The upper set of spiral side holes 16, located away from the end 12, has its opening direction angled upwards, while the lower set, located closer to the end 12, has its opening direction angled downwards. The spiral side holes 16 allow the flushing fluid in the water injection channel 9 to be sprayed evenly in all directions, expanding the flushing coverage area and dispersing the flushing pressure to avoid localized pressure concentration.

[0026] After the end 12 is connected to the slender rod body 1, the inner wall of the end 12 is flush with the inner wall of the inner sheath 7, sealing and blocking the end of the water injection channel 9, so that the flushing liquid in the water injection channel 9 can only be sprayed out through the spiral side hole 16 of the outer sheath 6; at the same time, the water suction channel 10 is connected to the joint cavity through the flared mouth 13 of the end 12. The flared mouth 13 can increase the waste liquid suction area and improve the suction efficiency. With the coordinated work of the positive pressure peristaltic pump and the negative pressure pump, a continuously flowing fluid field is formed in the joint cavity to ensure that the pollutants are effectively carried out.

[0027] The outer sheath 6 has an injection valve seat 4 communicating with the injection channel 9 and a suction valve seat 5 communicating with the suction channel 10 on its side wall. The upper axial end of the slender rod body 1 is connected to the Y-shaped connector 3 through a rotary sealing joint 2. The injection valve seat 4 and the suction valve seat 5 are located between the rotary sealing joint 2 and the end 12. One end of the injection valve seat 4 is connected to the positive pressure peristaltic pump, and the other end of the injection valve seat 4 is connected to the outer sheath 6. The injection valve seat 4 is used to deliver flushing fluid to the injection channel 9. One end of the suction valve seat 5 is connected to the negative pressure pump, and the other end of the suction valve seat 5 is connected to the outer sheath 6. The suction valve seat 5 is used to suction out waste fluid and impurities from the joint cavity.

[0028] like Figure 4 As shown, a sealing ring block 17 is provided between the water injection valve seat 4 and the water suction valve seat 5. The sealing ring block 17 is used to seal the end of the water injection channel 9 away from the end 12. The water injection valve seat 4 is located below the sealing ring block 17, and the water suction valve seat 5 is located above the sealing ring block 17. The sealing ring block 17 has a circular structure. Its inner diameter is adapted to fit the outer diameter of the inner sheath 7, and its outer diameter is adapted to fit the inner wall of the outer sheath 6. It is used to seal the water injection channel 9 axially upward, realize the isolation between the water injection channel 9 and the water suction channel 10, ensure that the flushing and suction processes do not interfere with each other, and at the same time ensure the stability of the joint cavity pressure.

[0029] A sealed transparent viewing window 18 is installed at the end 12 of the arthroscope housing channel 11, away from the Y-shaped connector 3. The transparent viewing window 18 is made of medical-grade sapphire or high-transparency optical resin and is sealed and fixed to the sheath 8. The transparent viewing window 18 completely isolates the arthroscope body inside the arthroscope housing channel 11 from the joint cavity environment, preventing the arthroscope body from being contaminated or damaged by irrigation fluid or tissue debris, while ensuring that the arthroscope body can clearly observe the irrigation situation inside the joint cavity through the transparent viewing window 18. The outer diameter of the sheath 8 is smaller than the diameter of the small opening 15 of the end 12 flared mouth 13 and the inner wall diameter of the suction channel 10, ensuring that the sheath 8 does not occupy the space of the suction channel 10 and does not affect the suction of waste fluid.

[0030] like Figure 5 , Figure 6 , Figure 7 , Figure 8As shown, the rotary sealing joint 2 is located axially above the slender rod body 1 (away from the joint cavity side) to seal the endoscope housing channel 11 and the water absorption channel 10, while also enabling a detachable connection with the Y-shaped connector 3. The rotary sealing joint 2 includes a rotary sleeve 19. The top end of the rotary sleeve 19 is threadedly locked to the Y-shaped connector 3, and the bottom end of the rotary sleeve 19 is threadedly locked to the sleeve nut 20, which is located on the outer wall of the outer sheath 6. Inside the rotary sleeve 19, from top to bottom, are arranged a sealing gasket 21, a stop block 22, a first gasket 23, a spring 24, and a second gasket 25. The second gasket 25 is located above the sleeve nut 20, and the first gasket 23, spring 24, and second gasket 25 are fitted onto the outer wall of the outer sheath 6. The stop block 22 seals the channel formed between the outer sheath 6 and the endoscope sheath 8, and is threadedly fixed to the inner wall of the outer sheath 6. The sleeve nut 20 is fitted onto the outer wall of the outer sheath 6. A spring 24 is located between washer 23 and washer 25. When the rotating sleeve 19 and sleeve nut 20 are tightened, the spring 24 is compressed, and due to the action of the stop block 22, the outer sheath 6 is tightly connected to the rotating sleeve 19. The sealing gasket 21 is made of rubber and is located between the stop block 22 and the rotating sleeve 19, serving a sealing function. A rubber gasket 29, fitted onto the outer wall of the mirror sheath 8, is located above the thread connecting the rotating sleeve 19 to the Y-shaped connector 3, and serves a sealing function. Through the rotational connection between the socket nut 20 and the rotating sleeve interface 19, the spring force of the spring 24 will generate axial pressure on the stop block 22. When the pipes of the water injection valve seat 4 and the water suction valve seat 5 do not touch, due to the spring force of the spring 24, the action of the first gasket 23, the second gasket 25, the stop block 22, and the sealing gasket 21, there is friction between the rotating sealing joint 2 and the slender rod body 1. Under the action of friction, the whole formed by the rotating sealing joint 2 and the Y-shaped connector 3 will drive the entire slender rod body 1 to rotate synchronously. When the pipes of the water injection valve seat 4 and the water suction valve seat 5 touch, there is resistance between the pipes. Since the spring force of the spring 24 is not particularly large, the friction between the rotating sealing joint 2 and the slender rod body 1 is limited. At this time, the resistance is greater than the friction. The rotation of the whole formed by the rotating sealing joint 2 and the Y-shaped connector 3 will not drive the slender rod body 1 to rotate, thereby avoiding pipe entanglement.

[0031] One side of the Y-shaped connector 3 is a connection interface 26, which is quickly connected to the end effector of the surgical robot's robotic arm. The other side of the Y-shaped connector 3 is a cylindrical connecting part 27. The inner diameter of the cylindrical connecting part 27 matches the outer diameter of the endoscope sheath 8. The endoscope sheath 8 passes through the cylindrical connecting part 27 and is threadedly fixed to it, making the cylindrical connecting part 27 coaxial with the slender rod body 1. The bottom of the cylindrical connecting part 27 is threadedly locked to the top of the rotating sleeve interface 19. The end of the cylindrical connecting part 27 is provided with a sheath tailstock interface 28 for connecting different models of endoscope sheath tailstocks. The sheath tailstock interface 28 has a standardized threaded structure, which can adapt to different brands and specifications of arthroscopic bodies, improving the versatility of the device.

[0032] During assembly, the sealing ring plug 17 is installed at a preset position on the inner wall of the outer sheath 6 to achieve axial isolation between the water injection channel 9 and the water suction channel 10; the end 12 is connected to the end of the outer sheath 6 by thread to complete the sealing of the end of the water injection channel 9; the transparent viewing window 18 is sealed and fixed to the end of the sheath 8 to form a protective structure for the arthroscope body; the rotary sealing joint 2 is assembled: the sleeve nut 20 is sleeved on the outer wall of the outer sheath 6, and the second gasket 25, spring 24, and first gasket 23 are installed in sequence; the stop block 22 is threaded to the inner wall of the outer sheath 6, and then the rotary sleeve interface 19 is threaded to the sleeve nut 20 (the sealing gasket 21 is placed inside the spiral sleeve interface); the rubber gasket 29 is placed between the rotary sleeve interface 19 and the Y-shaped connector 3, and the two are fixed by thread; according to the compatible arthroscope model (such as SNN, STY), the corresponding sheath tail seat is installed, and the arthroscope body passes through the arthroscope body receiving channel 11 of the sheath 8 to complete the overall assembly.

[0033] Connect the water injection valve seat 4 to the output end of the positive pressure peristaltic pump, and the water suction valve seat 5 to the input end of the negative pressure pump. Connect the Y-shaped connector 3 to the surgical robot arm via the bayonet docking interface 26. After checking that there are no leaks in each sealing part, the work preparation is completed.

[0034] During operation, the robotic arm drives the end effector to enter the preset position in the joint cavity, starts the positive pressure peristaltic pump and the negative pressure pump, sets the peristaltic pump output pressure to 0.03-0.05MPa and the flow rate to 100-150ml / min, and the negative pressure pump negative pressure value to -0.02~-0.03MPa; the flushing fluid enters the water injection channel 9 through the water injection valve seat 4, and due to the sealing effect of the end 12, it can only be sprayed evenly in all directions through the spiral side hole 16 of the outer sheath 6, forming a divergent flushing flow, evenly covering the inner wall of the joint cavity, dispersing pressure to avoid tissue damage; the synchronously operating negative pressure pump generates negative pressure through the suction channel 10, and the waste fluid, tissue debris and other pollutants in the joint cavity are drawn into the suction channel 10 through the flared mouth 13 of the end 12 under the drive of the continuous fluid field, and discharged from the body through the suction valve seat 5, realizing the closed-loop cleaning of "continuous flushing-continuous suction". The arthroscope body is received through the sheath 8, and the internal flushing of the joint cavity can be observed in real time through the viewing window. If the angle needs to be adjusted, the entire end effector is rotated 360° by rotating the sealing joint 2 to avoid pipe entanglement and to flush out residual contaminants. After flushing, the positive pressure peristaltic pump is turned off first, and the negative pressure pump is run for 10 seconds to aspirate the residual flushing fluid. Then, the end effector is moved out of the joint cavity by the robotic arm to complete the surgical operation.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A coaxial continuous flushing and suction end effector for a flushing robot, characterized in that: The device includes a slender rod body with three coaxial nested layers. The upper axial end of the slender rod body is connected to a Y-shaped connector via a rotary sealing joint. The slender rod body includes an outer sheath, an inner sheath, and a mirror sheath arranged sequentially from the outside to the inside. The axes of the three layers of the outer sheath, inner sheath, and mirror sheath coincide. An annular water injection channel for conveying irrigation fluid is formed between the outer sheath and the inner sheath. An annular water suction channel for draining intra-articular waste fluid and impurities is formed between the inner sheath and the mirror sheath. The interior of the mirror sheath is a mirror housing channel for penetrating and accommodating the arthroscope body. The side walls of the outer sheath are respectively provided with a water injection valve seat communicating with the water injection channel and a water suction valve seat communicating with the water suction channel.

2. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 1, characterized in that: The main body of the slender rod is an axially elongated slender structure.

3. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 1, characterized in that: The inner wall of the outer sheath and the outer wall of the inner sheath are fixedly connected by axially arranged connecting blocks for fixed support.

4. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 1, characterized in that: The slender rod body has a sealing end for sealing the water injection channel at the end away from the Y-shaped connector. The outer diameter of the end is equal to the outer diameter of the outer sheath. One end of the end is locked to the outer sheath, and the other end of the end is set as a flared mouth with the larger opening facing outward and the smaller opening facing inward. The larger opening diameter of the flared mouth is smaller than the outer diameter of the outer sheath, and the smaller opening diameter of the flared mouth is equal to the inner diameter of the inner sheath.

5. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 4, characterized in that: The outer sheath has two sets of spiral side holes distributed vertically at one end. The spiral side holes are connected to the water injection channel. Each set of spiral side holes is evenly distributed around the circumference of the outer sheath. The set of spiral side holes located at the top, away from the end, is oriented diagonally upward, while the set of spiral side holes located at the bottom, closer to the end, is oriented diagonally downward. The spiral side holes are used to make the flushing liquid in the water injection channel spray out evenly in all directions.

6. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 1, characterized in that: The water intake channel and the water injection channel are not connected and operate independently.

7. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 4, characterized in that: The water injection valve seat and the water suction valve seat are located between the rotary sealing joint and the end. One end of the water injection valve seat is connected to the positive pressure peristaltic pump, and the other end of the water injection valve seat is connected to the outer sheath. One end of the water suction valve seat is connected to the negative pressure pump, and the other end of the water suction valve seat is connected to the outer sheath. A circular sealing ring block is provided between the water injection valve seat and the water suction valve seat. The sealing ring block is used to seal the end of the water injection channel away from the end. The water injection valve seat is located below the sealing ring block, and the water suction valve seat is located above the sealing ring block.

8. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 1, characterized in that: A sealed transparent viewing window is installed at the end of the mirror housing channel away from the Y-shaped connector.

9. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 1, characterized in that: The rotary sealing joint includes a rotary sleeve interface. The top end of the rotary sleeve interface is locked to a Y-shaped connector, and the bottom end of the rotary sleeve interface is locked to a sleeve nut. Inside the rotary sleeve interface, from top to bottom, there are a sealing gasket, a stop block, a gasket one, a spring, and a gasket two. Gasket two is located above the sleeve nut. Gasket one, spring, and gasket two are fitted onto the outer wall of the outer sheath. The stop block is used to seal the channel formed between the outer sheath and the mirror sheath.

10. The coaxial continuous flushing and suction end effector for a flushing robot according to claim 9, characterized in that: One side of the Y-shaped connector is a connection interface that connects to the end of the surgical robot's robotic arm. The other side of the Y-shaped connector is a cylindrical connecting part that is coaxially arranged with the slender rod body. The inner diameter of the cylindrical connecting part is adapted to the outer diameter of the endoscope sheath. The endoscope sheath passes through the cylindrical connecting part and is fixedly connected to it. The bottom of the cylindrical connecting part is locked to the top of the rotating sleeve interface. The top of the cylindrical connecting part is provided with an endoscope tail seat interface for connecting different models of endoscope sheath tail seats.

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